Terrain traversing device having a wheel with microhooks

• US 8,978,807 B2
• Filed: 03/12/2014
• Issued: 03/17/2015
• Est. Priority Date: 09/09/2011
• Status: Active Grant

• Current Assignee: California Institute of Technology
• Original Assignee: California Institute of Technology
• Inventors: Parness, Aaron, Carpenter, Kalind C., Wiltsie, Nicholas
• Primary Examiner(s): Hurley, Kevin
• Application Number:
  US14/207,337
• Publication Number:
  US 20140203623A1
• Time in Patent Office: 370 Days
• Field of Search: 180/7.1, 180/218
• US Class Current: 180/218
• CPC Class Codes: B60B 15/025 with non-cylindrical shape
• CPC Class Codes: B60B 2900/721 Use under adverse external conditions
• CPC Class Codes: B60B 9/12 in the form of sleeves or rings concentric with the wheel axis
• CPC Class Codes: B60Y 2200/46 Arctic-/Extraterrestric explorers
• CPC Class Codes: B60Y 2200/47 Climbing vehicles, e.g. facade climbing devices
• CPC Class Codes: B60Y 2200/48 Stair-climbing vehicles
• CPC Class Codes: B62D 57/024 specially adapted for moving on inclined or vertical surfaces endless-track vehicles for ascending or descending stairs B62D55/075; hand-carts with provision for travelling up or down stairs B62B5/02

Abstract

A terrain traversing device is described. The device includes an annular rotor element with a plurality of co-planar microspine hooks arranged on the periphery of the annular rotor element. Each microspine hook has an independently flexible suspension configuration that permits the microspine hook to initially engage an irregularity in a terrain surface at a preset initial engagement angle and subsequently engage the irregularity with a continuously varying engagement angle when the annular rotor element is rotated for urging the terrain traversing device to traverse a terrain surface. Improvements related to the design, fabrication and use of the microspine hooks in the device are also described.

Claims

1. A terrain traversing device, comprising:

a housing;

at least one microspine wheel assembly comprising a circular planar rotor with one or more microspine hooks arranged on a circumferential edge of said circular planar rotor, each microspine hook mounted on a respective independently flexible suspension that accommodates variable engagement angles between said microspine hook and irregularities on a terrain surface as the at least one microspine wheel assembly rotates in one direction to urge the terrain traversing device to traverse the terrain surface;

at least two axles, comprising a first and second axle, wherein the at least one microspine wheel assembly is at least two microspine wheel assemblies, each mounted on a respective axle whereby the circular planar rotor of each microspine wheel assembly is rotatable in one direction, with the respective axle, to urge the terrain traversing device to traverse the terrain surface or more motors housed in the housing and coupled to the at least two axles, the two or more motors configured to respectively rotate the at least two microspine wheel assemblies in one direction to urge the terrain traversing device to traverse the terrain surface, wherein

the at least two axles are mounted substantially adjacent to each other with the wheel assemblies substantially parallel to each other and have a sweep angle with respect to each other and to a center of the terrain traversing device, and

a positive sweep angle corresponds to the microspine wheel assemblies of the first and second axles forming a chevron shaped arrangement with respect to the center of the terrain traversing device.

2. The terrain traversing device of claim 1, wherein a 0°

sweep angle corresponds to the microspine wheel assemblies of the first and second axles being parallel and orthogonal with respect to the center of the terrain traversing device.

3. The terrain traversing device of claim 1, wherein the variable engagement angles are between 60-80°

.

4. The terrain traversing device of claim 1, wherein the two or more motors each have a respective axle of said at least two axles and are configured to independently operate the axles independently thereby adapting the device to turn or provide speed control for the device based on the different instructions given to each of the axles.

5. The terrain traversing device according to claim 1, wherein the independently flexible suspension comprises a geometrical notch.

6. The terrain traversing device according to claim 1, wherein the device has a mass between 7 grams to 600 grams.

7. A terrain traversing device, comprising:

a housing;

at least one microspine wheel assembly comprising a circular planar rotor with one or more microspine hooks arranged on a circumferential edge of said circular planar rotor, each microspine hook mounted on a respective independently flexible suspension that accommodates variable engagement angles between said microspine hook and irregularities on a terrain surface as the at least one microspine wheel assembly rotates in one direction to urge the terrain traversing device to traverse the terrain surface;

at least one axle, wherein the at least one microspine wheel assembly are each mounted on a respective axle whereby the circular planar rotor of each microspine wheel assembly is rotatable in one direction, with the respective axle, to urge the terrain traversing device to traverse the terrain surface; and

at least one motor housed in the housing and coupled to the at least one axle, the at least one motor configured to rotate the at least one microspine wheel assembly in one direction to urge the terrain traversing device to traverse the terrain surface, wherein the at least one microspine wheel assembly further comprises adhesive materials, the adhesive materials arranged adjacent to or interstitially with the microspines to provide alterative and additional adhesive forces for engaging the terrain wall.

8. The terrain traversing device of claim 7, wherein the adhesive materials are electrostatic or electroadhesive materials, fibrillar adhesive pads, pressure sensitive adhesive pads or tape, and electro- or permanent magnets.

9. A terrain traversing device, comprising:

a housing;

at least one microspine wheel assembly comprising a circular planar rotor with one or more microspine hooks arranged on a circumferential edge of said circular planar rotor, each microspine hook mounted on a respective independently flexible suspension that accommodates variable engagement angles between said microspine hook and irregularities on a terrain surface as the at least one microspine wheel assembly rotates in one direction to urge the terrain traversing device to traverse the terrain surface;

at least one axle, wherein the at least one microspine wheel assembly are each mounted on a respective axle whereby the circular planar rotor of each microspine wheel assembly is rotatable in one direction, with the respective axle, to urge the terrain traversing device to traverse the terrain surface;

at least one motor housed in the housing and coupled to the at least one axle, the at least motor configured to rotate the at least one microspine wheel assembly in one direction to urge terrain traversing device to traverse the terrain surface;

a tail, the tail configured to adapt between a first position and a second position and vice versa thereby adapting the device in traversing different surfaces, wherein;

the first position corresponding to the tail has a substantially 90°

elbow at the center,

the second position corresponding to the tail being substantially 180°

, and the tail comprises one or more microspine wheel assembly mounted on one or more tail axles associated with the tail.

10. The terrain traversing device of claim 9, wherein the different surfaces being traversed comprises a horizontal ground, stairs, curbs and a vertical wall.

11. The terrain traversing device of claim 9, wherein the one or more tail axles associated with the tail having corresponding motors and are configured to operate independently from the one or more axles of the terrain traversing device not associated with the tail.