Abstract:
This invention discloses a mobile device similar to a golf-club-bag pull cart that transports a golf-ball pneumatic launcher [Robogolfer]. The launcher propels a golf ball in a manner similar to striking it with a golf club. Robogolfer allows an individual unskilled or physically handicapped in swinging a golf club to play golf. The operator positions the device where a golf shot is desired and points the barrel in the direction of the shot. The trajectory and distance of the golf shot is controlled by the angle of loft and pneumatic pressure of the golf-ball launcher. Pressurized gas is instantaneously released into the barrel of the launcher by a dump valve, thus propelling the golf ball forward on the golf course. Since skill is required in selecting the direction, loft, and distance for each golf shot launched, individuals can use Robogolfer to play golf competitively on a standard golf course.

Description:
BACKGROUND OF INVENTION  
       [0001]     Golf is an exceedingly popular sport internationally. It provides players healthy exercise and the pleasure of competition and skill enhancement. Participation in the sport of golf requires special skills on the part of the player. Because considerable time and money is necessary to acquire these skills the opportunity to play golf is not available to most individuals. Also, certain handicapped individuals are prohibited from playing conventional golf. The present invention provides an individual unskilled or handicapped in swinging a golf club an opportunity to play golf on a conventional golf course.  
         [0002]     Robotics have been applied to golf for a variety of purposes. Davies et al. [U.S. Pat. Nos. 5,711,388; 5,944,132] and Romy [DE19941807] describe an autonomous personal service robotic golf caddy. Toru [JP32446] describes a robotic caddy that in addition to transporting the golfer&#39;s clubs displays useful information for the golfer. Commercial versions of robotic golf caddies are available that follow the golfer around the course (Shedda Robotic Electric Golf Caddy/Cart (Gettig Engineering and Manufacturing Company, Spring Mills, Pa.). A hands-free golf-ball teeing device has been patented by Bacon [U.S. Pat. No. 5,743,804]. Andreae, Jr. et al. have patented a power assisted adapter for pull-type golf club bag carrying carts [U.S. Pat. No. 6,276,470 B1].  
         [0003]     A variety of patents relating to robotic control of a golf-club swing have been issued [Hiroshi et al., JP2001190729; Akio et al., JP2002224246; Hamilton, U.S. Pat. No. 6,569,030; Kamato, JP6210038]. Golf club manufacturers utilize robots to test their equipment. Kun-Lin Chien describes a golf bombarding testing machine that propels golf balls toward a club to test club durability [U.S. Pat. Nos. 5,497,650; 6,415,1671 B1]. Commercial versions of ball cannon robotics are available to propel golf balls at precise points on the golf clubface testing the dimensional stability of the club. Loft, lie, and swinging robots are also available commercially to test clubs and golf balls [Burrows Golf, Inc., Valencia, Calif. 91355].  
         [0004]     Robotics departments at universities have challenged students to develop a variety of robotic devices in their laboratories that play golf. These devices have generally been constructed out of LEGO components and operate only in a small area. Besson [FR2689409] and Rowland [U.S. Pat. No. 5,393,058] have patented miniaturized robotic golf games. Plattsburgh University challenges students to build a robotic golf ball locater and retriever for the visually impaired. The University of Texas asks students to build an autonomous robot capable of playing robo-golf over a 4 by 6 foot playing area. MIT challenges its students to build autonomous robots that can place golf balls in holes on a pre-designed table. Robotics Trade Organization which represents over 50 robotics manufacturers in the United States has challenged their membership to build a robot that can play golf autonomously on a conventional golf course. They have set down a number of criteria including the requirement that the robot swing a conventional golf club. Robots by Design (Louisville, Ky.) has modified one of its robots to swing an iron and hit a golf ball. The estimated cost of this robot is $250,000.  
         [0005]     Handicapped golf has been played in the United Kingdom since World War I and more recently in the United States organizations have been formed to assist physically handicapped individuals play golf. The focus of these organizations has been to assist amputees swing a golf club. None of the previous art allows a severely handicapped person unskilled or unable to swinging a golf club to play on a golf course in a competitive manner.  
         [0006]     Pneumatic launching devices (paint ball guns and air cannons) have been used to propel a variety of missiles including paint balls, potato plugs, T-shirts, and golf balls. All these devices have basic similarities in that pressurized gas is abruptly released by means of a valve into a barrel where it propels objects out of the barrel at different velocities and distances. A variety of patents have been issued covering pneumatic-gun devices to propel balls [U.S. patents: Fujimoto, U.S. Pat. No. 6,561,176 B1; Juan, U.S. Pat. No. 6,302,092 B2; Gardner, Jr., U.S. Pat. No. 5,881,707; Lotuaco, III, U.S. Pat. No. 5,878,736; Lucus, U.S. Pat. No. 5,613,483; Williams, U.S. Pat. No. 5,572,982; Kotsiooulos, U.S. Pat. No. 5,280,778; Henderson, U.S. Pat. No. 3,662,729]. Simpler air cannons have been developed that do not have bolt actions like a gun. Among these are Spudguns that can launch potato plugs, tennis balls, and T-shirts by releasing compressed gas (air, carbon dioxide, nitrogen) abruptly by the activation of a quick-release dump valve into a barrel containing the projectile. Pneumatic devices have been described for launching golf balls to strike golf clubs in order to test their integrity [U.S. Pat. Nos. 5,497,650; 6,415,671 B1].  
         [0007]     None of the present art describes a method of launching a golf ball pneumatically in a manner similar to striking it with a golf club where the direction, loft, and distance traveled by the ball is controlled by the operator. Such a device would enable a large population of individuals presently unable to play golf to participate in this popular sport.  
       SUMMARY OF INVENTION  
       [0008]     This invention provides a means for individuals unskilled or handicapped in swinging a golf club to play golf on a conventional golf course. The mobile golf-ball launching device, Robogolfer  1 , in this invention allows an individual to simulate a conventional golf shot by controlling the direction, loft, and distance of the golf ball when it is launched. The golf-ball launcher ( FIG. 2 ) is attached to a transport means  42  (FIGS.  8 , 9 , 10 , 11 ) similar to a golf-club bag pull cart that allows the golf-ball launcher ( FIG. 2 ) to be moved to appropriate places on the golf course where a golf shot can be executed. Attached to the transport means  42  is a cylindrical casing  3 , 5  ( FIGS. 4,5 ) similar to a golf bag that houses the components of the golf-ball launcher ( FIG. 2 ) consisting of the accumulator  13 , compressor  7  with a rechargeable battery  7 ′, dump valve  19 , and dump valve actuator  21 . The cylindrical casing  3 , 5  besides containing the golf ball launcher ( FIG. 2 ) can also be used to transport golf clubs, golf balls, and other golf accessories. Mounted on an upper cart frame member  43  of the transport means  42  is a display screen  47  that holds the compressor on/off switch  51 , digital pressure readout  49  from accumulator pressure sensor  13 , ball-launch button  55 , and inclinometer readout  53 . If needed the transport means can be attached to a golf cart or wheelchair and moved to a position where a golf shot can be made by a handicapped person.  
         [0009]     In accordance with another aspect of the invention, the transport means  42  has an adjustable loft means ( FIGS. 16A and 16B ) at the rear that allows the selection of a desired loft angle for launching the golf ball and provides stability to the launching means ( FIG. 2 ) during the execution of a golf shot.  
         [0010]     In accordance with another aspect of the invention, a pneumatic golf-ball launcher ( FIG. 2 ) is attached in a casing  3 , 5  ( FIGS. 4,5 ) to the transport means  42  in such a manner that it can be used to launch a golf ball B in varying directions, at varying distances, and lofts. The direction and loft of the golf shot can be controlled by pointing the barrel  29  of the golf ball launcher in the desired direction and tilting the Robogolfer  1  backwards at varying angles utilizing the adjustable loft means ( FIGS. 16A, 16B ) in the rear. A degree of loft can be selected by the operator through individual judgment or by observing readings on an attached inclinometer  53 . The distance of the shot can be controlled by adjusting the pressure in the accumulator  13  as determined by the accumulator pressure sensor  15  attached to the accumulator  13  with a digital readout  49  on the display screen  47 .  
         [0011]     In accordance with another aspect of the invention, Robogolfer  1  is equipped with a rapid-release dump valve  19 , pneumatically or electronically activated, by an actuator valve  21  that can instantaneously release pressurized gas into the air release channel  25  propelling the golf ball B out through the breech  27  and barrel  29 . Such action allows a golf ball B to be propelled from the launcher barrel at a rapid velocity and for a considerable distance. In the preferred embodiment of this invention golf balls can be launched over 300 yards. The dump valve  19  can consist of one of several configurations known to the art such as a piston valve or diaphragm valve. The preferred valve for this invention is a piston valve activated by an actuating valve.  
         [0012]     By utilizing the transport means  42 , adjustable loft means ( FIGS. 16A,16B ), golf-ball launching means ( FIG. 2 ), and distance control means  15 ,  51  of Robogolfer  1  an individual unskilled or handicapped in swinging a golf club can launch a golf ball in a desired direction, loft, and distance and play golf competitively on a conventional golf course. 
     
    
     BRIEF DESCRIPTION OF DRAWINGS  
       [0013]      FIG. 1 . Perspective view of golf-ball launching means and transportation means [Robogolfer].  
         [0014]      FIG. 2 . Side view/fragment section of golf-ball launching means.  
         [0015]      FIG. 3 . Top view of golf-ball launching means.  
         [0016]      FIG. 4 . Front view of casing containing golf-ball launching means.  
         [0017]      FIG. 5 . Rear view of casing containing golf-ball launching means.  
         [0018]      FIG. 6 . View along line  6 - 6  of  FIG. 4  which shows front view of casing containing golf-ball launching means where barrel is attached.  
         [0019]      FIG. 7 . Sectional view of barrel connection to golf-ball launching means.  
         [0020]      FIG. 8 . Front view of transport means and adjustable loft means.  
         [0021]      FIG. 9 . Side view of transport means and adjustable loft means.  
         [0022]      FIG. 10 . Rear view of transport means and adjustable loft means.  
         [0023]      FIG. 11 . Top view of transport means and adjustable loft means.  
         [0024]      FIG. 12 . Section along line  11 - 11  of  FIG. 9  which shows side view of transport means and adjustable loft means.  
         [0025]      FIG. 13 . Section along line  12 - 12  of  FIG. 10  which shows rear view of transport means and adjustable loft means.  
         [0026]      FIG. 14 . Section along line  13 - 13  of  FIG. 9  which shows side view of transport means and adjustable loft means.  
         [0027]      FIGS. 15A and 15B . Section along line  15 - 15  of  FIG. 13  which is a section along line  12 - 12  of  FIG. 10  showing rear view of transport means and adjustable loft means.  
         [0028]      FIGS. 16A and 16B . View illustrating minimum and maximum launch angle for the golf-ball launching means utilizing adjustable loft means. 
     
    
     DETAILED DESCRIPTION  
       [0029]     The objective of this invention is to allow an individual unskilled or handicapped in swinging a golf club to launch a golf ball in a manner similar to striking it with a club and play golf on a conventional golf course. In order to realize this objective a mobile device has been invented consisting of a transport means  42  (FIGS.  8 , 9 , 10 , 11 ), a golf-ball launching means ( FIG. 2 ), a golf-ball adjustable loft means (FIGS.  12 , 13 , 14 , 15 A, 15 B, 16 A, 16 B), and a distance control means  15 , 49 , 51 . Special skill is needed in the operation of these various means which affords the opportunity for competition among individuals utilizing this invention. Once an individual&#39;s ball has reached the proximity of the golf green utilizing Robogolfer  1  a conventional golf club such as a wedge or putter can be used to finish the hole.  
         [0030]     The Robogolfer  1  transport means  42  (FIGS.  8 , 9 , 10 , 11 ) provides a way to move the golf-ball launcher of Robogolfer to various sites on a golf course where a golf shot can be executed. Robogolfer has wheels  107  and an axel  101  for transportation and an adjustable loft means (FIGS.  12 , 13 , 14 , 15 A, 15 B, 16 A, 16 B) that helps adjust the loft and direction of the golf shot and stabilizes Robogolfer  1  during a golf shot. The Robogolfer transport means (FIGS.  8 , 9 , 10 , 11 ) is similar to a golf-bag pull cart to which a casement  3 , 5  is attached to an upper  57  and lower  119  frame member. The casement  3 , 5  houses the golf-ball launcher which consists of an accumulator  13 , compressor  7  with a removable/rechargeable battery pack  7 ′. The compressor  7  is connected  11  to the accumulator  13  which has a dump valve  19  that regulates the discharge of compressed gas from the accumulator  13  into the air release channel  25 . An actuating valve  21  is connected to the dump valve  19 . The Robogolfer transport means also has a display screen  47  ( FIG. 11 ) attached to the handle  45  that contains the compressor on/off button  51 , golf-ball launching button  55 , digital inclinometer readout  53 , digital pressure readout  49 , and adjustment knob set screw  61 . Wires from the actuating valve for the dump valve  23 , pressure sensor on the accumulator  17 , and compressor  9  run to an electrical connector  35  in the casement  5  which connects to the ball-launch button  55 , compressor on/off switch  51 , and digital pressure readout  49  on the display screen  47 .  
         [0031]     The golf-ball launching means ( FIG. 2 ) of Robogolfer can consist of any of a variety of pneumatic gun or launcher configurations known to the art to propel solid objects [eg. air cannons and paint ball guns]. The preferred configuration of the golf-ball launching means ( FIG. 2 ) consists of an accumulator  13  connected  11  to a removable/rechargeable battery pack  7 ′ powered compressor  7 . A rapid-release dump valve  19  separates the compressed air generated by the compressor  7  in the accumulator from the barrel  29  of the launcher. Connected to the dump valve  19  is an actuating valve  21  that releases pressurized gas and activates the dump valve  19 . When a small volume of pressurized gas is released by the actuating valve  21  the piston in the dump valve  19  moves rapidly to the rear releasing the seal between the dump valve  19  and air release channel  25  allowing the pressurized gas in the accumulator  13  to be rapidly expelled out the barrel  29  thus propelling the golf ball B out the end of the barrel. The launcher barrel  29  which has an inside diameter (ID) that is machined to just accommodate the diameter (1.68 inches) of a golf ball B is designed so that it can be detached and inserted in a barrel storage clamp  33  during transportation. The barrel can be removed from the barrel storage clamp  33  and installed to the launching means by a barrel quick connect  31  ( FIG. 7 ) that involves the insertion and removal of a locking pin  30  at the base of the barrel  29  into a locking groove  37 ,  37 ′ and turning the barrel clockwise. An O-ring  39  seals the barrel to the breech chamber  27 .  
         [0032]     The Robogolfer transport means  42  has an adjustable loft means that allows the operator to precisely set Robogolfer  1  to simulate the loft of various golf shots ( FIGS. 16A,16B ). As seen in  FIGS. 15A,15B  this is accomplished by moving a launch angle adjustable block  59  along an angle adjustment screw shaft  63  and two guide rails  73  at the back of the transport means  42 . Movement of the launch angle adjustable block  59  along these three members can be accomplished by pulling back the T-handle  77  which disengages the rack  79  from the threads on the screw shaft  63  allowing the operator to move the adjustment block  59  up or down the screw shaft  63 . Such movement allows the operator to set adjustable loft means at a desired loft for a golf shot ( FIGS. 16A,16B ). Once the T-handle  77  is released and the rack  79  is reengaged, a fine adjustment for the loft angle can be made using the angle adjustment knob  61  and adjustment knob set screw  61 ′.  
         [0033]     The Robogolfer transport means  42  is constructed to facilitate movement of Robogolfer  1  and provide the proper loft for a golf shot, as well as, provide stability during the shot. To accomplish these goals the transport means  42  consists of an upper frame member  43  and lower transporter frame member  119  to which two parallel guide rails  73  are attached. Between the guide rails  73  there is an angle adjustment screw shaft  63  which is attached to the upper transport frame member  43  and lower transport frame member  87 . Movement of the launch angle adjustment member upward causes the movement of the Robogolfer wheels  107  backward subsequently increasing the angle of loft of the Robogolfer barrel ( FIGS. 16A,16B ). Two upper struts  111  are attached to the upper strut attachment ears  109  by means of a pin  113  and run to the launch angle adjustment member  59 . Lower struts  101  run from the upper strut attachment ear  109  to the lower cart frame member  87 . At the base of the lower transport frame member  119  is a pivoting flange  121  that penetrates the turf and anchors Robogolfer  1  during the alignment and execution of a golf shot.  
         [0034]      FIG. 12  shows in detail the attachment of the angle adjustment shaft  63  and guide rails  73  to the upper transport frame member  43  of Robogolfer. The bore  71  of the upper transport frame member  43  has a bearing  67  at its top and bottom through which the upper shaft section  65  passes. Washers  69 ,  69  are placed on both ends of the upper shaft section. A key way  65 ′ is between the fine adjustment knob  61  and fine adjustment knob set screw  61 ′. Set screws  75  hold the two guide rails  73  in place.  
         [0035]      FIG. 13  shows a cross section of the launch angle adjustment member  59  at a point where the upper struts are attached with pins  117  and the T-handle attached to the adjusting rack  79  which is engaged with the angle adjustment screw shaft  63 . A spring  81  inside the bearing surface  85  keeps the adjusting rack  79  engaged.  FIG. 15A  shows the adjusting rack  79  engaged with the angle adjustment screw shaft  63  and the T-handle  77 , bore  80 , adjusting rack  79 , bearing surface  83 , 85 , spring  81 , and launch angle adjustment member  59 .  FIG. 15B  shows the adjusting rack  79  disengaged from the angle adjustment screw shaft  63 .  
         [0036]      FIG. 14  shows the lower attachment of the angle adjustment screw shaft  63  of the adjustable alignment means on the transport means  82  of Robogolfer. The angle adjustment screw shaft  63  passes through the bore  71  of the lower transport frame member  87  which has a bearing  91  at both ends. Washers  93 ,  93 ′ are placed on both sides of the bore hole. The guide rails  73  are held in place with set screws  97  in the lower transport frame member  87 . The lower strut  101  forms an upper strut attachment ear  109 ,  115  in which the upper strut  111  is attached with a pin  113 .  
         [0037]     Pneumatic launching devices for solid projectiles can use blow forward or blow back technology. Blow forward designs do not use any hammers or bolts instead the gas that propels the projectile is fed directly into a chamber with the piston. When the launcher is fired the piston is released and the gas pressure pushes the projectile forward in one stroke. When the piston reaches the end of its travel, a spring pushes it back for another shot. Blow back technology uses a hammer or bolt that strikes against a valve. The valve releases two jets of gas. One jet blows down the barrel, propelling the object, while the other pushes the bolt back, re-cocking the launcher for the next shot.  
         [0038]     A preferred embodiment of this invention ( FIG. 2 ) utilizes blow forward pneumatics. Execution of a golf shot by Robogolfer  1  is performed in the following manner. The transport means is used to position Robogolfer  1  where a golf shot is desired. The golf ball B is inserted into the breech  27  against the ball rest  41 . The barrel  29  is removed from the barrel storage clamp  33  and attached to the barrel quick connect  31  by inserting the locking pin  30  at the base of the barrel  29  into the locking groove  37 , 37 ′ and turning it clockwise until the barrel  29  is securely attached. Holding the handle  45  of the transport means  42  the barrel  29  of the launching means ( FIG. 2 ) is pointed in the direction of the desired shot and the pivoting flange  121  is inserted into the turf to stabilize the alignment of the shot. A desired loft for the golf shot is selected by pulling back on the T-handle  77  on the launch angle adjustment member  59  and sliding it along the guide rails  73  and angle adjust screw shaft  63  until a desired angle of loft is obtained. The selected loft of the golf shot can be determined by utilizing the judgment of the operator or as determined by an inclinometer reading  53 . When a desired angle of loft is obtained by moving the launch angle adjustment member  59 , the T-handle  77  is released causing the adjusting rack  79  to reengage the angle adjustment screw shaft  63 . Then the angle of loft can be more finely adjusted by turning the fine adjustment knob  61  and fine adjust knob set screw  61 ′. To control the distance the golf ball will travel, the compressor button  51  on the upper cart frame member  43  is turned on. The pressure in the accumulator  13  is observed on the pressure digital readout  49  and when the desired pressure is reached the compressor button  51  is turned off. With the loft and pressure selected the ball-launch switch  55  on the upper cart frame member  43  is pressed which fires the golf shot. Following the golf shot, the barrel  29  is detached utilizing the barrel quick connect  31  and the barrel is placed in the barrel storage clamp  33 . The Robogolfer adjustable loft means is returned to its original transport position ( FIG. 16A ) by pulling back on the T-handle and moving the launch angle adjustment member  59  and then releasing the T-handle  77 . Robogolfer  1  is now ready to be transported to the next location where a golf shot is desired. It can be moved from one location to another in a manner similar to a golf-bag pull cart by pulling on the handle  45  and tilting it back on its wheels  107 . Once the new location has been reached the same procedures are followed for the next golf shot. Robogolfer can be pulled from one location to another by its transport means  42  or placed on a golf cart and moved to the next desired position. Robogolfer can be attached to a motorized golf cart or wheelchair that can move both Robogolfer  1  and a handicapped person to the position where a golf shot is desired.  
         [0039]     The ball-launch switch  55  for Robogolfer can be either electronically, mechanically, or pneumatically activated. The ball-launch switch  55  activates the actuating valve  21  which releases a small volume of pressurized gas behind the piston in the dump valve  19  causing it to move rapidly backward opening the seal between the dump valve  19  and the air release channel  25 . Consequently, the pressurized gas (air, carbon dioxide, nitrogen) in the accumulator  13  is rapidly dumped into the barrel  29  and propels the golf ball B out the barrel end. Following the shot the piston in the dump valve  19  is repositioned into its original position either by a spring or pneumatic force.  
         [0040]     A manufacturer of Robogolfer can recommend predetermined lofts and pressures for making various golf shots. Operators of Robogolfer can also apply their own skills in selecting the proper direction, loft, and distance in executing a golf shot.  
         [0041]     This invention does not exclude the use of mechanical rather than pneumatic force to propel the golf ball by the launching means. It is within the scope of this invention to automate, motorize, and computerize its launching means, transport means, alignment and loft control means, and velocity and distance control means. This invention also includes the adaptation of Robogolfer for games other than golf and target shooting, Robogolfer can be used to comparatively test golf balls. It is understood that new rules may be necessary for playing golf utilizing Robogolfer on a conventional golf course.