GB2543809A - Modular robot - Google Patents

Abstract

A modular robot, for carrying an elongate payload in co-operation with at least one further robot, comprises: i) a drive unit 20, 40 comprising at least two independently driven wheels 22 - each having its own motor - ii) a payload unit 25, 45 pivotally mounted to the drive unit 20, 40 and arranged to mount the elongate payload to the robot, and iii) a locking mechanism to selectively lock the drive unit 20, 40 to the payload unit 25, 45 in a fixed orientation. The drive unit 20, 40 may further comprise tracks (Fig 7, 54). The payload unit 25, 45 may also comprise a gripping mechanism (Fig 7, 57) and/or a feed mechanism (Fig 7, 61) to feed a hose or similar elongate member through the payload unit 25, 45. A plurality of said robots may be used in conjunction to move a hose (Fig 8, 77) within a restricted space and around obstacles (Fig 8, 78 & 79), such that a further robot carrying a spray gun (Fig 10, 86) is free to apply paint, insulation etc. within the restricted space. A further claim is also provided for a system comprising at least two robots in combination with a payload.

Description

MODULAR ROBOT

[0001] This invention relates to a modular robot.

BACKGROUND

[0002] Robots for carrying payloads are known from the prior art. The present invention, at least in particular embodiments, seeks to provide a modular robot that provides greater flexibility in carrying elongate payloads.

BRIEF SUMMARY OF THE DISCLOSURE

[0003] In accordance with the present invention there is provided a modular robot for carrying an elongate payload in co-operation with at least one further modular robot of the same design. The robot comprises a drive unit comprising at least two wheels arranged for rotation about a rotational axis and spaced thereon and a respective motor for driving each of the wheels independently of the other, a payload unit pivotally mounted to the drive unit about a pivot axis transverse to the rotational axis and arranged to mount the elongate payload to the robot; and a locking mechanism arranged to selectively lock the drive unit to the payload unit to maintain a fixed relative orientation of the payload unit and the drive unit about the pivot axis.

[0004] Thus, in accordance with the invention, an elongate payload, such as a hose or cable for example, may be carried by two or more modular robots. With the locking mechanism unlocked, each drive unit can rotate relative to the payload unit by driving the wheels in opposite directions without moving the payload. This allows the drive unit to be orientated for subsequent movement of the payload. With the locking mechanism locked the drive unit can orientate the payload either rotationally or translationally.

[0005] In embodiments of the invention, the drive unit comprises four wheels. The four wheels may be arranged in two spaced pairs at either side of the drive unit. Each pair of wheels may be provided with a common motor. In embodiments of the invention the drive unit comprises tracks.

[0006] The payload unit may comprise a gripping mechanism arranged to grip the elongate payload. The gripping mechanism may selectively grip the payload. This allows the robots to be positioned relative to the payload before gripping.

[0007] The payload unit may comprise a feed mechanism arranged to feed the elongate payload through the payload unit. For example, the feed mechanism may comprise bands driven by rollers. The feed mechanism allows the payload to be positioned relative to the robot(s).

[0008] The payload unit may comprises a payload connector arranged for connection to the payload. The payload connector may be configured for pivoting of the robot relative to the payload about a further pivot axis transverse to the first pivot axis. In embodiments of the invention, this feature allows the robot to tip and thereby raise the height of the payload.

[0009] Typically, the payload is longer than the robot. For example, the payload may be a flexible hose or cable. The invention extends to at least two robots in combination with a payload.

BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Embodiments of the invention are further described hereinafter with reference to the accompanying drawings, in which:

Figure 1 is an illustration of a plan view of a modular system of robotic vehicles according to an embodiment of an aspect of the present invention.

Figure 2 is an illustration of a drive unit according to an embodiment of an aspect of the present invention.

Figure 3 is an illustration of a drive unit according to an embodiment of an aspect of the present invention.

Figure 4 is an illustration of a collection of three drive units according to an embodiment of an aspect of the present invention.

Figure 5 is an illustration of a two wheeled drive unit according to an embodiment of an aspect of the present invention.

Figure 6 is an illustration of a collection of three two-wheeled drive units according to an embodiment of an aspect of the present invention.

Figure 7 is an illustration of a powered hose carrying system according to an embodiment of an aspect of the present invention.

Figure 8 is an illustration of a working mechanism of the powered hose carrying system shown in Figure 7.

Figure 9 is an illustration of an example operating mode of a modular robot according to an embodiment of an aspect of the present invention.

Figure 10 is an illustration of a modular system of robotic vehicles according to an embodiment of an aspect of the present invention.

Figure 11 is an illustration of a movement mode of the modular system of robotic vehicles as shown in Figure 10.

Figure 12 is an illustration of a yet further movement mode of the modular system of robotic vehicles as shown in Figure 10.

Figure 13 is an illustration of a drive wheel for use on a robotic vehicle according to an embodiment of an aspect of the present invention.

Figure 14 is an illustration of an exploded view of the drive wheel as shown in Figure 13.

DETAILED DESCRIPTION

[0011] Figure 1 of the accompanying drawings shows a plan view of a modular system of robotic vehicles 1. The system contains three drive units 2, 3, 4 linked together by either flexible or rigid links 6, 7. Each drive unit 2, 3, 4 has four individually driven wheels 8 and can pivot relative to the linkage above through a pivot point 5. By driving all four driven wheels 2, 3, 4 in the same direction the drive unit 4 can move backwards and forwards in a first direction 9 to move the linkage 7 perpendicular to its length. By driving the driven wheels 8 in opposite directions 10, 11 the drive module 3 can be rotated in a rotation direction 12 in a fixed position relative to the linkages 6, 7. The drive units 2, 3, 4 can work together to move the modular system of robotic vehicles 1 into the desired position or shape.

[0012] Figure 2 of the accompanying drawings shows a drive unit 20 consisting of a chassis 21. The chassis is driven by four drive wheels 22 connected to the chassis with a pivoting linkage 23 and suspension system 24. The pivoting linkage 23 and the suspension system 24 allow the drive unit 20 to move stably over rough terrain. A mounting plate 25 is provided on a top side of the chassis 21 for connection to linkages.

[0013] Figure 3 of the accompanying drawings shows a drive unit 20 where the mounting plate 25 has been allowed to rotate in a direction 26. Rotation of the mounting plate 25 which connects the drive unit 20 to a further drive unit using linkages allows the drive unit to be rotated independently of drive unit 20. The mounting plate may move freely, be able to be locked or actuated via a motor or other mechanism. By allowing the mounting plate to rotate the drive unit is free to rotate on the spot to allow it to drive either along the length of the linkages or perpendicular to them.

[0014] Figure 4 of the accompanying drawings shows three drive units 30, 31, 32 connected by a hose 33 which is fixed to the mounting plate on each drive unit. The mounting plate is free to rotate relative to the drive unit so that drive units can manipulate the hose into the desired shape or position. A drive unit 31 can pull the hose in the in-line direction 34 which aligns with the direction of the hose, or the perpendicular direction 35 which runs perpendicular to the direction of the hose when the drive unit 30 is rotated.

[0015] Figure 5 of the accompanying drawings shows an alternative configuration of the modules using a two wheeled drive unit 40 attached to a linkage consisting of a semi flexible hose 41. The provision of multiple modules acts as a stabilising feature of the system and prevents the two wheeled drive units 40 from overbalancing. The stability is further enhanced by the stiffness of the hose. The hose is fixed firmly to the module via a hose mount 45 which is able to rotate relative to the wheel axle 46 around a vertical axis 47. The flexible hose 41 and hose mount 45 can either rotate or be fixed relative to the wheeled axle 46 via a clutch 48 or other such locking mechanism, e.g. a ratchet and pawl, solenoid lock, motor and gear, etc. When the drive axle unit 40 is fixed relative to the flexible hose 41, the flexible hose 41 can be twisted by driving the wheels in opposite directions 49, 50, rotating the hose mount 45 in a rotational direction 51 that places a torsional force on the hose to bend it in the desired direction. A similar principle can be used with four wheeled modules, or drive modules using tracks.

[0016] Figure 6 of the accompanying drawings shows three drive units 42, 43, 44 as described in relation to Figure 5. The three drive units 42, 43, 44 are each attached to a flexible hose 45 at a different position along the flexible hose 45. The three separate drive units 42, 43, 44 can work as a system to manipulate a shape of the flexible hose 45. Each of the drive units 42, 43, 44 may be independently controlled to either prevent or allow rotation of the flexible hose 45 relative to the drive units 42, 43, 44.

[0017] Figure 7 of the accompanying drawings shows a tracked drive unit 52 with a cable handling module 53. The cable handling module 53 can rotate relative to the tracked base it is mounted on 54. The cable handling module 53 may be able to turn freely or be driven by a motor. The cable handling module 53 is shown without a top plate that prevents the hose from being lifted out. The hose passes through the cable handling module 53 freely in direction 55 or is clamped in place by a lateral force 56 in a direction perpendicular to the hose, produced by two grips 57 mounted in a housing 58 on either side of the hose. When the grips are retracted the hose is able to pass freely through the cable handling module and guide rollers 59 help ensure that it does not jam.

[0018] Figure 8 of the accompanying drawings shows a four wheeled drive unit 60 with a cable handling module 61 that can rotate relative to the base it is mounted on. The hose passes through the cable module along axis 62 and is gripped by two belts 63. The belts 63 may be driven by drive rollers and a motor 64. Guide rollers 65 pushed by a spring 66 towards the hose by spring or other means ensure the hose is firmly gripped. The unit may drive the hose through the module, or hold it still in place.

[0019] Figure 9 of the accompanying drawings shows a hose 70 being carried by two drive modules in three stages A, B, C. Each drive module 71, 72 has a cable handling module 73 that can rotate relative to the drive module 71 and either hold the hose 70 in place or allow it to pass freely through the drive module 71. In a first stage A, the front drive module 72 drives forward pulling the hose 70 behind it. The rear drive module 71 feeds the hose 70 through to the forward module 72 but does not itself move. In a second stage B, the drive modules 71, 72 rotate so the drive is perpendicular to the hose 70. In a third stage C, the drive modules 71, 72 can move sideways dragging the hose 70 perpendicular to its length. This system allows fine adjustment of the position of the hose 70 in two perpendicular directions, without having to force the hose 70 to bend or form a shape that it may resist. Figure 9 also shows three drive modules 74, 75, 76 moving a hose 77 within a restricted space and around obstacles 78, 79. If one unit had pulled the hose 77 through and around the openings it would have likely snagged and got caught.

[0020] Two of the drive modules 74, 75 are positioned in such a way that they can feed the hose 77 around the corner to the third drive module 76 which is pulling an end of the hose 77 into position.

[0021] Figure 10 of the accompanying drawings shows a modular system 80 comprising two drive units 81, 82 connected by rigid links 83, 84 carrying a payload 85. In this particular embodiment, the payload consists of a spray gun 86 used to apply treatments remotely. Treatments might include preservatives, paints and finishes, insulation, etc. The modular system 80 may also be connected to a flexible hose manipulated by further drive units as shown in Figures 4, 5 and 6. The hose may supply the applicator with materials, for example two part polyurethane foam, power in the form of compressed air or electricity, or communication signals.

[0022] Figure 11 of the accompanying drawings shows the modular system 80 comprising two drive units 81, 82 which can pivot around pivot points 87, 88 relative to the linkages and payload in order to position them in the desired location.

[0023] Figure 12 of the accompanying drawings shows the modular system 80 comprising two drive units 81, 82 whose linkages can pivot vertically about pivot points 89, 90 relative to the payload in order to allow the system to climb over obstacles, uneven and rough terrain.

[0024] Figure 13 of the accompanying drawings shows a drive wheel 22 whose rim 100 can rotate relative to a mounting plate 101 and mounting holes 102. The motor and gears are contained within the wheel, making for a compact design. The mounting plate 101 is provided with fins 103 which aid heat transfer by dissipating heat from the mounting plate 101. A mounting point is provided to connect and wire power and controls to the motor inside. A tyre to suit the environment can be mounted onto the rim and held in place by a raised profile 105.

[0025] Figure 14 of the accompanying drawings shows a drive wheel 22 whose rim 100 can rotate relative to the mounting plate 101. The rim is fixed to the outer ring of an epicyclic gear 106 and is able to rotate on a bearing 107 relative to the inner frame 108 in which the motor 109 is housed.

[0026] In summary, a modular robot for carrying an elongate payload 6, 7 in co-operation with at least one further modular robot of the same design comprises a drive unit 2, 3, 4 comprising at least two wheels 8 arranged for rotation about a rotational axis and spaced thereon and a respective motor for driving each of the wheels independently of the other, a payload unit pivotally mounted to the drive unit about a pivot axis 5 transverse to the rotational axis and arranged to mount the elongate payload to the robot, and a locking mechanism arranged to selectively lock the drive unit to the payload unit to maintain a fixed relative orientation of the payload unit and the drive unit about the pivot axis.

[0027] Throughout the description and claims of this specification, the words “comprise” and “contain” and variations of them mean “including but not limited to”, and they are not intended to (and do not) exclude other components, integers or steps. Throughout the description and claims of this specification, the singular encompasses the plural unless the context otherwise requires. In particular, where the indefinite article is used, the specification is to be understood as contemplating plurality as well as singularity, unless the context requires otherwise.

[0028] Features, integers, characteristics or groups described in conjunction with a particular aspect, embodiment or example of the invention are to be understood to be applicable to any other aspect, embodiment or example described herein unless incompatible therewith. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and/or all of the steps of any method or process so disclosed, may be combined in any combination, except combinations where at least some of such features and/or steps are mutually exclusive. The invention is not restricted to the details of any foregoing embodiments. The invention extends to any novel one, or any novel combination, of the features disclosed in this specification (including any accompanying claims, abstract and drawings), or to any novel one, or any novel combination, of the steps of any method or process so disclosed.

Claims (8)

1. A modular robot for carrying an elongate payload in co-operation with at least one further modular robot of the same design, the robot comprising: a drive unit comprising at least two wheels arranged for rotation about a rotational axis and spaced thereon and a respective motor for driving each of the wheels independently of the other; a payload unit pivotally mounted to the drive unit about a pivot axis transverse to the rotational axis and arranged to mount the elongate payload to the robot; and a locking mechanism arranged to selectively lock the drive unit to the payload unit to maintain a fixed relative orientation of the payload unit and the drive unit about the pivot axis.

2. A robot as claimed in claim 1, wherein the drive unit comprises tracks.

3. A robot as claimed in any preceding claim, wherein the payload unit comprises a gripping mechanism arranged to grip the elongate payload.

4. A robot as claimed in any preceding claim, wherein the payload unit comprises a feed mechanism arranged to feed the elongate payload through the payload unit.

5. A robot as claimed in any preceding claim, wherein the payload unit comprises a payload connector arranged for connection to the payload and the payload connector is configured for pivoting of the robot relative to the payload about a further pivot axis transverse to the first pivot axis.

6. A robot as claimed in any preceding claim, wherein the payload is longer than the robot.

7. A robot as claimed in any preceding claim, wherein the payload is a flexible hose or cable.

8. At least two robots as claimed in any preceding claim in combination with a payload.