US 5,515,934 AGranted

Agile versatile mobile robot body

OwnerStuart D. Davisinventor

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Abstract

A modular robot body assembly includes a generally rhombicuboctahedron geometric shape segmented into five modules symmetrically located around a horizontal center shaft system which allows the robot body, front legs, and back legs to rotate about a horizontal center axis with respect to one another. Four quarter-shell modules are arranged at 90 degree angles from each other about the common horizontal center axis and joined at edges to each other and at their inner facing edges to a core module containing a shaft rotatably mounted along the horizontal center axis. Each module may contain functionally different parts that can be mixed and matched with other modules to suit particular applications. A flexible coil conduit is connected between the shaft and the core module providing an electrical linkage form the robot body to the legs while maintaining rotational capability of the legs with respect to the body.

Claims12

Dependent claims

A robot body, comprising:

an elongated rectangular core module having four rectangular sides and two opposite square ends, each of said ends having four edges, said core module having a longitudinal axis extending between said ends;
and
four panels attached to said core module, said panels being arranged radially around said axis, each of said panels including a rectangular side parallelly spaced from one of said sides of said core module, said rectangular side of said panel having two longitudinal edges parallel to said axis and two transverse edges orthogonal to said axis, said rectangular side of said panel being longitudinally shorter than said side of said core module, each of said panels including first and second rectangular angled sides extending from said transverse edges to adjacent edges along said ends of said core module, each of said panels including a third rectangular angled side extending from one of said longitudinal edges to an adjacent longitudinal edge of said rectangular side of an adjacent panel, each of said panels including two triangular sides extending between opposite ends of said third rectangular angled side and adjacent ends of said first and second rectangular angled sides.

A robot, comprising:

an elongated rectangular core module having four rectangular sides and two opposite square ends, each of said ends having four edges, said core module having a longitudinal axis extending between said ends;
four panels attached to said core module, said panels being arranged radially around said axis, each of said panels including a rectangular side parallelly spaced from one of said sides of said core module, said rectangular side of said panel having two longitudinal edges parallel to said axis and two transverse edges orthogonal to said axis, said rectangular side of said panel being longitudinally shorter than said side of said core module, each of said panels including first and second rectangular angled sides extending from said transverse edges to adjacent edges along said ends of said core module, each of said panels including a third rectangular angled side extending from one of said longitudinal edges to an adjacent longitudinal edge of said rectangular side of an adjacent panel, each of said panels including two triangular sides extending between opposite ends of said third rectangular angled side and adjacent ends of said first and second rectangular angled sides;
only one pair of front legs having proximal ends pivotally attached to said ends of said core module and angling downwardly and forwardly therefrom, said front legs being pivoted about said axis at said proximal ends;
only one pair of rear legs having proximal ends pivotally attached to said ends of said core module and angling downwardly and rearwardly therefrom, said rear legs being pivoted about said axis at said proximal ends, said from and rear legs supporting said core module at a predetermined height above a surface;
a pair of non-driven wheels attached to respective distal ends of said front legs;
a pair of driven wheels attached to respective distal ends of said rear legs;
rotating means for independently rotating each of said pairs of legs about said axis with respect to said core module, so that when said pairs of legs are rotated in opposite directions with respect to said core module, said height of said core module is changed, and when said pairs of legs are rotated in the same direction with respect to said core module, said core module is rotated about said axis;
and
driving means for driving said driven wheels.

6 more elements

Dependencies are inferred from the claim text.

Facts

Application: 08/323,760Filed 17 Oct 1994
Granted: 14 May 1996
Term ends: Not estimatedThe source records don’t support an estimate.

Classification6 codes

B62D 57/024
With ground-engaging propulsion means, e.g. walking members: specially adapted for moving on inclined or vertical surfaces
B25J 5/007
Manipulators mounted on wheels or on carriages: mounted on wheels
B62D 57/021
With ground-engaging propulsion means, e.g. walking members: the ground engaging means being sequentially inflatable bags for peristaltic movement
B62D 57/022
With ground-engaging propulsion means, e.g. walking members: consisting of members having both rotational and walking movements