Robot maneuverable by combined sprawl and four-bar extension mechanisms

Patent metadata

Field	Value
Publication number	US-11702160-B2
Application number	US-201816958431-A
Country	US
Kind code	B2
Filing date	Dec 26, 2018
Priority date	Dec 28, 2017
Publication date	Jul 18, 2023
Grant date	Jul 18, 2023

Abstract

A robot device comprising a main body portion and two elongated legs, wherein: a) each of said legs is connected to said main body portion by a four-bar extension mechanism; and b) each one of said legs is rotatable around a corresponding axis positioned along the distal-proximal direction.

First claim

The invention claimed is:

1. A robot device comprising a main body portion and two elongated legs, wherein:
a) each of the elongated legs is connected to the main body portion by a four-bar extension mechanism; and
b) each of the elongated legs is rotatable around a corresponding axis positioned along a distal-proximal direction,
wherein each four-bar extension mechanism comprises a distal bar and a proximal bar;
wherein the proximal bar is connected at one end to the main body portion in a first joint connection and at the other end to the elongated leg in a second joint connection;
wherein the distal bar is connected at one end to the elongated leg in a third joint connection and at the other end to the main body portion in a fourth joint connection;
wherein the main body portion comprises two side rotatable shafts, each rotatable around a corresponding axis of said corresponding axes; and
wherein in the each four-bar extension mechanism the connections of the proximal and distal bars with the main body portion are at a corresponding rotatable shaft of the two rotatable shafts.

2. The robot device according to claim 1 , wherein each joint of the joint connections is a revolute joint.

3. The robot device according to claim 1 , further comprising a sprawl motor and a sprawl gear system, wherein the sprawl motor is configured to generate the sprawl gear system to cause the shafts to rotate to the same extent in opposite directions.

4. The robot device according to claim 3 , wherein the sprawl gear system is a spur gear system;
wherein the device comprises a first spinning spur gear and a second spinning spur gear;
wherein each of the rotatable shafts comprise an arched shaped spur gear element;
wherein the sprawl motor is configured to rotate the first spinning spur gear;
wherein the first spinning spur gear meshes with the second spinning spur gear;
wherein the first spinning spur gear meshes with an arched shaped spur gear element of a first rotatable shaft of the rotatable shafts; and
wherein the second spinning spur gear meshes with an arched shaped spur gear element of a second rotatable shaft of the rotatable shafts.

5. The robot device according to claim 1 , comprising a first sprawl motor, a first sprawl gear system, a second sprawl motor and a second sprawl gear system,
wherein the first sprawl motor is configured to generate the first sprawl gear system to cause one of the shafts to rotate; and
wherein the second sprawl motor is configured to generate the second sprawl gear system to cause the other shaft of the shafts to rotate.

6. The robot device according to claim 1 , further comprising an FBEM motor and an FBEM gear system, wherein the FBEM motor is configured to generate the FBEM gear system to cause each four-bar extension mechanism proximal and distal bars to rotate around their corresponding first and fourth joints respectively.

7. The robot device according to claim 6 , wherein the FBEM gear system comprises a worm drive arrangement;
wherein the main body portion comprises two side longitudinal rods;
wherein the device further comprises two side worm screws each mounded on a corresponding rod of the two side longitudinal rods;
wherein each four-bar extension mechanism comprises a first worm gear fixed to one end of the proximal bar and rotatable around the axis of its first joint and a second worm gear fixed to one end of the distal bar and rotatable around the axis of its fourth joint; and
wherein each four-bar extension mechanism first and second worm gears both mesh with a corresponding side worm screw of the two side worm screws.

8. The robot device according to claim 7 , wherein the FBEM motor is configured to rotate a third worm screw that meshes with a third worm gear element and a fourth worm gear element; and
wherein the third worm gear element meshes with a first side worm screw of the two side worm screws and the fourth worm gear element meshes with a second side worm screw of the two side worm screws.

9. The robot device according to claim 7 , wherein the FBEM gear system comprises a rack and pinion arrangement;
wherein the main body portion comprises two side longitudinal rods;
wherein the device further comprises two side rack elements each mounted on a corresponding rod of the two side longitudinal rods;
wherein each four-bar extension mechanism comprises a first pinion element fixed to one end of the proximal bar and rotatable around the axis of its first joint and a second pinion element fixed to one end of the distal bar and rotatable around the axis of its fourth joint; and
wherein each four-bar extension mechanism first and second pinion elements both mesh with a corresponding side rack element of the two side rack elements.

10. The robot device according to claim 9 , wherein the FBEM motor is configured to rotate a worm screw that meshes with a first worm gear element and a second worm gear element;
wherein the first worm gear element comprises a third pinion element;
wherein the second worm gear element comprises a fourth pinion element;
wherein the third pinion element meshes with a first side rack element of the two side rack elements; and
the fourth pinion element meshes with a second side rack element of the two side rack elements.

11. The robot device according to claim 1 , comprising a first FBEM motor, a first FBEM gear system, a second FBEM motor and a second FBEM gear system,
wherein the first FBEM motor is configured to generate the first FBEM gear system to cause one leg of the legs to move; and
wherein the second FBEM motor is configured to generate the second FBEM gear system to cause the other leg of the legs to move.

12. The robot device according to claim 1 , wherein each of the elongated legs comprises:
a leg motor;
two or more wheels; and
a leg gear system,
wherein the leg motor is configured to generate the leg gear system to cause the two or more wheels to rotate.

13. The robot device according to claim 12 , wherein the leg gear system is a spur gear system;
wherein the device comprises a plurality of adjacent meshing spur gears wherein each two adjacent spur gears of the plurality of adjacent meshing spur gears mesh with one another; wherein each one of the two or more wheels and a corresponding spur gear of the plurality of adjacent meshing spur gears are mounted on a common axle and fixed thereto at their centers; and
wherein each leg motor is configured to rotate one of the plurality of adjacent meshing spur gears on a corresponding leg.

14. The robot device according to claim 13 , wherein two given spur gears, each mounted on corresponding common axles of the common axles have an odd number of spur gears, of the plurality of adjacent meshing spur gears, therebetween.

15. The robot device according to claim 12 , wherein one or more of the two or more wheels are spoked wheels; and
wherein each of the spoked wheels comprises:
a central aperture configured to be mounted on an axle;
N sectors, each bounded by two arms extending outwards from a ring portion surrounding the central aperture; and
an arc portion lying between the outer ends of the arms.

16. The robot device according to claim 1 ,
wherein each four-bar extension mechanism comprises a distal bar and a proximal bar;
wherein the proximal bar is connected at one end to the main body portion in a first joint connection and at the other end to the elongated leg in a second joint connection;
wherein the distal bar is connected at one end to the elongated leg in a third joint connection and at the other end to the mai

Assignees

• B G Negev Technologies And Applications Ltd At Ben Gurion Univ
• B G Negev Technologies And Applications Ltd At Ben Guiron Univ

Inventors

• Zarrouk David

Classifications

• B62D57/028 Primary

  having wheels and mechanical legs (B62D57/024 takes precedence; ground-engaging vehicle fittings for supporting, lifting or manoeuvring the vehicle, wholly or in part B60S9/00) · CPC title

• B62D57/024

  specially adapted for moving on inclined or vertical surfaces (endless-track vehicles for ascending or descending stairs B62D55/075; hand-carts with provision for travelling up or down stairs B62B5/02) · CPC title