Micro robot
First Claim
Patent Images
1. A micro robot comprising:
- at least two sensors having respective detection regions partly overlapping each other;
at least one pair of driving means, being driven independently of each other and having driven points separated from each other, each driven point defining a vertical axis extending therefrom in a direction perpendicular to a direction of movement;
a control portion which is composed in a form of a thin plate, for controlling said driving means on the basis of outputs of said sensors;
a chargeable power source portion for supplying a power source voltage to said sensors, said driving means and said control portion; and
wherein said control portion and said power source portion being arranged in parallel between said pair of driving means, said driving means including an electromagnetic stepping motor, said electromagnetic stepping motor comprising;
a magnetic rotor, an exciting coil winding wound on a magnetic core, a tabular stator having a circular hole to house said magnetic rotor, a pair of recesses, each being smaller than said magnetic rotor opening into the inside wall of said circular hole at diametrically opposed sites about the center of said circular hole and at a biased angle from a direction of a magnetic flux excited in said circular hole, and a pair of concave portions disposed outside said circular hole;
said exciting coil winding being arranged between both ends of said tabular stator, said micro robot further having a center of gravity positioned in approximate alignment with a plane including the vertical axis of said driven points of said pair of driving means and below the highest height among the height of said driving means, said control portion and said power source portion.
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Abstract
A micro robot having a size of about 1 cm3 and capable of wireless control. This robot includes at least two sensors (12, 14) having detection regions thereof overlapping partially with each other, at least a pair of independently operated driving units (30, 28) having driving points spaced apart in a direction perpendicular to a moving direction, control units (40, 58, 60, 62) for controlling the driving units on the basis of the outputs of the sensors, and a rechargeable power supply portion (16) for supplying a power supply voltage to the sensors, the driving units and the control units. The control units and the power supply units are disposed between the driving units.
81 Citations
11 Claims
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1. A micro robot comprising:
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at least two sensors having respective detection regions partly overlapping each other; at least one pair of driving means, being driven independently of each other and having driven points separated from each other, each driven point defining a vertical axis extending therefrom in a direction perpendicular to a direction of movement; a control portion which is composed in a form of a thin plate, for controlling said driving means on the basis of outputs of said sensors; a chargeable power source portion for supplying a power source voltage to said sensors, said driving means and said control portion; and
wherein said control portion and said power source portion being arranged in parallel between said pair of driving means, said driving means including an electromagnetic stepping motor, said electromagnetic stepping motor comprising;
a magnetic rotor, an exciting coil winding wound on a magnetic core, a tabular stator having a circular hole to house said magnetic rotor, a pair of recesses, each being smaller than said magnetic rotor opening into the inside wall of said circular hole at diametrically opposed sites about the center of said circular hole and at a biased angle from a direction of a magnetic flux excited in said circular hole, and a pair of concave portions disposed outside said circular hole;
said exciting coil winding being arranged between both ends of said tabular stator, said micro robot further having a center of gravity positioned in approximate alignment with a plane including the vertical axis of said driven points of said pair of driving means and below the highest height among the height of said driving means, said control portion and said power source portion. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A micro robot comprising:
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at least two direction control sensors having respective detection regions partly overlapping each other; at least one pair of driving means being driven independently of each other and having driven points separated from each other, each driven point defining a vertical axis extending therefrom in a direction perpendicular to a direction of movement; a work control sensor which receives a work instruction contactlessly from an operation side; a work driving means; a control portion for controlling said driving means on the basis of outputs of said direction control sensors and for controlling said work driving means on the basis of an output of said work control sensor; and a chargeable power source portion, which is composed in a form of a thin plate, for supplying a power source voltage to said direction control sensors, said driving means, said work control sensor, said work driving means, and said control portion;
whereinsaid control portion and said power source portion being arranged in parallel between said pair of driving means, said driving means including an electromagnetic stepping motor, said electromagnetic stepping motor comprising;
a magnetic rotor, an exciting coil winding wound on a magnetic core, a tabular stator having a circular hole housing said magnetic rotor, a pair of recesses, each being smaller than said magnetic rotor opening into the inside wall of said circular hole at diametrically opposed sites about the center of said circular hole and at a biased angle from a direction of a magnetic flux excited in said circular hole, and a pair of concave portions disposed outside said circular hole;
said exciting coil winding being arranged between both ends of said tabular stator, said micro robot further having a center of gravity positioned in approximate alignment with a plane including the vertical axis of said driven points of said pair of driving means and below the highest height among the height of said driving means, said control portion and said power source portion.
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Specification