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    • 5. 发明授权
    • Self-loading locomotion mechanism and application thereof
    • 自载运动机理及其应用
    • US08474553B1
    • 2013-07-02
    • US13595223
    • 2012-08-27
    • Amirpasha PeyvandiParviz SoroushianJue Lu
    • Amirpasha PeyvandiParviz SoroushianJue Lu
    • B62D51/06B62D57/00
    • B62D57/00B60B15/20B60B19/00B60B2900/115B60B2900/551B60B2900/721
    • The present invented mechanism comprises more than two (legs) with phase difference (like polygon-shape, ellipse-shape, and etc) between their rotation angles to produce pre-loading for improved adhesion. Two rigid plates covered with adhesives are attached to each phase difference wheel. Each plate connects to the wheels via a hinge embodying a torsional spring, which forces the plate back to its original position after each contact with surface. The phase difference wheels are made of elastic materials for application of controlled pre-loads at contact surfaces during locomotion. The difference between height and width of each wheel as well as the elastic properties of the materials determine the pre-load pressure applied during locomotion. The pre-load pressure is not strongly dependent on the orientation of locomotion. This enables locomotion in vertical, inclined and even upside-down orientation and also in the non-gravity environment.
    • 本发明的机构在其旋转角度之间包括具有相位差(如多边形,椭圆形等)的两个以上(腿),以产生预加载以改善粘附力。 用粘合剂覆盖的两块刚性板连接到每个相位差轮上。 每个板通过一个体现扭转弹簧的铰链连接到车轮上,这些铰链在每次与表面接触之后迫使其回到原来的位置。 相位差轮由弹性材料制成,用于在运动期间在接触表面处施加受控的预载荷。 每个车轮的高度和宽度之间的差异以及材料的弹性性质决定了在运动过程中施加的预加载压力。 预加载压力不强烈依赖于运动的方向。 这使得垂直,倾斜,甚至上下颠倒方向的移动也可以在非重力环境中运动。