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US 10,482,786 B2Granted
Modular robot system
AssigneeBarobo, Inc.
InventorGraham G. Ryland
Life of this patent
Estimating the term…
Abstract
A modular robot for use as an educational robot system having multiple degrees of freedom and mounting features that allow multiple modules to be assembled with accessories to form a multitude of configurations. Each module is independently mobile and useful when alone or assembled with other modules. An encoder gear and encoder gear track is used to sense multiple degrees of freedom with parallel and perpendicular axis of rotation using a single printed circuit board.
Claims25
A robot module, the module comprising:
- a housing having a first side, a second side, and a third side;
- a fourth surface having a first edge in common with the first side, a second edge in common with the second side, and a third edge in common with the third side, wherein the fourth surface is curved and smooth;
- a first hub configured to be rotatably connected to the first side of the housing;
- a second hub configured to be rotatably connected to the second side of the housing;
- a third hub configured to be rotatably connected to the third side of the housing;
- a drive unit disposed within the housing, wherein the drive unit is configured to rotate the first hub, the second hub and the third hub independently of each other, and wherein the drive unit further comprises a carrier configured to hold a first motor configured to rotate the first hub and a second motor configured to rotate the second hub;
- a controller unit disposed within the housing, wherein the controller unit is configured to control the drive unit to rotate the first hub, the second hub and the third hub independently of each other to provide three degrees of freedom for the module, wherein the controller unit is configured to hold a third motor connected to the third hub, and wherein the controller unit is configured to attach to the carrier.
4 more elements
A method of making a reconfigurable robot module, the method comprising:
- obtaining a housing having a first side, a second side, a third side, and a fourth surface having a first edge common with the first side, a second edge common with the second side, and a third edge common with the third side, wherein the fourth surface is curved and smooth;
- obtaining a first hub;
- rotatably connecting the first hub to the first side of the housing;
- obtaining a second hub;
- rotatably connecting the second hub to the second side of the housing;
- obtaining a third hub;
- rotatably connecting the third hub to the third side of the housing;
- obtaining a drive unit;
- disposing the drive unit within the housing, wherein the drive unit is configured to rotate the first hub, the second hub, and the third hub independently of each other, and wherein the drive unit further comprises a carrier configured to hold a first motor configured to rotate the first hub and a second motor configured to rotate the second hub;
- obtaining a controller unit;
- and
- disposing the controller unit within the housing, wherein the controller unit is configured to control the drive unit to rotate the first hub, the second hub, and the third hub independently of each other to provide three degrees of freedom for the module, wherein the controller unit is configured to hold a third motor connected to the third hub, and wherein the controller unit is configured to attach to the carrier.
9 more elements
Dependencies are inferred from the claim text.