Throwable robot with improved drive system

• US 10,589,430 B2
• Filed: 08/15/2018
• Issued: 03/17/2020
• Est. Priority Date: 08/15/2017
• Status: Active Grant

• Current Assignee: Reconrobtics, Inc.
• Original Assignee: ReconRobotics Inc.
• Inventors: Kossett, Alex J.
• Primary Examiner(s): Chan, Kawing
• Application Number:
  US15/998,686
• Publication Number:
  US 20190054633A1
• Time in Patent Office: 580 Days
• Field of Search: 31856811
• CPC Class Codes: B25J 13/085 Force or torque sensors B25J13/082, B25J13/084 take precedence
• CPC Class Codes: B25J 19/0016 using springs
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B60K 1/04 of the electric storage means for propulsion exchanging batteries for electric propulsion of vehicles B60L53/80; for auxiliary purposes only B60R16/04; supplying batteries to, or removing batteries from, vehicles B60S5/06
• CPC Class Codes: B60K 17/043 Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
• CPC Class Codes: B60K 17/12 of electric gearing of electrically-actuated clutches B60K17/02
• CPC Class Codes: B60K 2007/0092 the motor axle being coaxial to the wheel axle
• CPC Class Codes: B60K 7/0007 the motor being electric
• CPC Class Codes: B62D 57/02 with ground-engaging propulsion means, e.g. walking members
• CPC Class Codes: F41H 7/005 Unmanned ground vehicles, i.e. robotic, remote controlled or autonomous, mobile platforms carrying equipment for performing a military or police role, e.g. weapon systems or reconnaissance sensors F41H11/16 takes precedence

Abstract

A two wheeled throwable robot comprises an elongate chassis with two ends, a motor at each end, drive wheels connected to the motors, and a tail extending from the elongate chassis. The throwable robot includes a pair of torque limiting mechanisms, each torque limiting mechanism being operatively coupled between a motor and a drive wheel. Each torque limiting mechanism comprises a drive flange portion, a driven flange portion and a plurality of rollers. A spring element provides a ring force that biases the rollers toward the driven flange portion.

Claims

1. A throwable surveillance robot weighing less than six pounds comprising:

a pair of axially aligned drive wheels, each wheel having a maximum diameter, the pair of drive wheels comprising a starboard drive wheel and a port drive wheel;

a housing extending between the wheels, the housing being disposed within a cylinder defined by the maximum diameters of the drive wheels, the housing defining a housing cavity containing a receiver, a transmitter and a video camera connected to the transmitter;

a pair of motors disposed inside the housing cavity, the pair of motors comprising a starboard motor and a port motor, each motor comprising a motor shaft;

a starboard motor gear fixed to the motor shaft of the starboard motor, the starboard motor gear comprising a plurality of gear teeth;

a starboard drive member comprising a toothed outer portion, the toothed outer portion of the starboard drive member engaging the gear teeth of the starboard motor gear, the starboard drive member comprising a driving flange portion, the driving flange portion defining a plurality apertures, the apertures being arranged in a radial pattern extending along a circular path, the starboard drive member defining a central opening;

a starboard driven member comprising a mating shaft portion extending through the central opening defined by the starboard drive member so that the a driven flange portion of the driven member is disposed opposite the driving flange of the starboard drive member, the starboard driven flange portion defining a plurality of holes, each hole being dimensioned and positioned to temporarily or permanently receive a portion of one of the plurality of rollers, each hole being dimensioned and configured such that one of the plurality of rollers cannot pass through the hole;

a starboard spring element providing a spring force, the spring force acting to bias each of the rollers toward the driven flange of the starboard driven member.

2. The surveillance robot of claim 1 further comprising:

a port motor gear fixed to the motor shaft of the port motor, the port motor gear comprising a plurality of gear teeth;

a port drive member comprising a toothed outer portion, the toothed outer portion of the port drive member engaging the gear teeth of the port motor gear, the port drive member comprising a driving flange portion, the driving flange portion defining a plurality apertures, the apertures being arranged in a radial pattern extending along a circular path, the port drive member defining a central opening;

a port driven member comprising a mating shaft portion extending through the central opening defined by the port drive member so that the a driven flange portion of the driven member is disposed opposite the driving flange of the port drive member, the port driven flange portion defining a plurality of holes, each hole being dimensioned and positioned to temporarily or permanently receive a portion of one of the plurality of rollers, each hole being dimensioned and configured such that one of the plurality of rollers cannot pass through the hole;

a port spring element providing a spring force, the spring force acting to bias each of the rollers toward the driven flange of the port driven member.

3. The surveillance robot of claim 2 wherein each spring element comprises one or more wave springs.

4. The surveillance robot of claim 2 wherein the rollers comprise a plurality of cylindrical rods.

5. The surveillance robot of claim 2 wherein the rollers comprise spherical balls.

6. The surveillance robot of claim 2 wherein the holes defined by the starboard driven flange portion and the port driven flange portion comprise through holes.

7. The surveillance robot of claim 2 wherein the holes defined by the starboard driven flange portion and the port driven flange portion comprise blind holes.

8. The surveillance robot of claim 2 wherein:

the starboard mating shaft portion of the starboard driven member extends through a lumen defined by the starboard spring element; and

the port mating shaft portion of the port driven member extends through a lumen defined by the port spring element.

9. The surveillance robot of claim 2 wherein:

the surveillance robot further comprises a starboard pressure plate and a port pressure plate;

the starboard mating shaft portion of the starboard driven member extends through a starboard pressure plate opening defined by the starboard pressure plate, the starboard pressure plate being disposed between the starboard spring element and a plurality of rollers, the roller being at least partially disposed in the apertures defined by the starboard driving flange portion; and

the port mating shaft portion of the port driven member extends through a port pressure plate opening defined by the port pressure plate, the port pressure plate being disposed between the port spring element and a plurality of rollers, the roller being at least partially disposed in the apertures defined by the port driving flange portion.

10. The surveillance robot of claim 2 wherein:

the surveillance robot further comprises a starboard retaining ring, a starboard pressure disk, a port retaining ring, and a port pressure disk, the starboard retaining ring being received in a groove defined by the starboard mating shaft portion of the starboard driven member and the port retaining ring being received in a groove defined by the port mating shaft portion of the port driven member;

the starboard mating shaft portion of the starboard driven member extends through a starboard pressure disk opening defined by the starboard pressure disk, the starboard pressure disk being disposed between the starboard spring element and the starboard retaining ring;

the port mating shaft portion of the port driven member extends through a port pressure disk opening defined by the port pressure disk, the port pressure disk being disposed between the port spring element and the port retaining ring.

11. A throwable surveillance robot weighing less than six pounds comprising:

a pair of axially aligned drive wheels, each wheel having a maximum diameter, the pair of drive wheels comprising a starboard drive wheel and a port drive wheel;

a housing extending between the wheels, the housing being disposed within a cylinder defined by the maximum diameters of the drive wheels, the housing defining a housing cavity containing a receiver, a transmitter and a video camera connected to the transmitter;

a starboard drive member, the starboard drive member comprising a driving flange portion, the driving flange portion defining a plurality apertures, the apertures being arranged in a radial pattern extending along a circular path, the starboard drive member defining a central opening;

a starboard driven member comprising a mating shaft portion extending through the central opening defined by the starboard drive member so that the a driven flange portion of the driven member is disposed opposite the driving flange of the starboard drive member, the starboard driven flange portion defining a plurality of holes, each hole being dimensioned and positioned to temporarily or permanently receive a portion of one of the plurality of rollers, each hole being dimensioned and configured such that one of the plurality of rollers cannot pass through the hole;

a starboard spring element providing a spring force, the spring force acting to bias each of the rollers toward the driven flange of the starboard driven member.

12. The surveillance robot of claim 11 further comprising:

a port drive member comprising a driving flange portion, the driving flange portion defining a plurality apertures, the apertures being arranged in a radial pattern extending along a circular path, the port drive member defining a central opening;

a port driven member comprising a mating shaft portion extending through the central opening defined by the port drive member so that the a driven flange portion of the driven member is disposed opposite the driving flange of the port drive member, the port driven flange portion defining a plurality of holes, each hole being dimensioned and positioned to temporarily or permanently receive a portion of one of the plurality of rollers, each hole being dimensioned and configured such that one of the plurality of rollers cannot pass through the hole;

a port spring element providing a spring force, the spring force acting to bias each of the rollers toward the driven flange of the port driven member.

13. The surveillance robot of claim 12 wherein each spring element comprises one or more wave springs.

14. The surveillance robot of claim 12 wherein the rollers comprise a plurality of cylindrical rods.

15. The surveillance robot of claim 12 wherein the rollers comprise spherical balls.

16. The surveillance robot of claim 12 wherein the holes defined by the starboard driven flange portion and the port driven flange portion comprise through holes.

17. The surveillance robot of claim 12 wherein the holes defined by the starboard driven flange portion and the port driven flange portion comprise blind holes.

18. The surveillance robot of claim 12 wherein:

the starboard mating shaft portion of the starboard driven member extends through a lumen defined by the starboard spring element; and

the port mating shaft portion of the port driven member extends through a lumen defined by the port spring element.

19. The surveillance robot of claim 12 wherein:

the surveillance robot further comprises a starboard pressure plate and a port pressure plate;

the starboard mating shaft portion of the starboard driven member extends through a starboard pressure plate opening defined by the starboard pressure plate, the starboard pressure plate being disposed between the starboard spring element and a plurality of rollers, the roller being at least partially disposed in the apertures defined by the starboard driving flange portion; and

the port mating shaft portion of the port driven member extends through a port pressure plate opening defined by the port pressure plate, the port pressure plate being disposed between the port spring element and a plurality of rollers, the roller being at least partially disposed in the apertures defined by the port driving flange portion.

20. The surveillance robot of claim 12 wherein:

the surveillance robot further comprises a starboard retaining ring, a starboard pressure disk, a port retaining ring, and a port pressure disk, the starboard retaining ring being received in a groove defined by the starboard mating shaft portion of the starboard driven member and the port retaining ring being received in a groove defined by the port mating shaft portion of the port driven member;

the starboard mating shaft portion of the starboard driven member extends through a starboard pressure disk opening defined by the starboard pressure disk, the starboard pressure disk being disposed between the starboard spring element and the starboard retaining ring;

the port mating shaft portion of the port driven member extends through a port pressure disk opening defined by the port pressure disk, the port pressure disk being disposed between the port spring element and the port retaining ring.