INTERNAL MEANS FOR ROTATING AN OBJECT BETWEEN GRAVITATIONALLY STABLE STATES

• US 20120298430A1
• Filed: 05/25/2012
• Published: 11/29/2012
• Est. Priority Date: 05/26/2011
• Status: Active Grant

• Current Assignee: Gregory C. Schroll, Kenneth R. Schroll
• Original Assignee: Gregory C. Schroll, Kenneth R. Schroll
• Inventors: Schroll, Gregory C., Schroll, Kenneth R.
• Granted Patent: US 8,672,062 B2
• Time in Patent Office: Days
• US Class Current: 180/8.1
• CPC Class Codes: B62D 37/06 using gyroscopes
• CPC Class Codes: B62D 55/075 Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfacesmagnetic or pneumatic ground-engaging parts B62D55/265; chairs or multi-track cycles specially adapted for invalids A61G5/00
• CPC Class Codes: B62D 57/02 with ground-engaging propulsion means, e.g. walking members
• CPC Class Codes: Y10T 74/1221 Multiple gyroscopes

Abstract

A vehicle incorporating a plurality of control motion gyroscopes (CMTs) contained within a support structure is described. Optionally, a mass shifting mechanism may also be incorporated in the vehicle. The vehicle and its CMTs are configured to have a plurality of gravitationally stable states on a sloped surface.

Claims

1. A device comprising:

an outer support surface;

a center of gravity;

a plurality of single gimbal control moment gyroscopes disposed within said outer support surface;

said device having a plurality of gravitationally stable states when resting on a sloped underlying support surface;

wherein said control moment gyroscopes are disposed so their individual spin vectors may be controllably tilted to apply a resultant torque to the device in a selectable direction;

said resultant torque controllable from zero magnitude to a magnitude sufficient to effect rotation of the device from one gravitationally stable state to another selectable gravitationally stable state on a sloped, horizontal, or irregular underlying support surface.

2. The device in claim 1, wherein said outer support surface is substantially a surface of revolution.

3. The device of claim 2, wherein the outer support surface comprises a cylinder.

4. The device of claim 1, wherein said outer support surface is multisided.

5. The device of claim 1, wherein said outer support surface is irregular.

6. The device of claim 1, wherein said outer support surface is a driven support surface.

7. The device of claim 6, wherein said driven support surface consists of at least one driven wheel.

8. The device of claim 6, wherein said driven support surface includes at least one flexible track trained about a pair of wheels.

9. The device of claim 6, wherein said driven support surface includes a plurality of driven legs.

10. The device of claim 1, further comprising a mass-shifting device disposed to shift the location of said center of gravity relative to said outer support surface, and wherein said plurality of single gimbal control moment gyroscopes are disposed upon said mass-shifting means.

11. The device of claim 10, wherein one of said selectable resultant torques is parallel to the rotational axis of said mass-shifting means, whereby said selectable resultant torque acts to help shift the location of said center of gravity relative to said outer support surface.

12. The device of claim 10, wherein a second of said selectable resultant torques is orthogonal to said rotational axis of said mass-shifting means, whereby said second selectable resultant torque acts to pivot said device upon a sloped, horizontal, or irregular underlying support surface to change device heading.

13. A mobile device, the device comprising:

a shell including a support surface and defining a cavity;

a center of gravity located within the cavity;

a mass shifting mechanism located within the cavity, the mass shifting mechanism adapted to selectively move the center of gravity; and

a plurality of control moment gyroscopes disposed within the cavity;

wherein the device has a plurality of gravitationally stable states when the shell is resting on a sloped surface without the application of external forces.

14. The device of claim 13 wherein the mass shifting mechanism comprises a pendulum, the pendulum including an arm and a drive mechanism for rotating the arm relative to the shell to shift the center of gravity.

15. The device of claim 14, wherein plurality of control moment gyroscopes being mounted on the arm.

16. The device of claim 15, wherein the control moment gyroscopes are each single gimble gyroscopes.

17. The device of claim 15, wherein the shell includes at least three distinct exterior sides.

18. A method of climbing an obstacle having a generally vertical face using the device of claim 13, the method comprising:

maneuvering the device placing it next to the generally vertical face;

using the mass shifting mechanism, selectively shifting the center of gravity as close as possible to the obstacle; and

using the plurality of control moment gyroscopes, applying a torque to the device, causing it to rotate about its point of contact with the obstacle so as to effect surmounting the obstacle.