Micro robot

• US 6,824,508 B2
• Filed: 05/06/2002
• Issued: 11/30/2004
• Est. Priority Date: 05/19/2001
• Status: Expired due to Term

• Current Assignee: Korea Advanced Institute of Science and Technology
• Original Assignee: Korea Advanced Institute of Science and Technology
• Inventors: Hong, Yeh-Sun, Kim, Kyoung-Dae, Kim, Soo Hyun, Kim, Byungkyu, Park, Jong-Oh, Park, Jisang
• Primary Examiner(s): Leubecker, John P.
• Application Number:
  US10/140,026
• Publication Number:
  US 20020171385A1
• Time in Patent Office: 939 Days
• Field of Search: 600/101, 600/114, 600/160, 604/95.01, 901/1, 901/47, 348/82, 348/84, 348/85, 738/658
• US Class Current: 600/101
• CPC Class Codes: A61B 1/00156 using self propulsion
• CPC Class Codes: A61B 1/041 Capsule endoscopes for imaging
• CPC Class Codes: A61B 2034/303 specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/72 Micromanipulators
• CPC Class Codes: B25J 7/00 Micromanipulators specimen supports for investigating or analysing materials G01N23/2204; associated with microscopes G02B21/32; means for supporting or positioning the objects or the material in discharge tubes H01J37/20
• CPC Class Codes: B62D 57/02 with ground-engaging propulsion means, e.g. walking members

Abstract

A micro robot that can move for itself is provided. The micro robot moves by moving a plurality of legs with a plurality of cams driven by a driving device, which comprises a micro robot body, a rotational shaft installed in the body and connected to driving device for generating rotational force, a plurality of cams positioned sequentially and connected to the rotational shaft having a certain phase difference centering around the rotational shaft, a plurality of legs installed in the body capable of moving by rotation of the cams, said legs being abutted to the respective cams at one end portion thereof and protruding outwardly from the body at the other end portion thereof, respectively and a locomotion device for moving the body.

Claims

1. A micro robot, comprising:

a micro robot body;

a rotational shaft installed in the body and connected to driving means for generating rotational force;

a plurality of cams positioned sequentially and connected to the rotational shaft having a certain phase difference centering around the rotational shaft;

a plurality of legs installed in the body capable of moving by rotation of the cams, said legs being abutted to the respective cams at one end portion thereof and protruded outwardly from the body at the other end portion thereof, respectively; and

locomotion means for moving the body.

2. The micro robot of claim 1, wherein the locomotion means includes an annular groove formed on a circumferential surface of the respective cams having a certain angle with the rotational shaft, and abutted to one end portion of each one of the legs.

3. The micro robot of claim 1, wherein the locomotion means includes guide means having a guide which a plurality of lattices are formed in and performs linear movement in a longitudinal direction of the body, and linear driving means for driving the guide, and each one of the legs penetrates the corresponding lattice for moving the legs according to guidance of the guide means.

4. The micro robot of claim 3, wherein the linear driving means for driving the guide is an electric motor.

5. The micro robot of claim 3, wherein the linear driving means for driving the guide is shape memory alloy.

6. The micro robot of claim 3, wherein the linear driving means for driving the guide is a pneumatic cylinder.

7. The micro robot of claim 3, wherein the locomotion means includes an annular groove formed on a circumferential surface having a certain angle with the rotational shaft, and abutted to one end portion of each one of the legs.

8. The micro robot of claim 7, wherein the annular groove is vertical to the rotational shaft.

9. The micro robot of claim 7, wherein the groove has U-shape and the one end portion of the leg abutted to the groove has U-shape for being fitted to the groove.

10. The micro robot of claim 1, wherein a cylindrical space is formed within each one of the legs in a longitudinal direction of the leg and a spring is inserted in the cylindrical space.

11. The micro robot of claim 10, wherein a slot is formed in each one of the legs and a pin fixed to the body penetrates the slot.

12. The micro robot of claim 11, wherein both ends of the spring are respectively fixed to the other end portion of the respective leg and the pin.

13. The micro robot of claim 11, wherein the other end portion of the leg has a buffer member.

14. The micro robot of claim 13, wherein the buffer member is made of silicon.

15. The micro robot of claim 1, wherein the legs abutted to the respective cams are bound with a circular elastic body.

16. The micro robot of claim 15, wherein the legs are flexible.

17. The micro robot of claim 16, wherein the legs are made of silicon.

18. The micro robot of claim 1, wherein a pair of legs are positioned in the respective cams.

19. The micro robot of claim 1, wherein the plurality of legs positioned in the respective cams in a uniform angular interval and radial-symmetrically around the rotational shaft.

20. The micro robot of claim 1, wherein the driving means is positioned inside the cam.

21. The micro robot of claim 1, wherein a plurality of slots are formed and the legs penetrates the respective slots.

22. The micro robot of claim 1, wherein a camera device and a lighting source are installed within the body.