Electronic device including rolling element between spherical housing and internal driving device

Patent metadata

Field	Value
Publication number	US-11565405-B2
Application number	US-202016790847-A
Country	US
Kind code	B2
Filing date	Feb 14, 2020
Priority date	Feb 15, 2019
Publication date	Jan 31, 2023
Grant date	Jan 31, 2023

Abstract

An electronic device is disclosed, including: a spherical housing, and a first driving device disposed in the spherical housing and configured to cause a rolling motion of the spherical housing, the first driving device including: first and second wheels contacting an inner spherical surface of the spherical housing, the first and second wheels respectively disposed at opposite sides of an axis of rotation, at least one motor configured to transmit power to the at least one of the first wheel and the second wheel, a balance weight, a first surface that is spaced apart from the axis of rotation in a direction of gravity by balancing of the balance weight, and facing the inner spherical surface, and at least one rolling element disposed between the inner spherical surface and the first surface.

First claim

What is claimed is:

1. An electronic device, comprising:
a spherical housing; and
a first driving device disposed in the spherical housing and configured to cause a rolling motion of the spherical housing, the first driving device including:
first and second wheels contacting an inner spherical surface of the spherical housing, the first and second wheels respectively disposed at opposite sides of an axis of rotation;
at least one motor configured to transmit power to the at least one of the first wheel and the second wheel;
a balance weight;
a first surface that is spaced apart from the axis of rotation in a direction of gravity by balancing of the balance weight, and facing the inner spherical surface;
at least one rolling element disposed between the inner spherical surface and the first surface;
a second device disposed on a surface of the spherical housing;
a structure disposed in the spherical housing and configured to move with movement of the second device;
a second driving device configured to drive a motion of the structure; and
a plurality of second rolling elements disposed between the structure and the inner spherical surface.

2. The electronic device of claim 1 , wherein the at least one rolling element includes a first rolling element and a second rolling element respectively disposed at opposite sides of the axis of rotation.

3. The electronic device of claim 1 , wherein the first surface includes a curved surface that at least partially complements the inner spherical surface.

4. The electronic device of claim 1 , further comprising:
at least one first magnet disposed in the structure; and
at least one second magnet disposed in the second device,
wherein the structure and the second device are configured to move together as a result of an attractive force generated between the first magnet and the second magnet.

5. The electronic device of claim 1 , wherein the second device includes at least one of a camera, a display, a microphone, a speaker, and a wireless communication circuit for wireless communication with external electronic devices.

6. The electronic device of claim 1 , further comprising:
a plurality of third rolling elements disposed between the second device and the spherical housing.

7. The electronic device of claim 1 , wherein the at least one rolling element includes a ball disposed on the first surface.

8. The electronic device of claim 7 , wherein the at least one rolling element further includes an elastic member that maintains contact of the ball against the inner spherical surface.

9. The electronic device of claim 1 , wherein each of the second rolling elements includes a ball disposed in the structure.

10. The electronic device of claim 9 , wherein each of the second rolling elements further includes an elastic member configured maintain contact of the ball against the inner spherical surface.

11. The electronic device of claim 1 , wherein the structure includes a ring structure having an annular surface disposed facing the inner spherical surface of the spherical housing.

12. The electronic device of claim 11 , wherein the second device has an annular shape, and is disposed along the annular surface.

13. The electronic device of claim 11 , wherein the second driving device includes at least one motor disposed between the ring structure and the first driving device, the at least one motor connected to the ring structure.

14. An electronic device, comprising:
a first device including a spherical housing; and
an annular second device disposed on a surface of the spherical housing;
wherein the first device includes:
a first driving device disposed in the spherical housing and configured to cause a rolling motion of the spherical housing;
a ring structure disposed in the spherical housing, facing an inner spherical surface of the spherical housing to move with the second device;
a second driving device configured to cause a motion of the ring structure; and
a plurality of first rolling elements disposed between the ring structure and the inner spherical surface.

15. The electronic device of claim 14 , wherein the first rolling elements include a ball caster disposed on an annular surface.

16. The electronic device of claim 14 , further comprising:
at least one first magnet disposed in the ring structure; and
at least one second magnet disposed in the second device,
wherein the ring structure and the second device are configured to move together according to an attractive force generated between the first magnet and the second magnet.

17. The electronic device of claim 14 , wherein the second device includes a plurality of second rolling elements disposed between the second device and the spherical housing.

18. The electronic device of claim 14 , wherein the first driving device includes:
first and second wheels, which contact with an inner spherical surface of the spherical housing, and are respectively coupled at opposite sides of an axis of rotation;
at least one motor configured to transmit power to the first wheel and/or the second wheel;
a balance weight;
a first surface that is spaced apart from the axis of rotation in a direction of gravity by balancing of the balance weight, and facing the inner spherical surface; and
at least one third rolling element disposed between the inner spherical surface and the first surface.

Assignees

• Samsung Electronics Co Ltd

Inventors

• Jeong Eunsu
• Lee Woochul
• Cho Byunghun
• Na Hyoseok
• Yun Yongsang
• Hwang Hochul

Classifications

• B25J9/04

  by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type · CPC title

• B25J9/126 Primary

  Rotary actuators · CPC title

• B25J9/102

  Gears specially adapted therefor, e.g. reduction gears (gearings in general F16H) · CPC title

• B25J5/007

  mounted on wheels · CPC title

• B25J19/002

  using counterweights · CPC title