Throwable robot with clamshell body

• US 10,046,819 B1
• Filed: 06/23/2015
• Issued: 08/14/2018
• Est. Priority Date: 06/23/2014
• Status: Active Grant

• Current Assignee: ReconRobotics Inc.
• Original Assignee: ReconRobotics Inc.
• Inventors: Sellner, Matthew M., Kossett, Alex J., Moreau, Jade, Drenner, Andrew, Gigl, Steve
• Primary Examiner(s): Rocca, Joseph M
• Assistant Examiner(s): Williams, Maurice L
• Application Number:
  US14/747,817
• Time in Patent Office: 1,148 Days
• CPC Class Codes: B60K 1/02 comprising more than one electric motor
• 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 2007/0046 the motor moving together with the vehicle body, i.e. moving independently from the wheel axle
• CPC Class Codes: B60K 2007/0061 the motor axle being parallel to the wheel axle
• CPC Class Codes: B60K 7/0007 the motor being electric
• CPC Class Codes: B62D 57/00 Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track sledges B62B; motor sledges B62M
• CPC Class Codes: B62D 57/02 with ground-engaging propulsion means, e.g. walking members
• CPC Class Codes: B62D 57/022 consisting of members having both rotational and walking movements
• CPC Class Codes: B62D 61/00 Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern

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 chassis split length wise and comprised of a pair of elongate portions, a rear portion and a forward portion. Adjoining respective surfaces with interfacing portions are sealed with a gasket or sealing material therebetween and provide a robust juncture. The rear portion having a deep recess and sub recess for containing and securing the pair of motors with brackets, and batteries with brackets. The forward part having a shallow recess with a pcb secured therein having control circuitry. The shallow component has a high degree of structural strength with a central region projecting forwardly and further having flattened forward facing end portions on each lateral side of the central region. The robot, even with the small size for throwability, also provides modularity allowing, for example, different motors and different radios to be changed out or allowing customized designs in a common chassis.

Claims

1. A two wheeled throwable robot comprising:

an elongate chassis defining an interior, the chassis having an outwardly exposed surface extending around the chassis and comprising a forward portion and a rearward portion, the rearward portion having a pair of closed ends and having a C-shaped cross-section inwardly from the pair of ends and with a forward facing open front, the forward portion having a pair of ends, being configured for closing the open front, having a central region, and a pair of flattened forward facing portions on each lateral side of the central region;

a pair of motors, one positioned toward each end of the rearward portion and secured in place with brackets attached to the rearward portion;

a battery secured in the rearward portion;

a printed circuit board with control circuitry therein secured to the forward portion;

a pair of wheels attached to each end of the rearward portion of the chassis, each of the pair of wheels connected to one of the motors through a clutch assembly; and

a tail extending from the elongate chassis.

2. The two wheeled throwable robot of claim 1 wherein the forward portion of the chassis has a shallow recess compared to a recess in the rearward portion and the printed circuit board is secured therein.

3. The two wheeled throwable robot of claim 1 wherein the printed circuit board has a camera attached thereto and positioned at an opening in the forward portion of the chassis.

4. The two wheeled throwable robot of claim 3 wherein the chassis has a camera lens secured to the chassis at the opening.

5. The two wheeled throwable robot of claim 4 wherein the printed circuit board has a microphone, a photovoltaic sensor, and illumination LED'"'"'s attached thereto.

6. The two wheeled throwable robot of claim 1 wherein each of the wheels is less than 6 inches in diameter.

7. The two wheeled throwable robot of claim 6 wherein each wheel has a shaft extending through an aperture in the rearward portion, each shaft sealed with a shaft seal.

8. The two wheeled throwable robot of claim 7 wherein the forward portion and the rearward portion of the chassis are sealed together.

9. The two wheeled throwable robot of claim 1 further comprising an antenna cartridge inserted into an aperture in the outwardly exposed surface of the rearward portion of the chassis.

10. The two wheeled throwable robot of claim 9 further comprising a second antenna cartridge inserted into another aperture in the outwardly exposed surface of the rearward portion of the chassis.

11. The two wheeled throwable robot of claim 1 wherein a camera, a light sensor, and a plurality of illumination LED'"'"'s are attached to the printed circuit board.

12. A two wheeled throwable robot comprising:

an elongate chassis defining an interior and providing an exteriorly exposed surface, the chassis comprising a clam shell shape with a forward portion and a rearward portion, the rearward portion having a pair of ends and having a C-shape cross section inwardly of the ends, the rearward portion having a forward facing open front, the forward portion closing the open front and having a recess, wherein the forward portion and rearward portion define an interior, the rearward portion having a deeper recess that the recess of the forward portion;

a pair of motors, one of the pair of motors positioned in each end of the rearward portion and secured in place in the rearward portion;

a pair of batteries secured in the rearward portion;

a printed circuit board with control circuitry secured within the chassis in the interior;

a pair of wheels attached to each end of the rearward portion of the chassis, each of the pair of wheels connected to one of the motors through a clutch assembly; and

a tail extending from the elongate chassis.

13. The two wheeled throwable robot of claim 12 wherein the printed circuit board has a camera attached thereto and positioned at an opening in the forward portion of the chassis, the opening having a lens secured thereto.

14. The two wheeled throwable robot of claim 12 wherein the printed circuit board has a microphone and a photovoltaic sensor attached thereto end and each positioned at openings in the forward portion of the chassis.

15. The two wheeled throwable robot of claim 12 wherein each of the pair of wheels is less than 6 inches in diameter.