Ball Robot

• US 20080097644A1
• Filed: 11/01/2005
• Published: 04/24/2008
• Est. Priority Date: 11/02/2004
• Status: Active Grant

• Current Assignee: Luoteng Technology (Hangzhou) Co. Ltd.
• Original Assignee: Rotundus AB
• Inventors: Kaznov, Viktor, Samuelsson, Per, Bruhn, Fredrik, Stenmark, Lars
• Granted Patent: US 8,099,189 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: A63H 11/00 Self-movable toy figures
• CPC Class Codes: A63H 17/00 Toy vehicles, e.g. with self-drive; convertible into other toys A63H33/003; Cranes, winches or the like; Accessories therefor traffic games with figures moved by players A63F9/14
• CPC Class Codes: A63H 29/22 Electric drives power supply through track A63H18/12
• CPC Class Codes: A63H 30/04 using wireless transmission
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00

Abstract

Ball robot comprising a shell, a diametric main axle, at least one pendulum, and a drive mechanism comprising at least two drive motors, wherein the drive motors are arranged on the pendulum(s) in the vicinity of the inner surface of the shell. There is also provided a ball robot with a ball attached to the shell concentric the shell, and a drive mechanism located inside the shell and supported by the diametric axle, wherein the diametric axle is arranged to accommodate for dimensional changes of the shell along the main axis of rotation.

Claims

1. Ball robot comprising an essentially spherical shell, a diametric main axle, at least one pendulum pivotally coupled to the main axle, and a drive mechanism for driving said pendulum(s) comprising at least two drive motors, wherein the drive motors are arranged on the pendulum(s) in the vicinity of the inner surface of the shell.

2. Ball robot according to claim 1 wherein the drive mechanism comprises a primary motor for driving the drive mechanism for rotation about the diametric main axle, the primary motor being arranged at the lower portion of a primary pendulum, in the vicinity of the inner surface of the shell, the primary pendulum being rotatably supported by the diametric main axle at the upper end, and the primary motor being arranged to drive the primary pendulum for rotation about the main axle by a primary transmission arrangement, wherein

the drive mechanism further comprises a secondary pendulum and a motor for driving the secondary pendulum for rotation about a secondary axle transverse to the main axle and attached to the primary pendulum, and wherein the secondary motor is arranged at the lower portion of the secondary pendulum, in the vicinity of the inner surface of the shell, and the secondary motor being arranged to drive the secondary pendulum for rotation about the secondary axle by a secondary transmission arrangement.

3. Ball robot according to claim 2 wherein the drive mechanism comprises two secondary pendulums, arranged on the secondary axis, one on each side of the main axis

4. Ball robot according to claim 2 wherein it comprises a power supply (battery), a control system and the like, all arranged at the lower portion of the secondary pendulum, in the vicinity of the inner surface of the shell.

5. Ball robot according to claim 4 wherein the power supply, control system and the like are arranged on a rotation element which is rotatable about the lateral axis of the secondary pendulum.

6. Ball robot according to claim 1 wherein the drive mechanism comprises primary and secondary drive motors arranged on a drive pendulum in the vicinity of the inner surface of the shell, the primary motor being arranged to drive the drive pendulum for rotation about the main axle by a primary transmission arrangement and the secondary motor being arranged to drive the drive pendulum for rotation about a secondary axle transverse to the main axle by a secondary transmission arrangement

7. Ball robot according to claim 6 wherein the drive mechanism comprises a third drive motor arranged on a second drive pendulum in the vicinity of the inner surface of the shell, the third motor being arranged to drive the second drive pendulum for rotation about the secondary axle by a third transmission arrangement.

8. Ball robot with a ball shaped shell, a diametric axle attached to the shell concentric with the main axis of rotation of the shell, and a drive mechanism located inside the shell and supported by the diametric axle, wherein the diametric axle is arranged to accommodate for dimensional changes of the shell along the main axis of rotation.

9. Ball robot according to claim 8 wherein the diametric axle is attached to the shell in a resilient manner.

10. Ball robot according to claim 8 wherein the diametric axle is a resilient telescopic axle.

11. Ball robot according to claim 10 wherein the telescopic axle comprises two end sections being secured to the shell and a mid section carrying the drive mechanism, wherein the mid section being arranged so that it cannot rotate with respect to the end sections, e.g. by splines

12. Ball robot according to claim 9 wherein the diametric axle is attached to the shell by at least one resilient member.

13. Ball robot according to claim 8 wherein the diametric axle is a hollow tube being arranged to house additional sensor and/or actuator means (equipment) carried by the robot.

14. Ball robot according to claim 13 wherein the tube has a circular, rectangular or polygonal cross sectional shape

15. Ball robot according to claim 13 wherein the tube is provided with a fastening structure and the additional equipment with a mating structure.

16. Ball robot according to claim 13 wherein the additional equipment is powered by a main power source in the robot.

17. Ball robot according to claim 16 wherein the tube is provided with a power source interface for conducting electrical power to the additional equipment.

18. Ball robot according to claim 13 wherein the robot is provided with a main computer and a communication interface for communication between the main computer and the additional equipment.

19. Ball robot according to claim 18 wherein the communication interface is wireless

20. Ball robot according to claim 18 wherein the communication interface is of wire type with a communication interface connection in the tube and a mating connection on the ad equipment.

21. Ball robot according to claim 13 wherein the tube forms an extension of an opening in the shell

22. Ball robot according to claim 13 wherein the tube connects two openings in the shell, whereby the shell and the tube together forms a closed structure enclosing an inner volume housing the drive mechanism.

23. Ball robot according to claim 22 wherein it comprises end caps arranged at the openings in the shell.

24. Ball robot according to claim 23 wherein the end caps are extendable with respect to the openings in the shell.

25. Ball robot according to claim 23 wherein the end caps are provided with antennas for the wireless communication system.

26. Ball robot with a self learning system control system.