Mast systems for autonomous mobile robots
US-2019032842-A1 · Jan 31, 2019 · US
US9580907B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-9580907-B2 |
| Application number | US-201414581396-A |
| Country | US |
| Kind code | B2 |
| Filing date | Dec 23, 2014 |
| Priority date | Dec 23, 2014 |
| Publication date | Feb 28, 2017 |
| Grant date | Feb 28, 2017 |
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A stowable, load-bearing apparatus is disclosed having at least two bi-stable strips. Each of the bi-stable strips is alternatable between a stable, extended conformation having longitudinal linearity and lateral curvature and a coiled conformation having longitudinal curvature and lateral linearity. The two bi-stable strips are intercoiled when in the coiled conformation, have opposing lateral curvature relative to one another when in the extended conformation, and when extended are directed into a load-bearing alignment by a structural alignment member.
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What is claimed is: 1. A stowable support apparatus, comprising: a first bi-stable member, the first bi-stable member being alternatable between a stable, extended conformation having longitudinal linearity and lateral curvature, and a stable, coiled conformation having longitudinal curvature and lateral linearity; an extended portion of the first bi-stable member having a concave surface facing in a direction of a coiled portion of the first bi-stable member and a convex surface facing away from the direction of the coiled portion when the first bi-stable member is in a partly extended and partly coiled conformation; a second bi-stable member, the second bi-stable member being alternatable between a stable, extended conformation having longitudinal linearity and lateral curvature, and a stable, coiled conformation having longitudinal curvature and lateral linearity; the second bi-stable member comprising first and second layers, at least one of the first and second layers comprising an auxetic material; the first and second layers configured such that an extended portion of the second bi-stable member has a convex surface facing in a direction of a coiled portion of the second bi-stable member and a concave surface facing away from the direction of the coiled portion when the second bi-stable member is in a partly extended and partly coiled conformation; and at least one flexible fastener, separate from the first and second bi-stable members, affixed to adjacent lateral edges of the first and second bi-stable members in both the extended conformation and the coiled conformation. 2. The stowable support apparatus of claim 1 , wherein the at least one flexible fastener is configured to guide the first and second bi-stable members into proper alignment relative to one another for load support upon extension. 3. The stowable support apparatus of claim 1 , wherein the at least one flexible fastener comprises at least one of a hinge and a flexible membrane. 4. The stowable support apparatus of claim 1 , wherein the first and second bi-stable members alternate between the extended and coiled conformation in tandem, and are intercoiled when in the coiled conformation. 5. The stowable support apparatus of claim 1 , wherein the first and second bi-stable members each respectively define continuous, linearly extending, longitudinal edges that are aligned and adjacent with one another in the extended conformation. 6. A method for making a stowable support apparatus, the method comprising: providing a first bi-stable member, the first bi-stable member being alternatable between a stable, extended conformation having longitudinal linearity and lateral curvature, and a stable, coiled conformation having longitudinal curvature and lateral linearity; providing a second bi-stable member, the second bi-stable member being alternatable between a stable, extended conformation having longitudinal linearity and lateral curvature, and a stable, coiled conformation having longitudinal curvature and lateral linearity; joining the first and second bi-stable members with at least one structural alignment member configured to join the first and second bi-stable members when they are in either the extended conformation or the coiled conformation, wherein the first bi-stable member and the second bi-stable member have an opposing lateral curvature relationship relative to one another; wherein an extended portion of the first bi-stable member has a concave surface facing in a direction of a coiled portion of the first bi-stable member and a convex surface facing away from the direction of the coiled portion when the first bi-stable member is in a partly extended and partly coiled conformation; and wherein an extended portion of the second bi-stable member has a convex surface facing in a direction of a coiled portion of the second bi-stable member and a concave surface facing away from the direction of the coiled portion when the second bi-stable member is in a partly extended and partly coiled conformation; and wherein the apparatus is configured such that, when the first and second bi-stable members are in an extended conformation, convex surfaces of the first and second bi-stable members contact one another. 7. The method of claim 6 , wherein providing the first bi-stable member is further characterized in that the first bi-stable member comprises an auxetic material, or providing the second bi-stable member is further characterized in that the second bi-stable member comprises an auxetic material. 8. The method of claim 6 , wherein the structural alignment member comprises a flexible encapsulator, and the joining step comprises engaging the flexible encapsulator about the first and second bi-stable members while the first and second bi-stable members are in the extended conformation. 9. The method of claim 6 , further including a step of intercoiling the first and second bi-stable members. 10. The method of claim 6 , wherein the structural alignment member comprises a flexible fastener, and the joining step comprises affixing the flexible fastener to adjacent lateral edges of the first and second bi-stable members while the first and second bi-stable members are in either of the extended conformation or the coiled conformation. 11. A stowable support apparatus, comprising: a first bi-stable member, the first bi-stable member being alternatable between a stable, extended conformation having longitudinal linearity and lateral curvature, and a stable, coiled conformation having longitudinal curvature and lateral linearity; a second bi-stable member, the second bi-stable member being alternatable between a stable, extended conformation having longitudinal linearity and lateral curvature, and a stable, coiled conformation having longitudinal curvature and lateral linearity; and at least one flexible encapsulator surrounding or encapsulating at least a portion of the first and second bi-stable members in both the extended conformation and the coiled conformation, wherein the first bi-stable member and the second bi-stable member have an opposing lateral curvature relationship relative to one another; wherein an extended portion of the first bi-stable member has a concave surface facing in a direction of a coiled portion of the first bi-stable member and a convex surface facing away from the direction of the coiled portion when the first bi-stable member is in a partly extended and partly coiled conformation; and wherein an extended portion of the second bi-stable member has a convex surface facing in a direction of a coiled portion of the second bi-stable member and a concave surface facing away from the direction of the coiled portion when the second bi-stable member is in a partly extended and partly coiled conformation; and wherein the apparatus is configured so that, when each of the first and second bi-stable members is in the extended conformation, convex surfaces of the first and second bi-stable members contact one another. 12. The stowable support apparatus of claim 11 , wherein the flexible encapsulator directs the apparatus into a load bearing conformation when the first and second bi-stable members are present in the extended conformation. 13. The stowable support apparatus of claim 11 , wherein either of the first and second bi-stable members comprises an auxetic material. 14. The stowable support apparatus of claim 11 , wherein the first and second bi-stable members alternate between the extended and coiled conformation in tandem, and are intercoiled when in the coiled conformation. 15. The stowable support apparatus of claim 14 ,
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