WO2006050070A2 - Systeme modulaire autostructurant et informatise - Google Patents

Systeme modulaire autostructurant et informatise Download PDF

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Publication number
WO2006050070A2
WO2006050070A2 PCT/US2005/038894 US2005038894W WO2006050070A2 WO 2006050070 A2 WO2006050070 A2 WO 2006050070A2 US 2005038894 W US2005038894 W US 2005038894W WO 2006050070 A2 WO2006050070 A2 WO 2006050070A2
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WO
WIPO (PCT)
Prior art keywords
leg
module
connecting assembly
connecting plate
housing
Prior art date
Application number
PCT/US2005/038894
Other languages
English (en)
Other versions
WO2006050070A3 (fr
Inventor
Neil Desmond
Original Assignee
Neil Desmond
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US10/975,405 external-priority patent/US7444205B2/en
Application filed by Neil Desmond filed Critical Neil Desmond
Priority to JP2007539155A priority Critical patent/JP5243799B2/ja
Priority to AU2005302536A priority patent/AU2005302536B2/en
Publication of WO2006050070A2 publication Critical patent/WO2006050070A2/fr
Publication of WO2006050070A3 publication Critical patent/WO2006050070A3/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1617—Cellular, reconfigurable manipulator, e.g. cebot
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions

Definitions

  • the present invention is generally directed to a self structuring and computing system. More particularly, the invention is directed to numerous modules that are each formed from detachably coupling six connecting assemblies together around a single power source. The modules can be fit together into a system by various connection devices and communications channels that allow the modules to move relative to one another to form themselves into desired objects or perform desired tasks.
  • the equipment on a fire truck provides a good example of how specific tools have become.
  • firemen on a fire truck arrive at the scene of an accident or fire, they must bring numerous different types of equipment, such as ladders or hoses, axes and the like so that they have the right tool for the right job.
  • ladders or hoses, axes and the like so that they have the right tool for the right job.
  • a reduction in the amount of needed tools would be helpful.
  • the vehicles themselves tend to be very specific. A police car is different from a fire truck which is different from an ambulance, etc.
  • Utility Fog is a nanotechnology based idea wherein tiny robots form a layer of interrelated units that are connected to one another.
  • the tiny robots can move relative to one another in order to change the shape of an object. For example, they can change the appearance of furniture so that one style of furniture becomes another style.
  • Utility Fog falls short on details.
  • Utility Fog does not have a particularly good mechanism for connecting the various robots or storing energy.
  • manipulating the units relative to one another or developing an effective communication scheme that allows the units to talk to one another has not been developed.
  • U.S. Patent No. 5,988,845 discloses a universal unit for automatically configuring three-dimensional structures to desired shapes. This patent is generally directed to three-dimensional structures which may be formed by grouping large numbers of three-dimensional universal units. While this patent does disclose more details regarding the transmission of power from one unit to another and a connecting mechanism, once again, the way these units are connected and move relative to one another are particularly cumbersome and inefficient.
  • U.S. Patent No. 4,608,525 discloses a cellular type robot apparatus.
  • the robot cells are coordinated so that each cell can be controlled so as to operate in concert with one another.
  • this patent does not disclose a particularly efficient manner of connecting these units or moving them relative to one another.
  • the present invention is directed to a modular self structuring and computing system including a matrix formed of a plurality of modules.
  • Each module comprises up to six connecting assemblies that are detachably coupled to one another through pin and hole type connections.
  • Each of the connecting assemblies includes a central connector that can communicate with a power source located in the center of the module and a movable leg with a connecting plate.
  • each leg of a module may pivot about two axes and can be extended away from and retracted towards the module housing.
  • Various types of actuators may be used to pivot, extend and retract the legs.
  • a small amount of memory can be located within the module or within each set of module legs.
  • the connecting plates are rotatable so as to engage one another. Communication systems are provided between the connecting plates so that one module may connect and thus communicate with another module.
  • each side of the housing of the six sides is numbered and identified.
  • Groups of modules may be formed into a matrix type structure and by directing various modules to move or pivot their legs, ' the overall structure can move to change its shape and/or size, or perform various tasks. Additionally, modules may move from spot to spot by connecting and disconnecting legs in an orderly fashion. For example, a single module at a time may be moved from one end of the overall matrix to another, thus moving the overall matrix in a slow and orderly fashion. Furthermore, one set of modules may be programmed to move relative to another set to cause linear or rotational motion. Alternatively, a plurality of modules may be added to a matrix and then moved to an appropriate position, resulting in a matrix that has a desired shape and size.
  • each module Power and computing for each module is also transmitted along with the communication. If one module loses power, other modules may divert power to that module from a different source. Finally, each module can have or be assigned a unique identification value or address, thus allowing a particular module to be given instructions for a desired task.
  • a matrix of modules may form any desired shape and perform any desired function.
  • a matrix could start as a spoon and change into a fork.
  • a fire truck would only have to carry one tool or none if the truck itself was formed from modules.
  • a single machine formed of a matrix of modules could quickly adapt to perform numerous jobs at the site.
  • Figure 1 is a perspective view of a self-structuring computing system housing according to a preferred embodiment of the invention
  • Figure 2 is an exploded detail view showing a leg connected to a housing according to Figure 1 ;
  • Figure 3 shows a detail of a pivoting leg along with a battery power source
  • Figure 4 shows a cross section of a leg along with the leg's internal power and communications cable
  • Figure 5 depicts a drive mechanism for actuating one of the legs of the housing in Figure 1 ;
  • Figure 6 A shows a connecting plate of one of the legs of the housing shown in Figure 1 according to a first preferred embodiment of the invention
  • Figure 6B shows a connecting plate of one of the legs of the housing according to a second preferred embodiment of the invention
  • Figures 7A, 7B and 7C are a series of Figures showing how two different connecting plates engage one another;
  • Figure 8 shows multiple nuclei of a preferred embodiment attached to one another in a matrix
  • Figure 9 shows an enlarged view of a nucleus shown in Figure 8.
  • Figure 10 is an exploded detail view showing a leg an associated connecting assembly according to Figure 1 ;
  • Figure 11 is an exploded perspective view of three connecting assemblies according to Figure 1 ;
  • Figure 12 is a perspective view showing details of two connecting assemblies according to Figure 1 , along with a battery power source;
  • Figure 13 is an exploded top view of four connecting assemblies according to Figure 1 , along with a battery power source;
  • Figures 14 A, 14B and 14C are a series of Figures showing how four modules cooperate to replace the power source of one of the modules. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
  • Module 10 is preferably formed of two major components, a housing 12 and a set of legs 14.
  • Housing 12 is shown as a cube but could be formed in other shapes, such as a sphere.
  • Housing 12 comprises six connecting assemblies 200, 300, 400, 500, 600, and 700 which are detachably coupled to one another. In its cubic form, housing 12 has six faces. Only a front face 20, a left side face 21 and a top face 22 are shown. Each face provides a mounting area for a respective leg 25, 26, 27, 28, 29 and 30 providing housing 12 with six legs.
  • housing 12 supports legs 25-30 in a pivotal manner. Each leg 25-30 is provided with a respective connecting plate 31-36.
  • Module 10 is preferably symmetrical about all three axes and numerous modules 10 may be connected to each other by attaching respective connecting plates 31-36 to form a matrix. The lowermost modules 10 may use their connecting plates 31-36 as feet to support the matrix.
  • Connecting assembly 40 includes a rectangular frame 41 mounted securely in housing 12.
  • Frame 41 includes four beams 43-46 and a curved back wall 47 which define the boundaries of a centrally located recess 49.
  • Oppositely located beams 44 and 46 have mounting holes 50 (only one shown) located symmetrically opposite one another.
  • Curved back wall 47 and frame 41 form recess 49 in which a pivoting assembly 51 is mounted for rotation about a first axis 52.
  • Pivoting assembly 51 includes a rectangular housing 54 formed of four beams 55-58.
  • Two of the beams 56, 57 have outwardly extending pins 59, 60 that generally cooperate with mounting holes 50 in frame 41 to allow for the pivoting motion of pivoting assembly 51.
  • Any sort of bearing may be used to reduce friction in this pivoting connection.
  • the remaining two beams 55, 58 of pivoting assembly 51 include mounting holes 61 (only one shown).
  • An end 62 of leg 30 has outwardly extending mounting pins 63 (only one shown) that generally cooperate with mounting holes 61 in pivoting assembly 51.
  • any type of anti ⁇ friction bearing may be used, as may different types of pivoting connections.
  • a rod could be mounted in housing 54 and extend from one beam 55 to another 58 though leg 30 to form the pivoting connection. If leg 30 is restricted to pivot about only one axis, then the adjacent legs should be set up to pivot about axes that are at right angles to one another so as to avoid interference with the other pivoting legs.
  • leg 28 As seen in Figure 1, with specific reference to a different leg 28, one end 64 of leg 28 is attached to housing 12 as discussed above in regards to leg 30. The other end 65 of leg 28 is attached to a connecting plate 34.
  • Legs 25-30 may be free standing or may be reinforced by tension cables 66, seen in Figure 1, as extending from housing 12 to the edge of connecting plate 34 of leg 28. Cables 66 may be reeled in and out as necessary when leg 28 is extended, retracted or pivoted. When utilized, cables 66 will give the legs 25-30 a more ridged and stable support. The legs 25-30 themselves may be extended and retracted as desired by the use of extendable housing and motive systems.
  • FIG. 3 there is shown one leg 30 pivotably mounted within its associated connecting assembly 40.
  • Assembly 40 has a series of holes 67a mounted in a beam 46 and a series of pins 67b extending from beam 45.
  • the pins 67b from one assembly 40 are inserted into respective holes (not shown) in an adjacent assembly not shown.
  • Back wall 47 extends to a central connector 68 for attachment to a battery 69.
  • Battery 69 is the central power source for module 10. While battery 69 is rechargeable, it is also easily replaceable should battery 69 become damaged in any way.
  • leg 30 includes mounting pins 63 for connecting leg 30 to housing 12 (shown in Figure 1).
  • a power source such as a battery 69 (not shown in Figure 2) may be utilized to move leg 30.
  • leg 30 includes a series of tubular members 70-73 that may be formed in a telescopic configuration.
  • the tubular members 70-73 could be in the form of any type of hollow shape, such as a rectangular tube.
  • a largest outer tube 70 includes mounting pins 63 at one end for connecting to housing 12, while a smallest inner tubular member 73 is connected to connecting plate 36.
  • housing 12 In order to communicate between different modules, electrical and optical communications are provided between housing 12 and each connecting plate 31-36.
  • wires and optic fibers can be bundled into a cable 76 that may be extended or retracted as leg 30 is extended or retracted.
  • cable 76 is protected by a pill type cable support 80.
  • innermost tubular member 73 of leg 30 is attached to connecting plate 36 at its outermost end and slidably mounted in the next largest tube 72.
  • the next largest tube 71 is open at its outward end so as to receive tube 72.
  • several outer tubes of progressively larger size and analogous shape may be used, as demonstrated in Figure 2 by tubular members 70-73.
  • next largest tube 70 is closed off except for a small central hole 85 for allowing passage of the cable 76.
  • Cable support 80 is provided in the opening of the innermost tube 73. As the tubes 71, 72, 73 are retracted, the openings in each tube engage cable support 80 which is fixed to the end of innermost tube 73, thus preventing pinching of cable 76. In essence, cable support 80 guides cable 76 through each opening.
  • the propulsion of the various tubes 71-73 is by a series of screw-nut actuators 89 driven by a series of motors 90 (only one of each shown).
  • An inner set of motors 90 each drive a respective threaded shaft 92.
  • a nut is formed to receive the shaft 92 so that when the shaft 92 rotates, tube 73 moves axially and thus the overall leg 30 extends.
  • the nut may be a traditional, internally-thread member or may be formed from rotating gears 93. When gears 93 are present, they provide an override feature. In a traditional screw nut linear actuator, forcibly moving the linear threaded member will break the actuator. In the current design, when excessive force is placed on the threaded member 92, the gears 93 rotate, allowing compression of the overall leg 30. The force necessary to cause such an override situation may be adjusted as needed.
  • linear actuators may be used to extend and retract each leg. While a screw nut type of actuator is depicted in Figure 5, it is envisioned that an alternative actuator in the form of a series of magnets placed along the length of the tubes 71-73 may be used. Electromagnets placed among the series of magnets could be controlled by a computing mechanism each or a central processing unit (depicted in Figure 9). By selectively activating certain magnets, the amount of distance the tubes 71-73 move relative to one another is controlled. Any inexpensive and efficient power source can be utilized, such as battery 69 (depicted in Figure 9). Power is then transmitted from the actuator to leg 30 by a variety of mechanisms.
  • a so-called “lazy tong” mechanism or folding lattice, such as that found in a child safety gate, may also be used.
  • One end of a folding lattice may be attached to the pivoting base tube 70 of the leg 30 and the other end attached to the connecting plate 36.
  • the entire lattice structure extends, thus extending the leg 30.
  • This expanding lattice would be placed within the telescoping tubular members 70-73 described above.
  • Another arrangement could include a series of cone shaped members having openings at each end. The cones would be placed in a nested configuration. The cones would include longitudinal openings, which allow a cable to be threaded through. As the cable is pulled taut, the cones are forced to extend.
  • Telescoping tube 70-73 such as that discussed above, could be placed around the cones to provide additional stability.
  • An electric actuator directly built into the telescoping tubes 71-73 could also be used.
  • the actuators for pivoting the legs 25-30 will have to be powerful to provide enough force to move the matrix. Also, they will have enough force to hold the legs 25-30 at a desired angle once the leg 25-30 has been pivoted. Preferably, a neutral position is also provided for the legs 25-30 so that they may pivot freely as necessary.
  • a preferred mechanism for use as such an actuator is a high speed electric motor having a worm gear on its drive shaft. A brake is also provided to stop the motor. The worm gear is connected to a large gear connected to a small circular gear and a small gear drives a rack to provide for translational movement. As such motors and gears are well known in the art, they will not be discussed in detail here.
  • connecting plates 31-36 may be of several designs to provide communication and power transfer between several modules 10.
  • connecting plate 36 is generally divided into a central area 100 and an outer area 105 that may rotate independently if desired.
  • Central area 100 may be subdivided into four sectors 110-113, with each sector having a power connection 120 and a communications channel 125.
  • the use of four sets of power connections 120 and communication channels 125 allows for redundancy so that if one channel fails the others may take over.
  • cables 76 are connected to housing 12 at one end and connected to connecting plate 36 at the other end to provide communication between housing 12 and power connection 120 and communication channel 125.
  • Connecting plate 36 includes plungers 126 and hooks 127 for providing a relatively long-term mechanical connection between connecting plates as discussed in more detail below in regard to Figures 7A-7C.
  • Figure 6B shows an alternative connection method in which connecting plate 36 is capable of connecting to other module connecting plates using either an electromagnet 130 or connecting clamps and pins 135 and 145, for long-term or short-term connections. Additionally, electromagnets 130 could be used to send and receive signals and to transfer power through coupled mutual inductance. In the case that electromagnets 130 transmit signals and power, then a communications region 140 and power conduits may be omitted from connecting surface 36.
  • Figure 6B depicts the electromagnetic connection in conjunction with mechanical connecting pins 135, it is understood that the various mechanical connection methods can be used interchangeably with various communications methods.
  • FIG. 7A-7C The manner in which the plunger 126 and hook 127 mechanical connection of Figure 6A engages is depicted in Figures 7A-7C.
  • plungers 126, 126' retract due to the action of their cooperating sloped top faces 128, 128'.
  • the connection can be broken by retracting the plungers 126, 126' and rotating connecting plate 36 in a reverse direction versus connecting plate 36'. Alternate connection mechanisms may also be used.
  • Connecting plate 36 may rotate relative to leg 30 by use of a motor. As with the pivoting connection of leg 30 described above, connecting plate 36 should be fixable at a certain position or be allowed to rotate freely as desired.
  • single modules 10 or groups of modules may change position relative to one another to change the overall shape of matrix 150.
  • a module A may move from being attached to a module B to being attached to a module C. This motion may be achieved by spinning module A as it moves from B to C. Module A can also move around a corner of matrix 150 by continuing its rotation and connecting another connecting plate of module C before proceeding down the side of matrix 150. In a similar manner, module A may move along a string of other modules.
  • Rotational motion can also be caused on a large scale.
  • a series of four internal modules D surrounded by a square of twelve modules can be used to create such a rotation.
  • the four internal modules D can walk around the inner surface of the outer square thus causing the internal modules D to rotate relative to the outer group.
  • Larger groups of modules could achieve similar motion, wherein for example, a group of nine modules could rotate within a group of fourteen. With even larger groups, the inner groups could be shaped to approximate a circle and the outer groups could be shaped as a ring.
  • each module 10 preferably includes at least one battery 69 or other similar power source and at least one central processing unit 99. Wiring 170 is provided so that power source 69 may communicate with all six connecting plates and thus connect to every other module in the matrix 150.
  • the central processing unit 99 is also connected with wiring 171 to every connecting plate of the module 10, thus connecting the central processing unit 99 to every other processing unit in matrix 150.
  • Each module can have a small amount of memory (e.g. 100 kilobytes).
  • each set of legs in a module can contain its own small memory source. Every module is designed to have its own individual power supply; however, should one power supply fail, the module with a failed power supply may draw power from adjacent modules. Further, some modules may have their power source removed and still function using power from adjacent modules. Power may also be relayed through a series of modules. Such modules can also act as an electrical power transmission line. Although depicted in Figure 9 as off-center, preferably battery 69 is housed within a central portion of module 10 as will be discussed in more detail below.
  • each housing starts with each housing identifying its orientation.
  • a module or set of legs can obtain an address: 1) explicitly, wherein the module or leg set stores an identification (ID) value or, 2) implicitly, wherein the collective matrix utilizes techniques such as an algorithm involving having each module relay a data packet and subtracting one from a destination counter.
  • the address is explicit and each module has a unique ID value. The value can be fixed and pre- assigned when the module is manufactured.
  • An ID number can also be assigned to each set of legs ori a module. A portion of the memory , (whether in the core of the module or in the legs) can be used to store the ID number. The ID number can be absolute or relative.
  • An algorithm can be used to extrapolate the address of a particular module using a combination of ID values from several modules in a matrix.
  • housing 12 can be represented as a cube having six sides. Each side is assigned a number. For example, each even number may be opposite the odd number that proceeds it. So, 2 is opposite 1; 4 is opposite 3 and 6 is opposite 5. Furthermore, the odd numbers are grouped around one corner, the even numbers are grouped around an opposite corner and the even numbers are arranged in an ascending order in a clockwise direction. So, for example, front face 20 may be assigned 1; left side face 21 may be assigned 2, etc. The arrangement of the numbers could also be that of standard left or right- handed dice in which opposite sides add up to seven. The numbers may be pre-assigned or may be assigned when two connecting assemblies 200, 300, 400, 500, 600, 700 are joined based on the pattern.
  • each module 10 is assigned an address or value. Instructions for a certain module can be sent to the address of the module. Indeed if a module fails, it can be replaced and the new module can take the failed module's position and address, thus causing minimal disruption by the replacement.
  • the location of each module can be stored as a binary number. For simplicity sake, a three bit number will be used as an example. It should be understood that much larger numbers may be used for large matrixes.
  • the addresses may be pre-assigned and stored in memory or they may be assigned by an algorithm.
  • a packet of data may include the final address assigned to a counter and subtract one from the counter as it travels to each module.
  • the packet's counter value equals zero
  • the packet has arrived at its destination location.
  • a data packet could have a destination address of 011. Since the counter value is not 0, the data packet will move on, subtracting one from the counter, thus having a new counter value of 010. This process is repeated until the data packet has arrived at its destination which is determined by the counter value equaling zero.
  • This system is particularly advantageous in that each module does not need to know its own address.
  • the matrix can be divided into sets of eight with each set being labeled.
  • an address 5- 011 or 101011 in binary could be used and assigned to the counter.
  • the address would be given in both directions such that each address would have a six-digit binary-number for each direction.
  • three six- digit binary-numbers would be used for a cube having up to 262, 144 modules.
  • finding the quickest path to a destination module becomes important.
  • directions can be added to the data packets so that it knows not only the final destination but also a particular path to travel.
  • value 000 could mean "stop,” 010 could mean up, 011 could mean down and 100 could mean left, etc.
  • Such directions could be relative to the data packet's direction of travel or could be absolute compared to the overall matrix orientation.
  • the shortest path can be calculated using optimization algorithms and then transferred to the data packet.
  • the larger address identifying designators may be used.
  • connecting assemblies 200, 400, 500, 600 and 700 with respective legs 25, 27, 28, 29, and 30 can detachably couple to one another such that they each communicate with battery 69.
  • connecting assembly 200 has a back wall 247
  • connecting assembly 300 has a back wall 347
  • connecting assembly 400 has a back wall 447, etc.
  • FIG 10 there is illustrated an exploded view of leg 25 and its associated connecting assembly 200.
  • a typical leg, such as leg 25, may pivot in any direction relative to housing 12 (shown in Figure 1) due to connecting assembly 200.
  • a rectangular frame 241 is mounted securely in connecting assembly 200.
  • Frame 241 includes four beams 243-246 and back wall 247 which define the boundaries of a centrally located recess 249.
  • Oppositely located beams 244 and 246 have mounting holes 250 (only one shown) located symmetrically opposite one another.
  • Back wall 247 and frame 241 form recess 249 in which a pivoting assembly 251 is mounted for rotation about a first axis 252.
  • Pivoting assembly 251 includes a rectangular housing 254 formed of four beams 255-258. Two of the beams 256, 257 have outwardly extending pins 259, 260 that generally cooperate with mounting holes 250 in frame 241 to allow for the pivoting motion of pivoting assembly 251. Any sort of bearing may be used to reduce friction in this pivoting connection.
  • the remaining two beams 255, 258 of pivoting assembly 251 include mounting holes 261 (only one shown).
  • An end 262 of leg 25 has outwardly extending mounting pins 263 (only one shown) that generally cooperate with mounting holes 261 in pivoting assembly 251.
  • any type of anti-friction bearing may be used, as may different types of pivoting connections.
  • a rod could be mounted in housing 254 and extend from one beam 255 to another 258 through leg 25 to form the pivoting connection. If leg 25 is restricted to pivot about only one axis, then adjacent legs of module 10 should be set up to pivot about axes that are at right angles to one another so as to avoid interference with the other pivoting legs.
  • one end 562 of leg 28 is attached to housing 12 via connecting assembly 500 as discussed above in regards to leg 25.
  • the other end 565 of leg 28 is attached to connecting plate 34.
  • Legs 25-30 may be free standing or may be reinforced by tension cables 566, seen in Figure 1, as extending from housing 12 to the edge of connecting plate 34 of leg 28.
  • Cables 566 may be reeled in and out as necessary when leg 28 is extended, retracted or pivoted. When utilized, cables 566 give the legs 25-30 a more rigid and stable support. The legs 25-30 themselves may be extended and retracted as desired by the use of extendable housing and motive systems.
  • leg 25 is pivotally mounted within its associated connecting assembly 200
  • leg 28 is pivotally mounted within its associated connecting assembly 500
  • leg 30 is pivotally mounted within its associated connecting assembly 700.
  • connecting assembly 200 includes beams 243, 244, 245 and 246, so connecting assembly 500 includes beams 543, 544, 545 and 546 and connecting assembly 700 includes beams 743, 744, 745 and 746.
  • a series of holes 267a is formed in each of opposite beams 246 and 244; just as a series of holes 567a is formed in each of opposite beams 544 and 546 and a series of holes 767a is formed in each of opposite beams 744 and 746.
  • a series of pins 267b extends from each of respective beams 245 and 243; just as a series of pins 567b extends from each of respective beams 545 and 543, and a series of pins 767b extends from each of respective beams 745 and 743.
  • a set of pins 567b are inserted into a set of holes 767a
  • a set of pins 267b are inserted into a set of holes 567a
  • a set of pins 767b are inserted into a set of holes 267a.
  • the remaining pins and holes can be used to attach the remaining connecting assemblies 300, 400, and 600 (not shown in Figure 11), thereby forming housing 12 depicted in Figure 1. While the connection shown in Figure 11 utilizes a series of four holes and a series of four pins, it should be noted that any combination of pins and holes could exist on each beam so long as the mating connector was matched so that each pin lines up with a hole.
  • connecting assembly 200, 300, 400, 500, 600, and 700 has an associated back wall 247, 347, 447, 547, 647, and 747.
  • this back wall is in the form of a truncated pyramid. See Figures 10-14.
  • connecting assembly 400 is shown coupled to connecting assembly 700.
  • connecting assembly 400 includes four beam members 443-446 and associated pins 467b and holes 467a.
  • back wall 447 of assembly 400 includes four angled faces 480 and a top portion or central connector 468.
  • back wall 747 of assembly 700 comprises four angled faces 780 and a top portion or central connector 768.
  • connecting assemblies 300, 500, 600, and 700, of a cubic module 10 are shown. As previously discussed with reference to connecting assemblies 200, 400, 500 and 700, connecting assemblies 300 and 600 each include four beams, of which 346, 546, 645 and 745 are shown. Additionally, it should be noted that connecting assemblies 300, 500 and 600 each include a back wall 347, 547 and 647 with respective angled faces 380, 580, 680.
  • container 900 can be in the form of an electrical power cell or battery 69, it could also be a reservoir for another type of fuel, or can house electronics, sensors or mechanical devices.
  • a side 901 of container 900 abuts central connector 568
  • a side 902 abuts central connector 668
  • a side 903 abuts central connector 368
  • a side 904 abuts central connector 768.
  • Battery 69 is the central power source for module 10. While battery 69 is rechargeable, it is also easily replaceable should battery 69 become damaged in any way.
  • battery 69 The shape of battery 69, along with the manner in which each of connecting assemblies 200, 300, 400, 500, 600 and 700 can communicate with battery 69 when assembled together in housing 12, allows six legs 25-30 and their associated connecting plates 31-36 to be powered by one battery 69.
  • wiring 170 is provided so that power source 69 may connect to all six connecting plates 31-36 of a module 10, and thus connect to every other module in a matrix 150.
  • This arrangement allows battery 69 in a module 10 to be recharged through the communication of its associated connecting plates 31-36 with another module in matrix 150 and its associated connecting plates 31-36. This configuration also allows for easy replacement of battery 69.
  • a first module 1000 includes first, second, third and fourth connecting assemblies 1010, 1020, 1030, and 1040, and first, second, third and fourth legs 1050, 1060, 1070, and 1080.
  • a second module 2000 includes first, second, third and fourth connecting assemblies 2010, 2020, 2030, and 2040 and first, second, third and fourth legs 2050, 2060, 2070, and 2080;
  • a third module 3000 includes first, second, third and fourth connecting assemblies 3010, 3020, 3030, and 3040 and first, second, third and fourth legs 3050, 3060, 3070, and 3080;
  • a fourth module 4000 includes first, second, third and fourth connecting assemblies 4010, 4020, 4030, and 4040 and first, second, third and fourth legs 4050, 4060, 4070, and 4080.
  • the modules in Figures 14A-14C are shown as each having four connecting assemblies and four legs.
  • each of the modules can include six connecting assemblies and six legs, but need only include those connecting assemblies and legs necessary for the particular task to be conducted by the matrix 150'.
  • the first, second, third and fourth modules 1000, 2000, 3000 and 4000 are detachably coupled to one another to form matrix 150' which is supported by third and fourth modules 3000 and 4000 upon a support surface 5000.
  • a power cell module 69' to be replaced is located in fourth module 4000.
  • connecting assembly 4010 attaches itself to battery 69', such as through a central connector as previously discussed.
  • connecting assembly 4010 detaches itself from the remainder of fourth module 4000 and is lifted, via the connection between leg 1070 and leg 4050, away from the remainder of fourth module 4000 by the pivotal movement of legs 1060 and 2080. This movement in turn lifts battery 69' away from the remainder of fourth module 4000.
  • leg pivoting and extending mechanisms see the previous discussion of Figure 10.
  • matrix 150' can position the various legs 1050, 1060, 2050 and 2080 such that they can connect and disconnect with one another, thereby "walking" first module 1000 around second module 2000.
  • first module 1000 is now positioned to the side of second module 2000 with its leg 1080 connected to leg 2060.
  • one of legs 1070 or 4050 can be extended, thereby lowering battery 69' to support surface 5000.
  • connecting assembly 4010 can be disconnected from battery 69' and positioned over a new battery 69" via extension of one or both of legs 1080 or 2060.
  • Connecting assembly 4010 can then be lowered until it can attach to battery 69".
  • the previous cycle can be reversed so that connecting assembly 4010 and battery 69" are "walked” back around second module 2000 and battery 69" is lowered into the remainder of fourth module 4000.
  • connecting assembly 4010 can reattach itself to the remainder of fourth module 4000.
  • the end result is a matrix 150' having the same configuration as that seen in Figure 14A, but with a new battery 69"in place of battery 69'.
  • Figures 14A-14C only depict one of the many ways a matrix of modules can cooperate to change a battery and are shown only for demonstrative purposes. The scope of the invention should not be seen as limited to the particular steps outlined above.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Toys (AREA)
  • Accommodation For Nursing Or Treatment Tables (AREA)
  • Eye Examination Apparatus (AREA)

Abstract

L'invention concerne un système modulaire autostructurant et informatisé qui comprend une matrice (150, 150') formée d'une pluralité de modules (10, A, B, C). Chaque module (10, A, B, C, D, 1000, 2000, 3000, 4000) peut comprendre jusqu'à six ensembles de connexion (40, 200, 300, 400, 500, 600, 700, 1010, 2010, 3010, 4010) qui sont assemblés de manière détachable les uns aux autres par des connexions du type comprenant des cheville (267b, 467b, 567b, 767b) et des orifices (267a, 467a, 567a, 767a), pour former un boîtier (800) destiné à une source d'alimentation (69). Chaque ensemble (40) de connexion comprend un bras (25-30, 1050, 1060, 1070, 1080, 2050, 2060, 2070, 2080, 3050, 3060, 3070, 3080, 4050, 4070, 4080) à montage pivotant sur lequel est fixée une plaque (31-36) de connexion, et un connecteur central (68). La source d'alimentation (69) placée au centre du module (10, A, B, C, D, 1000, 2000, 3000, 4000) communique avec chacun des connecteurs centraux (68). Différents modules (10, A, B, C, D, 1000, 2000, 3000, 4000) d'une matrice (150, 150') peuvent être commandés de manière à déplacer ou à pivoter leurs bras (25-30, 1050, 1060, 1070, 1080, 2050, 2060, 2070, 2080, 3050, 3060, 3070, 3080, 4050, 4070, 4080) à mouvoir ou à modifier la structure d'ensemble de la matrice (150, 150'), ou à exécuter une tâche telle que le remplacement de la source d'alimentation (69) d'un module (10, A, B, C, D, 1000, 2000, 3000, 4000).
PCT/US2005/038894 2004-10-29 2005-10-28 Systeme modulaire autostructurant et informatise WO2006050070A2 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2007539155A JP5243799B2 (ja) 2004-10-29 2005-10-28 モジュラーユニット、複数のモジュラーユニットにて形成されたマトリクス、自己構築及び演算システム、及び、複数のモジュラーユニットの形状を変化させる方法
AU2005302536A AU2005302536B2 (en) 2004-10-29 2005-10-28 A modular self structuring and computing system

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US10/975,405 2004-10-29
US10/975,405 US7444205B2 (en) 2004-10-29 2004-10-29 Modular self structuring and computing system
US11/219,712 2005-09-07
US11/219,712 US7567854B2 (en) 2004-10-29 2005-09-07 Self structuring and computing system

Publications (2)

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WO2006050070A2 true WO2006050070A2 (fr) 2006-05-11
WO2006050070A3 WO2006050070A3 (fr) 2006-06-29

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10293482B2 (en) 2015-11-12 2019-05-21 ITI Electromagnetic Products Inc. Self-assembling robotic construction system and associated methods

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US5435405A (en) * 1993-05-14 1995-07-25 Carnegie Mellon University Reconfigurable mobile vehicle with magnetic tracks
US5523662A (en) * 1994-05-02 1996-06-04 Engineering Services, Inc. Modular, expandable and reconfigurable robot
US6084373A (en) * 1997-07-01 2000-07-04 Engineering Services Inc. Reconfigurable modular joint and robots produced therefrom
US6686717B2 (en) * 1997-04-01 2004-02-03 Charles Khairallah Modular articulated structure
US6786896B1 (en) * 1997-09-19 2004-09-07 Massachusetts Institute Of Technology Robotic apparatus

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5435405A (en) * 1993-05-14 1995-07-25 Carnegie Mellon University Reconfigurable mobile vehicle with magnetic tracks
US5523662A (en) * 1994-05-02 1996-06-04 Engineering Services, Inc. Modular, expandable and reconfigurable robot
US6686717B2 (en) * 1997-04-01 2004-02-03 Charles Khairallah Modular articulated structure
US6084373A (en) * 1997-07-01 2000-07-04 Engineering Services Inc. Reconfigurable modular joint and robots produced therefrom
US6786896B1 (en) * 1997-09-19 2004-09-07 Massachusetts Institute Of Technology Robotic apparatus

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10293482B2 (en) 2015-11-12 2019-05-21 ITI Electromagnetic Products Inc. Self-assembling robotic construction system and associated methods

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AU2005302536B2 (en) 2010-09-23
AU2005302536A1 (en) 2006-05-11

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