Motion system

• US 10,097,064 B2
• Filed: 09/01/2016
• Issued: 10/09/2018
• Est. Priority Date: 09/04/2015
• Status: Active Grant

• Current Assignee: Melih Cakmakci
• Original Assignee: Melih Cakmakci
• Inventors: Cakmakci, Melih, Ristevski, Stefan
• Primary Examiner(s): Tran, Dalena
• Application Number:
  US15/254,863
• Publication Number:
  US 20170066134A1
• Time in Patent Office: 768 Days
• Field of Search: 700259, 134147, 134153, 134183, 134 33, 318115, 318135, 31856812, 31856816
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: H02K 2201/18 Machines moving with multiple degrees of freedom
• CPC Class Codes: H02K 7/14 Structural association with mechanical loads, e.g. with hand-held machine tools or fans with fan or impeller for cooling the machine H02K9/06

Abstract

A motion system has at least one body, a motion unit that applies force to this body in a specified direction, and a control unit that controls the operation of the motion unit. The motion unit has at least one base connected to the body, at least one plate that is connected to the base, at least one first motion element that is controlled by control unit, at least one rotating mass that is connected to the plate and at least one second motion element that is controlled by the control unit.

Claims

1. A motion system (S) comprising at least one body (A);

at least one motion unit (M) that is located on the body (A) and applies the body a force from a specified direction and a control unit (C) that controls an operation of the motion unit (M);

characterized in that the motion unit (M) comprises,

at least one base (B) connected to the body (A);

at least one plate (1) that is connected to said base (B) so as to rotate about the first rotation axis (E1);

at least one first motion element that is controlled by control unit (C) and that rotates said plate (1) with respect to the base (B) about the first rotation axis (E1);

at least one rotating mass (2) that is connected to the plate (1) so as to rotate about second rotation axis (E2) perpendicular to the first rotation axis (E1) and rotates as the plate rotates about the first rotation axis (E1) and

at least one second motion element that enables the rotating mass (2) move such that it rotates about the second rotation axis (E2) relative to the plate (1) and that is controlled by the control unit (C),

wherein, a force is applied to the base (B) based on the rotation of the rotating mass (2) relative to the plate (1) about the second rotation axis (E2) using the centrifugal force and another force is applied to the base (B) based on the relative rotational motion between the plate (1) and the rotating mass (2) connected to the plate (1) about the first axis (E1) using the centrifugal force and wherein, the forces that are applied to the base (B) are transferred to the body (A) causing the body (A) to move by sliding.

2. The motion system (S) according to claim 1 characterized in that the plate (1) is in cylindrical shape.

3. The motion system (S) according to claim 1 characterized in that;

the motion unit (M) comprises a support (3) element that extents from the plate (1) as a protrusion;

at least one shaft (4) that is connected to the support element (3) so as to rotate about the second axis (E2) and at least one connecting element (5) that connects the rotating mass (2) to the shaft (4) element.

4. The motion system (S) according to claim 3 characterized in that the support (3) element has a structure such that it extends from the plate (1) parallel to the first rotation axis (E1).

5. The motion system (S) according to claim 3 characterized in that the connector element (5) has the form of a rod.

6. The motion system (S) according to claim 1 characterized in that it contains at least one steering element (6) that enables the body (A) to rotate about at least one axis.

7. The motion system (S) according to claim 1 characterized in that the steering element (6) contains at least one vibration motor.

8. The motion system (S) according to claim 1 characterized by comprising at least one friction reducer that eases the movement of the body on the surface by reducing the friction between the body (A) and the surface.

9. The motion system (S) according to claim 8 characterized in that the friction reducer comprises at least one ball caster.

10. The motion system (S) according to claim 1 characterized by comprising at least one sensor that senses the direction and/or the magnitude of motion and is connected to the control unit (C).

11. The motion system (S) according to claim 10 characterized in that the sensor is an accelerometer placed on the body (A).

12. The motion system (S) according to claim 10 characterized in that the sensor is an image acquisition system independent of the body (A).

13. The motion system (S) according to claim 1 characterized by comprising at least one connecting element enables it to be connected to at least one other motion system (S).

14. The motion system (S) according to claim 13 characterized by comprising at least one extension and at least one slot as said connection system.