Movable robot
First Claim
1. A movable robot comprising:
- a main body unit; and
at least three wheel units connected with the main body unit and having respective contact portions for contact with a floor surface, the contact portions being rotatable about respective axes;
wherein the main body unit moves along the floor surface as the contact portions rotate, and wherein lines projected onto the floor surface and originating from the axes of rotation of the contact portions are spaced at substantially equal angular intervals, and at most two of the axes are on a common plane;
wherein each of the wheel units comprises;
1) a motor base;
2) a rotation drive motor supported on the motor base;
3) a casing being rotatable relative to the motor base about related one of the axes and having related one of the contact portions; and
4) a rotational force transmission device connected between the rotation drive motor and the casing for transmitting a rotational force generated by the rotation drive motor to the casing.
2 Assignments
0 Petitions
Accused Products
Abstract
A movable robot includes a main body unit, and at least three wheel units connected with the main body unit. The wheel units have respective contact portions for contact with a floor surface. The contact portions are rotatable about respective axes. The main body unit moves along the floor surface as the contact portions rotate. Lines projected onto the floor surface and originating from the axes of rotation of the contact portions are spaced at substantially equal angular intervals. At most two of the axes are on a common plane. Each of the wheel units includes a motor base, a rotation drive motor supported on the motor base, a casing being rotatable relative to the motor base about related one of the axes and having related one of the contact portions, and a device for transmitting a rotational force generated by the rotation drive motor to the casing.
131 Citations
9 Claims
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1. A movable robot comprising:
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a main body unit; and
at least three wheel units connected with the main body unit and having respective contact portions for contact with a floor surface, the contact portions being rotatable about respective axes;
wherein the main body unit moves along the floor surface as the contact portions rotate, and wherein lines projected onto the floor surface and originating from the axes of rotation of the contact portions are spaced at substantially equal angular intervals, and at most two of the axes are on a common plane;
wherein each of the wheel units comprises;
1) a motor base;
2) a rotation drive motor supported on the motor base;
3) a casing being rotatable relative to the motor base about related one of the axes and having related one of the contact portions; and
4) a rotational force transmission device connected between the rotation drive motor and the casing for transmitting a rotational force generated by the rotation drive motor to the casing. - View Dependent Claims (2, 3, 4, 5, 6, 9)
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7. A movable robot comprising:
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a drive unit including at least three wheel units having respective contact portions for contact with a floor surface, the contact portions being rotatable about respective axes, the wheel units including drive devices for rotating the contact portions respectively; and
a sub unit detachably connected with the drive unit and including at least one of
1) an external condition sensor for detecting a condition of a region external with respect to the sub unit,
2) an output device for outputting information to an external device,
3) a communication device for implementing communication with an external device, and
4) a controller for controlling the drive unit;
wherein the drive unit moves along the floor surface as the contact portions rotate, and wherein lines projected onto the floor surface and originating from the axes of rotation of the contact portions are spaced at substantially equal angular intervals, and at most two of the axes are on a common plane. - View Dependent Claims (8)
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Specification