Spherica weight-shifting integral free-rolling tumbler

• US 9,921,587 B1
• Filed: 07/27/2017
• Issued: 03/20/2018
• Est. Priority Date: 10/08/2015
• Status: Active Grant

• Current Assignee: The Government Of The United States As Represented By The Secretary Of The Navy
• Original Assignee: the united states of america as represented by the secretary of the navy
• Inventors: Thielman, Gerhard W.
• Primary Examiner(s): Ingram, Thomas
• Application Number:
  US15/661,466
• Time in Patent Office: 236 Days
• CPC Class Codes: B62D 57/00 Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track sledges B62B; motor sledges B62M
• CPC Class Codes: F03G 3/00 Other motors, e.g. gravity or inertia motors
• CPC Class Codes: F03G 3/08 using flywheels
• CPC Class Codes: F03G 3/083 deviating the flywheel axis, e.g. using gyroscopic effects like precession or nutation
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• CPC Class Codes: G05D 1/0891 specially adapted for land vehicles
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A spherical weight-shifting integral free-rolling tumbler (SWIFT) is provided for rolling along a surface in a command direction. The SWIFT includes a spherical shell, a cubic box within the shell held by spars, and a controller. The box has six panels, and each panel connects to a weight-shifter. Each weight-shifter includes an actuator and a movable mass. The controller for selectively activates the weight-shifter among the panels to translate the mass from the default position to the active position. The controller operates a first switch that corresponds to panels facing away from the surface, and in combination operates a second switch that corresponds to a weight-shifter approximately facing the command direction to roll the shell accordingly.

Claims

1. A spherical weight-shifting integral free-rolling tumbler (SWIFT) for moving along a surface in a command direction, said SWIFT comprising:

a spherical shell having an exterior surface for rolling on the surface and an interior surface for containing an internal volume;

a substantially cubic box within the internal volume, said box comprising six panels being substantially perpendicular to adjacent neighbors, each panel including an outer platform for connecting a weight-shifter, each said weight-shifter having an actuator and a mass, said actuator translating said mass from a default position adjacent associated said panel to an active position adjacent said interior surface; and

a controller within said box for selectively activating said weight-shifter among said panels to translate said mass from said default position to said active position, wherein

said controller operates a first switch corresponding to panels facing away from the surface, and in combination operates a second switch corresponding to a weight-shifter that approximately faces the command direction to roll said shell along said exterior surface accordingly.

2. The SWIFT according to claim 1, wherein said controller responds to an initiation signal from at least one of a receiver, an accelerometer and a timer.

3. The SWIFT according to claim 1, wherein each said actuator comprises:

a scissors mechanism that connects to said weight, and

a piston drive to extend and retract said scissors mechanism.

4. The SWIFT according to claim 1, wherein said each panel further includes an inner mount for attaching an orientation switch that determines whether corresponding said outer platform faces away from the surface.

5. The SWIFT according to claim 1, further including a set of eight spars, each spar connecting a corner of said box to said interior surface.

6. The SWIFT according to claim 1, wherein a payload is contained within said mass of associated with at least one panel of said six panels.

7. The SWIFT according to claim 1, wherein said each panel includes an associated switch for each corresponding said weight-shifter for said controller to selectively activate.

8. The SWIFT according to claim 7, wherein each said associated switch includes a container with proximal and distal ends to an associated panel inside said box, said distal end having a gap contact for switch activation, said container being partially filed with a fluid conductor that closes and opens said gap contact for said associated panel facing respectively upward and downward.