CA2906857A1 - A high mobility, hign power, and flexible robot - Google Patents
A high mobility, hign power, and flexible robot Download PDFInfo
- Publication number
- CA2906857A1 CA2906857A1 CA2906857A CA2906857A CA2906857A1 CA 2906857 A1 CA2906857 A1 CA 2906857A1 CA 2906857 A CA2906857 A CA 2906857A CA 2906857 A CA2906857 A CA 2906857A CA 2906857 A1 CA2906857 A1 CA 2906857A1
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- Prior art keywords
- robot
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- recited
- motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
A high mobility and high power robot, designed to be able to carry heavy packs and payloads over long distances on the ground, and be able to safely cross over high walls, descend into steep drops, cross over narrow chasms, and climb trees and other vertical structures, using back-drivable motors and a sectioned body shape. The limits of the robot's mobility on the ground depend only on its body length, which is adjustable. The power of the robot depends on the sizes and designs of the robot's power sources and motors, which are adjustable.
A high mobility, high power, and flexible robot.
Background of the Invention Field of the Invention:
The invention belongs to the field of mechatronics. An interdisciplinary field that combines mechanical engineering and electronic engineering. The invention shares similarities with a class of robots commonly referred to as unmanned ground vehicles. Unmanned ground vehicles (UGV) are electromechanical systems that can be either autonomous or remotely controlled to perform a wide variety of tasks. UGVs are generally wheeled platforms, actuated by motors, and carry customized tools/payloads that allow them to perform a variety of tasks.
Unlike stationary robots, these UGV systems are mobile and can travel around the ground.
The invention possesses a level of mobility and power beyond that of any grounded robots or unmanned systems currently existing. It is able to carry heavy equipment packs and payloads over long distances, can safely climb over high walls, descend steep drops in terrain, cross over narrow chasms, and even climb trees/vertical structures. A combination of mobility and power makes this invention unique and stand out from all other developed robotics or unmanned systems.
A high mobility, high power, and flexible robot.
Background of the Invention Field of the Invention:
The invention belongs to the field of mechatronics. An interdisciplinary field that combines mechanical engineering and electronic engineering. The invention shares similarities with a class of robots commonly referred to as unmanned ground vehicles. Unmanned ground vehicles (UGV) are electromechanical systems that can be either autonomous or remotely controlled to perform a wide variety of tasks. UGVs are generally wheeled platforms, actuated by motors, and carry customized tools/payloads that allow them to perform a variety of tasks.
Unlike stationary robots, these UGV systems are mobile and can travel around the ground.
The invention possesses a level of mobility and power beyond that of any grounded robots or unmanned systems currently existing. It is able to carry heavy equipment packs and payloads over long distances, can safely climb over high walls, descend steep drops in terrain, cross over narrow chasms, and even climb trees/vertical structures. A combination of mobility and power makes this invention unique and stand out from all other developed robotics or unmanned systems.
Description
Patent Application Applicant's name: Leo Howard Applicant's address: 16527, 108 Avenue, Surrey, BC, Canada, V4N 1N6 Date: October/05/2015 I, Leo Howard, seek a patent for my new invention, the PYTHONTRAK MARK 1 ¨ a high mobility, high power, and flexible robot that can overcome major ground obstacles, and be able to carry heavy equipment packs and payloads over long distances on the ground.
Abstract:
A high mobility and high power robot, designed to be able to carry heavy packs and payloads over long distances on the ground, and be able to safely cross over high walls, descend into steep drops, cross over narrow chasms, and climb trees and other vertical structures, using back-drivable motors and a sectioned body shape. The limits of the robot's mobility on the ground depend only on its body length, which is adjustable. The power of the robot depends on the sizes and designs of the robot's power sources and motors, which are adjustable.
A high mobility, high power, and flexible robot.
Background of the Invention Field of the Invention:
The invention belongs to the field of mechatronics. An interdisciplinary field that combines mechanical engineering and electronic engineering. The invention shares similarities with a class of robots commonly referred to as unmanned ground vehicles. Unmanned ground vehicles (UGV) are electromechanical systems that can be either autonomous or remotely controlled to perform a wide variety of tasks. UGVs are generally wheeled platforms, actuated by motors, and carry customized tools/payloads that allow them to perform a variety of tasks.
Unlike stationary robots, these UGV systems are mobile and can travel around the ground.
The invention possesses a level of mobility and power beyond that of any grounded robots or unmanned systems currently existing. It is able to carry heavy equipment packs and payloads over long distances, can safely climb over high walls, descend steep drops in terrain, cross over narrow chasms, and even climb trees/vertical structures. A combination of mobility and power makes this invention unique and stand out from all other developed robotics or unmanned systems.
Summary of the Invention:
The invention pertains to a high mobility and high power robot that can carry heavy equipment packs and customized payloads over long distances on the ground, and can safely overcome major obstacles such as high walls, steep drops in terrains, narrow chasms, and be able to climb trees and vertical structures.
The robot is able to carry heavy payloads over long distances due to it being powered by big power sources and move on wheels and caterpillar tracks.
The robot can overcome obstacles while travelling on the ground, climb trees, and maintain a flexible body shape through the use of high torque, back-drivable motors.
These motors are situated along strategic areas of the robot (along the joints), allowing it to become rigid or flexible depending on whether or not each motor is powered, and how much torque each motor is exerting on the environment and each other.
The robot can be remotely controlled or manually controlled. It can be autonomous, or semi-autonomous. The robot can be controlled through computer systems, electrical systems, mechanical systems, or any combinations of these.
The robot can be made of any materials, and any physical states of said materials.
Brief Description of the Drawings:
FIG. 1 shows an isometric view of the robot;
FIG. 2 shows how the robot climbs a high wall;
FIG. 3 shows how the robot descends a steep drop in terrain;
FIG. 4 shows how the robot crosses a narrow chasm;
FIG. 5 shows how the robot climbs a vertical structure such as a tree;
Description of the Preferred Embodiment:
With reference to FIG. 1, each of the robot platform is made up of a power source (1), a set of rubber wheels (2), caterpillar tracks (3), motors, sensors, cameras, microphones, microprocessors, and containers for electronics. Each of the platform is programmable and can move independently based on the programming of the robot.
With reference to FIG. 1, each robot platform is connected by a joint system (4), composed of three back-drivable motors (5) mounted on brackets (6), with the said brackets being connected by fasteners and bearings. These motors provide each joint with three axes of rotations and giving the robot high flexibility. The said motors are also back-drivable, providing flexibility or rigidity on command. When the motors are unpowered or underpowered, a joint system will be flaccid or semi-flexible, since the motors don't act against gravity and other forces. When the motors are powered, they will act against gravity and other forces, to hold a joint system in a desired shape, or allow the joint system to squeeze and exert force against the environment or each other.
With reference to FIG. 2, the robot is able to climb a high wall with synchronous actuations of each motor. The robot can scale a wall that is slightly shorter than the length of the robot's body. If an application requires the robot to scale a wall longer than its currently existing length, the robot can be extended and climb over said wall.
With reference to FIG. 3, the robot is able to descend a steep drop in terrain without plummeting down by keeping the tail end hooked into the higher end of the wall and slowly crawl down toward the bottom.
With reference to FIG. 4, the robot is able to cross over a narrow chasm because the joint systems' motors can be actuated to provide a stiff body that can.move over the chasm without drooping down.
With reference to FIG. 5, the robot is able to climb a vertical structure such as a tree by squeezing inward while crawling up the tree. The motors of the joint systems provide the platforms of the robot with the ability to rotate and exert force on the vertical structure in a concentric manner, allow the robot to resist gravity with friction force. The robot moves upward with the actuation of the wheels and tracks, with some parts of the said tracks being tangent and in contact with the vertical structure.
The embodiments of the invention in which an exclusive property or privilege is claimed are defined as follows:
1. A high power and high mobility robot that can carry heavy equipment packs and payloads over long distances on the ground, with said robot being able to safely climb over high walls, descend steep drops, cross over narrow chasms safely, and climb trees and other vertical structures.
Abstract:
A high mobility and high power robot, designed to be able to carry heavy packs and payloads over long distances on the ground, and be able to safely cross over high walls, descend into steep drops, cross over narrow chasms, and climb trees and other vertical structures, using back-drivable motors and a sectioned body shape. The limits of the robot's mobility on the ground depend only on its body length, which is adjustable. The power of the robot depends on the sizes and designs of the robot's power sources and motors, which are adjustable.
A high mobility, high power, and flexible robot.
Background of the Invention Field of the Invention:
The invention belongs to the field of mechatronics. An interdisciplinary field that combines mechanical engineering and electronic engineering. The invention shares similarities with a class of robots commonly referred to as unmanned ground vehicles. Unmanned ground vehicles (UGV) are electromechanical systems that can be either autonomous or remotely controlled to perform a wide variety of tasks. UGVs are generally wheeled platforms, actuated by motors, and carry customized tools/payloads that allow them to perform a variety of tasks.
Unlike stationary robots, these UGV systems are mobile and can travel around the ground.
The invention possesses a level of mobility and power beyond that of any grounded robots or unmanned systems currently existing. It is able to carry heavy equipment packs and payloads over long distances, can safely climb over high walls, descend steep drops in terrain, cross over narrow chasms, and even climb trees/vertical structures. A combination of mobility and power makes this invention unique and stand out from all other developed robotics or unmanned systems.
Summary of the Invention:
The invention pertains to a high mobility and high power robot that can carry heavy equipment packs and customized payloads over long distances on the ground, and can safely overcome major obstacles such as high walls, steep drops in terrains, narrow chasms, and be able to climb trees and vertical structures.
The robot is able to carry heavy payloads over long distances due to it being powered by big power sources and move on wheels and caterpillar tracks.
The robot can overcome obstacles while travelling on the ground, climb trees, and maintain a flexible body shape through the use of high torque, back-drivable motors.
These motors are situated along strategic areas of the robot (along the joints), allowing it to become rigid or flexible depending on whether or not each motor is powered, and how much torque each motor is exerting on the environment and each other.
The robot can be remotely controlled or manually controlled. It can be autonomous, or semi-autonomous. The robot can be controlled through computer systems, electrical systems, mechanical systems, or any combinations of these.
The robot can be made of any materials, and any physical states of said materials.
Brief Description of the Drawings:
FIG. 1 shows an isometric view of the robot;
FIG. 2 shows how the robot climbs a high wall;
FIG. 3 shows how the robot descends a steep drop in terrain;
FIG. 4 shows how the robot crosses a narrow chasm;
FIG. 5 shows how the robot climbs a vertical structure such as a tree;
Description of the Preferred Embodiment:
With reference to FIG. 1, each of the robot platform is made up of a power source (1), a set of rubber wheels (2), caterpillar tracks (3), motors, sensors, cameras, microphones, microprocessors, and containers for electronics. Each of the platform is programmable and can move independently based on the programming of the robot.
With reference to FIG. 1, each robot platform is connected by a joint system (4), composed of three back-drivable motors (5) mounted on brackets (6), with the said brackets being connected by fasteners and bearings. These motors provide each joint with three axes of rotations and giving the robot high flexibility. The said motors are also back-drivable, providing flexibility or rigidity on command. When the motors are unpowered or underpowered, a joint system will be flaccid or semi-flexible, since the motors don't act against gravity and other forces. When the motors are powered, they will act against gravity and other forces, to hold a joint system in a desired shape, or allow the joint system to squeeze and exert force against the environment or each other.
With reference to FIG. 2, the robot is able to climb a high wall with synchronous actuations of each motor. The robot can scale a wall that is slightly shorter than the length of the robot's body. If an application requires the robot to scale a wall longer than its currently existing length, the robot can be extended and climb over said wall.
With reference to FIG. 3, the robot is able to descend a steep drop in terrain without plummeting down by keeping the tail end hooked into the higher end of the wall and slowly crawl down toward the bottom.
With reference to FIG. 4, the robot is able to cross over a narrow chasm because the joint systems' motors can be actuated to provide a stiff body that can.move over the chasm without drooping down.
With reference to FIG. 5, the robot is able to climb a vertical structure such as a tree by squeezing inward while crawling up the tree. The motors of the joint systems provide the platforms of the robot with the ability to rotate and exert force on the vertical structure in a concentric manner, allow the robot to resist gravity with friction force. The robot moves upward with the actuation of the wheels and tracks, with some parts of the said tracks being tangent and in contact with the vertical structure.
The embodiments of the invention in which an exclusive property or privilege is claimed are defined as follows:
1. A high power and high mobility robot that can carry heavy equipment packs and payloads over long distances on the ground, with said robot being able to safely climb over high walls, descend steep drops, cross over narrow chasms safely, and climb trees and other vertical structures.
2. The robot recited in claim 1 wherein the body is made up of several sections of wheeled and tracked platforms, with said platforms being powered by power sources and actuated by motors, and with said platform being connected by several back-drivable motors and connecting brackets.
3. The robot recited in claim 1 being powered by electrical batteries, fuel cells, fossil fuels, bio-fuels, nuclear fission, nuclear fusion, or any other forms of power sources.
4. The robot recited in claim 1 having any devices for collecting input data for the purpose of controlling the robot.
5. The robot recited in claim 1 having computer systems or any other systems that process input data and provide output data for the purpose of controlling the robot.
6. The robot recited in claim 1 having any devices designed for sending output data to the said robot's actuator for the purpose of controlling the robot.
7. The robot recited in claim 1 being actuated by electrical, hydraulic, electroactive polymer, or any other forms of motors.
Claims (13)
joint system in a desired shape, or allow the joint system to squeeze and exert force against the environment or each other.
With reference to FIG. 2, the robot is able to climb a high wall with synchronous actuations of each motor. The robot can scale a wall that is slightly shorter than the length of the robot's body. If an application requires the robot to scale a wall longer than its currently existing length, the robot can be extended and climb over said wall.
With reference to FIG. 3, the robot is able to descend a steep drop in terrain without plummeting down by keeping the tail end hooked into the higher end of the wall and slowly crawl down toward the bottom.
With reference to FIG. 4, the robot is able to cross over a narrow chasm because the joint systems' motors can be actuated to provide a stiff body that can move over the chasm without drooping down.
With reference to FIG. 5, the robot is able to climb a vertical structure such as a tree by squeezing inward while crawling up the tree. The motors of the joint systems provide the platforms of the robot with the ability to rotate and exert force on the vertical structure in a concentric manner, allow the robot to resist gravity with friction force. The robot moves upward with the actuation of the wheels and tracks, with some parts of the said tracks being tangent and in contact with the vertical structure.
The embodiments of the invention in which an exclusive property or privilege is claimed are defined as follows:
1. A high power and high mobility robot that can carry heavy equipment packs and payloads over long distances on the ground, with said robot being able to safely climb over high walls, descend steep drops, cross over narrow chasms safely, and climb trees and other vertical structures.
2. The robot recited in claim 1 wherein the body is made up of several sections of wheeled and tracked platforms, with said platforms being powered by power sources and actuated by motors, and with said platform being connected by several back-drivable motors and connecting brackets.
3. The robot recited in claim 1 being powered by electrical batteries, fuel cells, fossil fuels, bio-fuels, nuclear fission, nuclear fusion, or any other forms of power sources.
4. The robot recited in claim 1 having any devices for collecting input data for the purpose of controlling the robot.
5. The robot recited in claim 1 having computer systems or any other systems that process input data and provide output data for the purpose of controlling the robot.
6. The robot recited in claim 1 having any devices designed for sending output data to the said robot's actuator for the purpose of controlling the robot.
7. The robot recited in claim 1 being actuated by electrical, hydraulic, electroactive polymer, or any other forms of motors.
8. The robot recited in claim 1 of varying lengths, widths, and heights.
9. The robot recited in claim 1 being remotely controlled or manually operated.
10. The robot recited in claim 1 being autonomous, semi-autonomous, or controlled by a human, computer, or any other sufficiently capable intelligences.
11. The robot recited in claim wherein it can be controlled through computer systems, electrical systems, mechanical systems, biological systems, chemical systems, or any combinations of these.
12. The robot recited in claim 1 being adapted for governmental, legal, educational, or business purposes.
13. The robot recited in claim 1 and all components of said robot being made of any materials, and any physical states of said materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA2906857A CA2906857A1 (en) | 2015-10-06 | 2015-10-06 | A high mobility, hign power, and flexible robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA2906857A CA2906857A1 (en) | 2015-10-06 | 2015-10-06 | A high mobility, hign power, and flexible robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2906857A1 true CA2906857A1 (en) | 2017-04-06 |
Family
ID=58468381
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2906857A Abandoned CA2906857A1 (en) | 2015-10-06 | 2015-10-06 | A high mobility, hign power, and flexible robot |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA2906857A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107046941A (en) * | 2017-05-15 | 2017-08-18 | 安庆蓝珊瑚生态农业科技有限公司 | A kind of forestry fruit tree hovering picking robot |
| CN107135742A (en) * | 2017-05-15 | 2017-09-08 | 安庆蓝珊瑚生态农业科技有限公司 | A kind of forestry climbs picking robot with low energy consumption |
| CN110103212A (en) * | 2019-06-19 | 2019-08-09 | 嘉兴学院 | A kind of changeable humanoid robot of modularization based on trolley |
| CN111230898A (en) * | 2020-02-19 | 2020-06-05 | 北京中安吉泰科技有限公司 | Magnetic adsorption flexible wall-climbing robot |
| US11414128B1 (en) | 2021-08-09 | 2022-08-16 | Kan Cui | Multiple maneuvering systems for various applications |
-
2015
- 2015-10-06 CA CA2906857A patent/CA2906857A1/en not_active Abandoned
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107046941A (en) * | 2017-05-15 | 2017-08-18 | 安庆蓝珊瑚生态农业科技有限公司 | A kind of forestry fruit tree hovering picking robot |
| CN107135742A (en) * | 2017-05-15 | 2017-09-08 | 安庆蓝珊瑚生态农业科技有限公司 | A kind of forestry climbs picking robot with low energy consumption |
| CN110103212A (en) * | 2019-06-19 | 2019-08-09 | 嘉兴学院 | A kind of changeable humanoid robot of modularization based on trolley |
| CN111230898A (en) * | 2020-02-19 | 2020-06-05 | 北京中安吉泰科技有限公司 | Magnetic adsorption flexible wall-climbing robot |
| US11414128B1 (en) | 2021-08-09 | 2022-08-16 | Kan Cui | Multiple maneuvering systems for various applications |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FZDE | Dead |
Effective date: 20181009 |