Shock-absorbing device for a humanoid robot

Patent metadata

Field	Value
Publication number	US-10300613-B2
Application number	US-201515303724-A
Country	US
Kind code	B2
Filing date	May 7, 2015
Priority date	May 7, 2014
Publication date	May 28, 2019
Grant date	May 28, 2019

Abstract

A shock-absorbing device for a humanoid robot, comprises a rigid structure linked to the humanoid robot, a deformable outer shell, and a shock-absorber; the shock-absorber consisting of a flexible cellular structure comprising a set of cells emerging in a main direction, and being secured to the rigid structure at a first end in the main direction, and linked to the deformable outer shell at a second end opposite the first in the main direction. Advantageously, the outer shell is also linked directly to the rigid structure by means of at least one absorbent fixing of silent block type. The invention relates also to a humanoid robot, and in particular the head of a humanoid robot, comprising such a shock-absorbing device.

First claim

The invention claimed is:

1. A shock-absorbing device for a mobile robot comprising:
a rigid structure linked to the mobile robot,
a deformable outer shell, and
a shock-absorber;
an electronic module fixed to the rigid structure,
the shock-absorber consisting of a flexible cellular structure comprising a set of cells emerging in a main direction, and being secured to the rigid structure at a first end in the main direction, and linked to the deformable outer shell at a second end opposite the first in the main direction,
the shock-absorber comprising a chimney emerging at both ends in the main direction, making it possible to discharge heat emitted by the electronic module out of the mobile robot.

2. The device as claimed in claim 1 , wherein the outer shell is also linked directly to the rigid structure by means of at least one absorbent fixing of silent block type.

3. The device as claimed in claim 1 , wherein the shock-absorber comprises a seal plane substantially at right angles to the main direction; the cellular structure of the shock-absorber being configured in such a way that the cells close up with distance away from the seal plane in the main direction.

4. The device as claimed in claim 1 , wherein the shock-absorber consists of a material chosen from the list comprising natural rubber, 4-polyisoprene, synthetic polyisoprene, polybutadiene, styrene-butadiene copolymer, polyisobutylene, isobutylene-isoprene, chloroprene, neoprene, butadiene-acrylonitrile copolymer, ethylene-propylene copolymer, terpolymer, polyether block amide, elastomer thermoplastics, thermoplastic polyurethanes, thermoplastic olefins, polysulfides, elastin protein, silicone elastomers, fluoroelastomers, perfluoroelastomers, ethylene-vinyl acetate copolymer, polyacrylic elastomers, ethylene-acrylic copolymer, chlorosulfonated polyethylene, epichlorohydrin elastomers.

5. The device as claimed in claim 1 , comprising a fan fixed to the shock-absorber, and capable of generating an airflow in proximity to the electronic module and through the chimney.

6. The device as claimed in claim 1 , comprising at least one light source linked to the rigid structure, and wherein the shock-absorber comprises an emergent duct configured to guide a light emitted by the light source out of the robot.

7. The device as claimed in claim 1 , comprising at least one sound source linked to the rigid structure, and wherein the shock-absorber comprises an emergent duct configured to guide a sound wave emitted by the sound source out of the robot.

8. The device as claimed in claim 1 , comprising at least one microphone fixed to an internal wall of the outer shell and wherein the shock-absorber allows phonic insulation.

9. A humanoid robot comprising a shock-absorbing device as claimed in claim 1 .

10. A head of a humanoid robot comprising a shock-absorbing device as claimed in claim 1 , and wherein the rigid structure is linked to a trunk of the robot.

11. The humanoid robot head as claimed in claim 10 , comprising a first shock-absorbing device arranged in the front part of the head, and a second shock-absorbing device ( 12 ) arranged in the rear part of the head; the two shock-absorbing devices being placed facing one another in the direction the main direction and on either side of a rigid structure common to both shock-absorbing devices.

12. A torso of a humanoid robot as claimed in claim 9 , comprising a first shock-absorbing device arranged in the front part of the humanoid robot, and a second shock-absorbing device arranged in the rear part of the robot; the two shock-absorbing devices being placed facing one another in the direction the main direction and on either side of a rigid structure common to both shock-absorbing devices.

Assignees

• Softbank Robotics Europe

Inventors

• Clerc Vincent
• Tessier Ludovic
• Mugnier Fabien

Classifications

• B25J19/00

  Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators (safety-devices in general F16P; protection against radiation in general G21F) · CPC title

• F16F1/377 Primary

  having holes or openings ({F16F1/37} , F16F1/387 take precedence) · CPC title

• B25J19/0091 Primary

  Shock absorbers (in general F16F) · CPC title

• F16F2224/0225

  Cellular, e.g. microcellular foam · CPC title

• F21V15/04

  Resilient mountings, e.g. shock absorbers  {(shock absorbing devices of vehicle headlamp housings B60Q1/0491; in general F16F15/04)} · CPC title