Functional device, in particular a robot, for educational use with modules that can be combined together

Patent metadata

Field	Value
Publication number	US-10762801-B2
Application number	US-201715849765-A
Country	US
Kind code	B2
Filing date	Dec 21, 2017
Priority date	Dec 23, 2016
Publication date	Sep 1, 2020
Grant date	Sep 1, 2020

Abstract

A robot device having modules that can be combined together to produce alternative devices useful for educational purposes. The robot device includes one or more frame bodies and one or more motorized joints connected to the frame bodies and in communication with a central control unit. Each motorized joint includes a fixed portion and a movable portion. Through a combination of frame bodies and motorized joints modules, alternative motorized devices can be generated.

First claim

What is claimed is:

1. A functional robot device comprising:
one or more frame bodies; and
one or more motorized joints, each joint comprising:
one or more electric motors;
a unit for power supply and control of said motors; and
a first, fixed, cylindrical portion and a second, mobile, cylindrical portion, wherein said first cylindrical portion contains inside it said one or more electric motors,

wherein each frame body includes a first cylindrical seat and a second cylindrical seat pre-arranged for receiving and connecting thereon one of said motorized joint first cylindrical portion or said second cylindrical portion.

2. The device according to claim 1 wherein said each joint first and said second cylindrical portions and said each frame body first and said second cylindrical seats includes a diameter, wherein the diameters of said first and said second cylindrical seats of said each frame body and of said first and said second cylindrical portions of said each joint are substantially equal, so that selective of said first and said second cylindrical seats receive said respective said first and said second portions according to a condition where outer walls of said first and said second cylindrical portions are set flush with inner walls of said first and said second cylindrical seats all along a respective perimeter.

3. The device according to claim 2 wherein said each joint further comprises:
a cylindrical container housing said one or more electric motors, said cylindrical container is closed by a cover and defines said first cylindrical portion; and
a cylindrical half-shell having an end edge positioned to face said cylindrical container, said cylindrical half-shell defining said second cylindrical portion.

4. The device according to claim 3 , wherein said one or more electric motors are fixed to a bottom wall of said cylindrical container via screws that traverse corresponding openings provided on said bottom wall and that engage threaded bores provided on a casing of said one or more electric motors.

5. The device according to claim 4 wherein each of said one or more electric motors further comprises an output shaft having a pinion, each said pinion having a portion positioned outside said cylindrical container and extending into said cylindrical half-shell, and said cylindrical half-shell further having an internal toothing that is engaged by said pinions.

6. The device according to claim 5 further comprising a concave-configured bracket connected to said cylindrical container and positioned on an opposing side of said bottom wall from said one or more electric motors, said bracket is operable to rotatably engage each pinion and constraining said pinion axially with respect to an action that tends to cause said pinion to slide out of said output shaft.

7. The device according to claim 3 , wherein the outer cylindrical walls of said first and second cylindrical portions are aligned with one another.

8. The device according to claim 1 , wherein said each frame body comprises at least one tubular portion with an annular flange defining at least one of said first and said second cylindrical seats.

9. The device according to claim 8 , wherein provided on said annular flange is a series of openings and wherein provided on said first and second cylindrical portions of said each joint is a series of threaded bores, which are pre-arranged for being aligned with said openings provided on said annular flanges in order to fix said each joint on said each frame body using screws.

10. The device according to claim 1 wherein said one or more frame bodies further comprise a L-shaped configuration wherein said first cylindrical seat and said second cylindrical seat have respective axes positioned mutually orthogonal to one another.

11. The device according to claim 1 wherein said one or more frame bodies said first or said second cylindrical seat comprises two opposed coaxial cylindrical seats operable to house said one or more joints according to two opposite orientations.

12. The device according to claim 1 , wherein said first and second cylindrical portions of said one or more joints have a respective circular end wall defining one or more threaded bores operable to connect said respective one or more joints to said respective one or more frame bodies.

13. The device according to claim 1 wherein each joint further comprises a power supply and control unit in electrical communication with the one or more electric motors.

14. The device according to claim 13 wherein said power-supply and control unit further comprises a display for reproducing a sign identifying the motorized joint from among a series of joints provided.

15. The device according to claim 13 further comprising a central control unit in electrical communication with each power supply and control unit.

16. A functional programmable driving vehicle device comprising:
one or more frame bodies; and
one or more motorized joints, each joint comprising:
one or more electric motors;
a unit for power supply and control of said motors; and
a first, fixed, cylindrical portion and a second, mobile, cylindrical portion, wherein said first cylindrical portion contains inside it said one or more electric motors, wherein each frame body includes a first cylindrical seat and a second cylindrical seat pre-arranged for receiving and connecting thereon one of said motorized joint first cylindrical portion or said second cylindrical portion.

17. The driving vehicle according to claim 16 wherein said each joint first and said second cylindrical portions and said each frame body first and said second cylindrical seats includes a diameter wherein the diameters of said first and said second cylindrical seats of said each frame body and of said first and said second cylindrical portions of said each joint are substantially equal, so that selective of said first and said second cylindrical seats receive said respective said first and said second portions according to a condition where outer walls of said first and said second cylindrical portions are set flush with inner walls of said first and said second cylindrical seats all along a respective perimeter.

18. The device according to claim 17 wherein said each joint further comprises:
a cylindrical container housing said one or more electric motors, said cylindrical container is closed by a cover and defines said first cylindrical portion; and
a cylindrical half-shell having an end edge positioned to face said cylindrical container, said cylindrical half-shell defining said second cylindrical portion.

19. The driving vehicle of claim 16 further comprising:
a front steering-wheel assembly; and
a rear-wheel assembly, each of the front and rear wheel assembly having the one or more frame bodies and the one or more motorized joints.

20. The driving vehicle of claim 19 further comprising a central control unit.

Assignees

• Comau Spa

Inventors

• Ciniello Francesco
• Cremonini Maurizio

Classifications

• B25J9/08 Primary

  characterised by modular constructions · CPC title

• B25J17/00

  Joints · CPC title

• B25J9/106

  with articulated links · CPC title

• B25J9/126

  Rotary actuators · CPC title

• B25J9/0009

  Constructional details, e.g. manipulator supports, bases · CPC title