A mobile robot with spherical wheels and an articulated body

Abstract

The present invention relates to a robot (1) capable of moving on a ground surface by means of spherical wheels (2) adapted for rolling on the ground surface. The robot (1) has a body (4), at least one arm (5), and an upper part (6). The body (4) is connected to a platform (3) and the upper part (6). The robot (1) is capable of moving by tilting between an upright position and an inclined position, and the body (4) of the robot (1) has a first part (40) and a second part (41), and the body (4) is configured to maintain the position of the center of gravity (7) of the robot (1) so that the robot (1) can tilt toward the ground surface.

Description

[Technical Field]

[0001] The present invention relates to the field of robots, in particular humanoid robots, and more particularly to a robot with a single spherical wheel and a movable body, i.e., a body that can tilt relative to the spherical wheel. [Background technology]

[0002] Robots that have a single spherical wheel and are entirely mounted on the wheel are known. These types of robots are commonly called "ballbots." The single spherical wheel allows these robots to move stably in all directions.

[0003] Specifically, various robots are known that have a single spherical wheel, each of which has a torso, two arms, and a top. The torso is connected to and fixed to the spherical wheel, each arm is connected to the torso by a pin joint or a ball-and-socket joint so as to be movable relative to the torso, and the top is connected to and fixed to an upper portion of the torso. The top of the robot has at least one sensor configured to enable the robot to locate itself within its environment. Such robots are configured to move in all directions and perform tasks such as grasping objects using their arms. In this case, the arms are equipped with clamps for grasping the object to be grasped.

[0004] However, because only the arm is movable, such a robot can only perform tasks at the height of the arm, specifically, it cannot perform tasks close to the ground. Therefore, such a robot is intended to perform a specific type of task at a specific height and cannot adapt to its environment.

[0005] So-called humanoid robots, i.e., robots with a shape resembling a human body, including two legs, a torso, two arms, and a head, are also known. The legs have the same joints as human legs and are connected to the torso by pin joints, the torso is connected to each arm by a ball-and-socket joint or a pin joint, and the head is connected to the torso by a pin joint. Therefore, each part can move relative to the other parts, allowing such robots to achieve a certain degree of diverse movement.

[0006] However, the legs contain multiple mechanical parts and joints between them, making the robot extremely complex to manufacture and use.

[0007] Other robots are known that are similar to the previously disclosed humanoid robots, but feature a base plate with at least three wheels attached instead of a pair of legs. In this case, the wheels allow the robot to move in all directions, and the base plate is connected to the body by a ball-and-socket joint, the body is connected to each arm by a ball-and-socket joint or a pin joint, and the head is connected to the body by a pin joint. Therefore, because each part can move relative to the other parts, such robots can achieve a certain degree of variety in their movements. Summary of the Invention [Problem to be solved by the invention]

[0008] However, wheels coupled to a base plate take up a considerable amount of space, especially on the ground. Indeed, since the wheels are the part of the robot that bears its weight on the ground, they need to be spaced apart on the ground to ensure the robot's stability in both static and mobile positions. In particular, the spacing between the wheels is essential to prevent the robot from tipping over, for example, when the body is tilted relative to the base plate. Therefore, such robots take up a considerable amount of space and may not be suitable for tight environments.

[0009] The present invention aims to solve the above problems by proposing a robot comprising a single spherical wheel for movement that contacts the ground and carries the robot, a body, two arms and a top. In particular, the robot has a mobile body, i.e. a body that can tilt relative to the spherical wheel, allowing it to adapt and interact with its environment. The robot according to the invention can perform different tasks at different heights, taking up little space and remaining stable. [Means for solving the problem]

[0010] More specifically, the present invention provides a robot configured to be movable on the ground by the spherical wheel adapted to roll on the ground, the robot having a fuselage, at least one arm, and an upper part, the fuselage being connected to the upper part and the platform, and the arm being connected to the fuselage by at least one pin joint or at least one ball-and-socket joint. The robot is tiltable between an upright position and a tilted position, the robot's fuselage having a first section and a second section, the first section being connected at a first end to the platform by at least one pin joint or ball-and-socket joint, the second section being connected at a first end to the upper part, and the first section being connected at a second end to a second end of the second section by at least one pin joint or ball-and-socket joint. The fuselage is configured to maintain the position of the robot's center of gravity so that the robot can tilt toward the ground.

[0011] The first and second parts allow the torso, and therefore the robot, to be tiltable. The tilting of the torso allows the robot's grasping height to be adjustable. Furthermore, the robot is stable on the spherical wheels in both stationary and mobile positions, and in both upright and tilted positions. Thus, the robot remains stable, takes up less space, and can tilt toward the ground to pick up and / or move objects in its environment. The robot's variable operating height allows it to adapt to its environment. It can also adapt to the load of the object being moved and / or grasped. In fact, the weight of the object can shift the center of gravity, making the robot unstable. Simply by rotating the first and / or second parts to move the center of gravity back to the center, the robot can maintain balance while carrying the object.

[0012] In addition, tilting the torso widens the robot's field of view, making it more similar to human movements and further improving convenience.

[0013] According to a first embodiment, the first part is connected at a first end to the platform by a pin joint, and the first part is connected at a second end to a second end of the second part by a pin joint.

[0014] According to a second embodiment, the first part is connected at a first end to the platform by a ball and socket joint, and the first part is connected at a second end to a second end of the second part by a ball and socket joint.

[0015] Advantageously, in the upright position, the axis of the joint connecting the first end of the second part to the top, the axis of the joint connecting the second end of the second part to the second end of the first part, and the axis of the joint connecting the first end of the first part to the platform are located in the frontal plane of the robot, and in the inclined position, the axis of the joint connecting at least the first end of the first part to the platform is located in the frontal plane of the robot, the axis of the joint connecting the second end of the second part to the second end of the first part is located away from the frontal plane, and the axis of the joint connecting the first end of the second part to the top is located in the frontal plane or away from the frontal plane.

[0016] In this case, the torso tilts, allowing the robot's gripping height to be adjusted and the center of gravity to be kept in the frontal plane, keeping the robot balanced. In this way, the robot is tiltable, stable, and takes up very little space.

[0017] Advantageously, the robot also has two arms which extend in an inclined position on either side of the frontal plane of the robot or on the same side of the frontal plane.

[0018] A robot with one arm can grasp an object, while multiple arms allow it to grasp larger objects while maintaining stability.

[0019] Preferably, in the tilted position, the robot has two arms extending on the same side of the frontal plane, and in the tilted position, the axis of the joint connecting the first end of the first part to the platform is located on the frontal plane of the robot, and the axis of the joint connecting the second end of the second part to the second end of the first part and the axis of the joint connecting the first end of the second part to the top are located away from the frontal plane.

[0020] More preferably, in the tilted posture, the robot has two arms extending on either side of the frontal plane, and in the tilted posture, the axis of the joint connecting the first end of the first part to the platform and the axis of the joint connecting the first end of the second part to the upper part are located on the frontal plane of the robot, and the axis of the joint connecting the second end of the second part to the second end of the first part is located away from the frontal plane.

[0021] Advantageously, the stabilising means of the platform are arranged to maintain the platform in a predetermined position relative to the ground, in particular in a horizontal position.

[0022] It is further advantageous that at least one arm has a distal portion and a proximal portion connected by a pin-type joint or a ball-and-socket type joint, and the arm is configured to be movable between an extended position in which the distal portion and the proximal portion are aligned and a bent position in which the proximal portion is inclined relative to the distal portion.

[0023] Preferably, the robot further comprises at least one gripper, in particular a hand, connected to one end of the arm by a pin joint or a ball-and-socket joint, the gripper having at least two fingers forming a clamp, the gripper being configured to grip an object.

[0024] The invention will be better understood on reading the following illustrative description and by referring to the following figures, which are given as non-limiting examples, in which similar objects have been given the same references:

[0025] In the present invention, drawings are shown in detail to implement the present invention, and it goes without saying that the drawings can be used to further define the present invention, if necessary, but in a non-limiting manner. [Brief explanation of the drawings]

[0026] [Figure 1] FIG. 1 is a schematic front view of a robot according to the present invention having spherical wheels for locomotion and a platform mounted on the wheels, with a body and upper part mounted on the platform, the body having a first part and a second part. [Figure 2] FIG. 2 is a right-side view of the robot in FIG. 1 in an upright position. [Figure 3] FIG. 3 is a view similar to FIG. 2, but with the robot's arms positioned along the robot's body. [Figure 4] FIG. 3 is a view similar to FIG. 2, but with the robot in a tilted position. [Figure 5] This is a view similar to Figure 3, but with the robot in an inclined position and the arm roughly aligned with the body. [Figure 6]FIG. 6 is a view similar to FIG. 5, but with the arm facing forward of the robot. [Figure 7] FIG. 7 is a view similar to FIG. 6, but in a more tilted position. [Figure 8] FIG. 7 is a view similar to FIG. 6, but with the arm facing rearward toward the robot. [Figure 9] FIG. 6 is a view similar to FIG. 5, but in a more inclined position. DETAILED DESCRIPTION OF THE INVENTION

[0027] The present invention relates to a robot 1 having a single spherical wheel 2 configured to come into contact with the ground and a platform 3 mounted on the spherical wheel 2 via stabilizing means. The robot 1 rests on the spherical wheel 2 via the platform 2. This type of robot 1 is commonly referred to as a "ballbot."

[0028] The robot 1 can move stably in all directions on the ground using a single spherical wheel 2.

[0029] The platform 3 is mounted on the spherical wheels 2 so that the bottom of the spherical wheels 2 is always in contact with the ground. Specifically, the platform 3 is provided with a stabilizing means configured to stably hold the robot 1 on the spherical wheels 2 not only when the robot 1 is in a stationary position but also when the robot 1 is moving.

[0030] The stabilizing means may for example comprise a retaining member 30 at least partially surrounding the spherical wheel 2. Here, the stabilizing means comprises three retaining members 30 distributed around the periphery of the spherical wheel 2.

[0031] The stabilizing means may further include at least one auxiliary wheel 31, here three auxiliary wheels 31, configured to rotate and enable the spherical wheel 2 to move and / or to hold the stationary robot 1 in the upright position shown.

[0032] In the rest position, the robot's platform 3 extends approximately parallel to the ground and the robot lies in a frontal plane A perpendicular to the ground.

[0033] To move, i.e. to rotate at least one auxiliary wheel 31 and thus the spherical wheel 2, the robot must be tilted in the desired direction relative to the frontal plane. In this way, the robot 1 can move in any direction, omnidirectionally.

[0034] The robot 1 comprises a body 4 , at least one arm 5 and an upper part 6 .

[0035] Specifically, the fuselage 4 is connected to the platform 3 and to the upper part 6 .

[0036] The arms 5 are connected to the body 4 by pin joints or ball-and-socket joints. The robot 1 may have multiple arms 5. Here, the robot 1 has two arms 5, each connected to the body 4 by a pin joint or a ball-and-socket joint.

[0037] Furthermore, the robot according to the present invention can be tilted between the upright posture shown in FIGS. 1 to 3 and the tilted posture shown in FIGS.

[0038] The body 4 has a first portion 40 and a second portion 41. The first portion 40 and the second portion 41 each have a first end and a second end.

[0039] The first part 40 is connected at its first end to the platform 3 by a pin or ball and socket joint. The second part 41 is connected at its first end to the top part 6 by a pin or ball and socket joint.

[0040] The second end of the first portion 40 is connected to the second end of the second portion 41 by a pin joint or a ball and socket joint.

[0041] According to one embodiment illustrated in the figures, the first part 40 is connected at its first end to the platform 3 by a pin joint. The first part 40 is connected at its second end to a second end of the second part 41 by a pin joint. The first end of the second part 41 is connected to the top part 6 by a pin joint.

[0042] According to another embodiment, not shown, the first part 40 is connected at its first end to the platform 3 by a ball and socket joint. The first part 40 is connected at its second end to a second end of the second part 41 by a ball and socket joint. The first end of the second part 41 is connected to the top part 6 by a ball and socket joint.

[0043] For example, it is possible to combine the two previous embodiments by connecting the first portion 40 at a first end to the platform 3 by a ball and socket joint, connecting the first portion 40 at a second end to a second end of the second portion 41 by a pin joint, and connecting the second portion 41 at a first end to the top 6 by a ball and socket joint. In another example, the first end of the first portion 40 can be connected to the platform 3 by a pin joint, the second end of the first portion 40 can be connected to a second end of the second portion 41 by a ball and socket joint, and the first end of the second portion 41 can be connected to the top 6 by a pin joint.

[0044] In the upright posture, the first portion 40 and the second portion 41 are located in the frontal plane A of the robot 1, as shown in, for example, FIGS.

[0045] In the tilted posture, the first portion 40 and / or the second portion 41 is tilted with respect to the frontal plane A of the robot 1, as shown in, for example, FIGS.

[0046] The body 4 is configured to maintain the position of the center of gravity 7 of the robot 1 so that the robot 1 can tilt relative to the ground while maintaining balance.

[0047] The arm 5 has a distal portion 50 and a proximal portion 51, and has a gripping portion, here a hand 52. The proximal portion 51 is connected to the body 4 by a ball-and-socket joint or a pin joint, and is further connected to the distal portion by a ball-and-socket joint or a pin joint. The distal portion 50 is also connected to the hand 52 by a pin joint or a ball-and-socket joint.

[0048] Here, the robot 1 has multiple arms 5. In this case, each arm 5 has a distal portion 50, a proximal portion 51, and a hand 52. The proximal portion 51 is connected to the body 4 by a ball-and-socket joint or a pin joint, and is further connected to the distal portion by a ball-and-socket joint or a pin joint. The distal portion 50 is also connected to the hand 52 by a pin joint or a ball-and-socket joint.

[0049] Each arm 5 is configured to be movable between an extended position in which the distal portion and the proximal portion are aligned, and a bent position in which the proximal portion is inclined relative to the distal portion.

[0050] The gripper has at least two fingers that form a clamp and is configured to grasp an object.

[0051] In the illustrated example, the hand 52 is a robotic hand with a palm and multiple fingers.

[0052] In other embodiments, the hand may be, for example, a clamp or a suction cup.

[0053] The upper part 6 of the robot 1 has at least one sensor, in particular a plurality of sensors and a camera, configured to enable the robot 1 to recognize its environment and in particular to detect objects to be grasped and / or moved that are located on the opposite side of the upper part within its field of view.

[0054] In one particular example of the present invention, the upper portion 6 may comprise an RGB camera, an IR camera, a stereo depth camera, a microphone, and / or a "Time Of Flight (TOF) laser" sensor.

[0055] Here, various movements of the robot 1 will be explained with reference to the drawings.

[0056] In the upright rest position shown in Figures 1 to 3, the axis of the joint connecting the first end of the second part 41 to the upper part 6, the axis of the joint connecting the second end of the second part 41 to the second end of the first part 40, and the axis of the joint connecting the first end of the first part 40 to the platform 3 lie in the frontal plane A of the robot 1.

[0057] In this upright, stationary position, the robot, and more particularly its torso 4, extends generally along a vertical axis Y that is perpendicular to the ground.

[0058] As shown in FIG. 3, the arm 5 extends in the vertical direction Y along the body 4 .

[0059] According to another example, not shown, the arms may extend away from the torso, i.e., may be inclined relative to the frontal plane A of the robot. If the robot has two arms, as is the case here, both arms may be inclined relative to the frontal plane A on the same side of said frontal plane A. Alternatively, both arms may be inclined relative to the frontal plane A on either side of said frontal plane A.

[0060] In an upright, static posture, the center of gravity 7 is in the frontal plane A. The robot 1 is stabilized on the spherical wheels 2.

[0061] During operation, the robot 1 tilts in a desired direction relative to the frontal plane A. The center of gravity 7 therefore moves in the same direction along the length of the torso 4. The movement of the spherical wheels 2 keeps the robot 1 balanced.

[0062] 4 to 9, the axis of the joint connecting at least the first end of the first part 40 to the platform 3 is in the frontal plane A of the robot 1. The axis of the joint connecting the second end of the second part 41 to the second end of the first part 40 is located away from the frontal plane A. The axis of the joint connecting the first end of the second part 41 to the upper part 6 may be located in the frontal plane A or away from the frontal plane A.

[0063] As shown in FIG. 4 , the axis of the joint connecting the first end of the first part 40 to the platform 3 is located within the frontal plane A of the robot 1, the axis of the joint connecting the second end of the second part 41 to the second end of the first part 40 is located at a distance rearward from the frontal plane A, and the axis of the joint connecting the first end of the second part 41 to the upper part 6 is located within the frontal plane A.

[0064] The first part 40 pivots about the axis of the pin joint connecting it to the platform 3. The first part 40 is inclined relative to the vertical direction Y. The second part 41 pivots in the opposite direction to the first part 40 about the axis of the pin joint connecting it to the first part 40.

[0065] In the tilted static posture, the center of gravity 7 is in the frontal plane A. The robot 1 is stabilized on the spherical wheel 2.

[0066] As shown in FIG. 4, the upper part 6 faces the ground, allowing objects placed thereon to be within the robot's field of view.

[0067] 5, the arm 5 of the robot 1 extends in the vertical direction Y. As a result, the center of gravity 7 is located within the frontal plane A.

[0068] 6, the arm 5 of the robot 1 extends forward from the frontal plane A and approximately parallel to the ground. In this position, the center of gravity is shifted forward from the frontal plane A. To maintain balance of the robot 1 and return the center of gravity 7 to the frontal plane A, the first portion 40 is simply pivoted further backward relative to the frontal plane A.

[0069] In Figure 7, the robot 1 is tilted further than in Figure 6. In fact, the second part 41 has pivoted further in the opposite direction to the pivoting direction of the first part 40. The center of gravity 7 has moved forward of the frontal plane A. To balance the robot 1 and return the center of gravity 7 to the frontal plane A, the first part 40 is simply pivoted further backward relative to the frontal plane A.

[0070] In Figure 8, the arms of the robot 1 extend rearward from the frontal plane A, approximately parallel to the ground. In this position, the center of gravity 7 has moved rearward from the frontal plane A. To maintain balance and return the center of gravity to the frontal plane A, the second part 41 is simply pivoted further in the opposite direction to the pivoting direction of the first part 40.

[0071] Figure 9 is a view similar to Figure 5, but with the robot tilted further, the centre of gravity is in the frontal plane A, and the robot 1 is balanced on the spherical wheels 2. In this position, the first part 40 has been pivoted further back from the frontal plane A, and the second part 41 has been pivoted further in the opposite direction to the pivot direction of the first part 40.

[0072] 9, the robot 1 can take an inclined posture with its arms extending on both sides of the frontal plane A. In this case, the center of gravity 7 is located within the frontal plane A, and the robot 1 is balanced on the spherical wheels 2.

[0073] Specifically, the axis of the joint connecting the first end of the first part 40 to the platform 3 and the axis of the joint connecting the first end of the second part 41 to the upper part 6 are located within the frontal plane A of the robot 1, and the axis of the joint connecting the second end of the second part 41 to the second end of the first part 40 is located at a position away from the frontal plane A and rearward.

[0074] Therefore, the robot 1 is stable on the spherical wheels 2 in both stationary and moving, upright and tilted positions. The robot 1 can therefore tilt towards the ground to pick up and / or move objects in its environment. The robot 1 has a variable operating height and can adapt to its environment.

[0075] Additionally, the robot 1 can adapt to the load of an object to be moved and / or grasped. Indeed, the weight of the object can shift the center of gravity, making the robot unstable. To maintain balance of the robot carrying an object, the first and / or second parts can be rotated to bring the center of gravity back to the center, i.e., within the frontal plane A.

[0076] In a variant not shown, the gripping area of ​​the robot can be increased, particularly by increasing the length of the arms, which allows the robot to access the ground or a greater distance from its body.

[0077] The present invention is not limited to the above-described embodiments, but extends to equivalent embodiments.

Claims

1. A robot (1) comprising: a single spherical wheel (2) for movement adapted to contact the ground; and a platform (3) attached to the spherical wheel (2) via a stabilizing means, the robot being adapted to be movable on the ground by the spherical wheel (2) adapted to roll on the ground; the robot having a body (4), at least one arm (5), and an upper part (6), The fuselage (4) is connected to the upper part (6) and the platform (3), The arm (5) is connected to the body (4) by at least one pin joint or at least one ball-and-socket joint; The robot (1) is capable of tilting and moving between an upright position and an inclined position, The body (4) of the robot (1) has a first part (40) and a second part (41), the first part (40) is connected at a first end to the platform (3) by at least a pin joint or a ball-and-socket joint; the second part (41) is connected at a first end to the upper part (6) and the first part (40) is connected at a second end to the second end of the second part (41) by at least a pin joint or a ball and socket joint; the fuselage (4) is configured to maintain the position of the center of gravity (7) of the robot (1) so that the robot (1) can tilt towards the ground; A robot (1) characterized by:

2. A robot (1) according to claim 1, The first part (40) is connected at a first end to the platform (3) by a pin joint; said first part (40) being connected at a second end to a second end of said second part (41) by a pin joint; A robot (1) characterized by:

3. A robot (1) according to claim 1, the first part (40) is connected at a first end to the platform (3) by a ball and socket joint; said first part (40) being connected at a second end to a second end of said second part (41) by a ball and socket joint; A robot (1) characterized by:

4. A robot (1) according to any one of claims 1 to 3, In the upright position, the joint axis connecting the first end of the second part (41) to the upper part (6), the joint axis connecting the second end of the second part (41) to the second end of the first part (40), and the joint axis connecting the first end of the first part (40) to the platform (3) are located in the frontal plane (A) of the robot (1), and in the inclined position, the joint axis connecting at least the first end of the first part (40) to the platform (3) is located in the frontal plane (A) of the robot (1), the joint axis connecting the second end of the second part (41) to the second end of the first part (40) is located away from the frontal plane (A), and the joint axis connecting the first end of the second part (41) to the upper part (6) is located in the frontal plane (A) or away from the frontal plane (A). A robot (1) characterized by:

5. A robot (1) according to any one of claims 1 to 4, The robot (1) has two arms (5), which extend in an inclined position on either side of the frontal plane (A) of the robot (1) or on the same side of the frontal plane (A); A robot (1) characterized by:

6. A robot (1) according to claim 5, The robot (1) has, in an inclined position, two arms (5) extending on the same side of the frontal plane (A), In the tilted position, the axis of the joint connecting the first end of the first part (40) to the platform (3) is located in the frontal plane (A) of the robot (1), and the axis of the joint connecting the second end of the second part (41) to the second end of the first part (40) and the axis of the joint connecting the first end of the second part (41) to the upper part (6) are located away from the frontal plane (A). A robot (1) characterized by:

7. A robot (1) according to claim 5, the robot (1) has two arms (5) extending on both sides of the frontal plane (A) in the inclined posture, and in the inclined posture, the axis of the joint connecting the first end of the first part (40) to the platform (3) and the axis of the joint connecting the first end of the second part (41) to the upper part (6) are located on the frontal plane (A) of the robot (1), and the axis of the joint connecting the second end of the second part (41) to the second end of the first part (40) is located away from the frontal plane (A); A robot (1) characterized by:

8. A robot (1) according to any one of claims 1 to 7, the stabilizing means of the platform (3) are configured to maintain the platform (3) in a predetermined position relative to the ground, in particular in a horizontal position; A robot (1) characterized by:

9. A robot (1) according to any one of claims 1 to 8, said at least one arm (5) having a distal portion (50) and a proximal portion (51); The distal portion (50) and the proximal portion (51) are connected by a pin-type joint or a ball-and-socket type joint, The arm (5) is configured to be movable between an extended position in which the distal portion (50) and the proximal portion (51) are aligned and a bent position in which the proximal portion (51) is inclined relative to the distal portion (50); A robot (1) characterized by:

10. A robot (1) according to any one of claims 1 to 9, It further has at least one gripping part, in particular a hand (52), The gripping part is connected to one end of the arm (5) by a pin joint or a ball-and-socket joint; the gripper has at least two fingers forming a clamp; the gripper is configured to grip an object; A robot (1) characterized by:

11. A robot (1) according to any one of claims 1 to 10, the upper part (6) of the robot (1) has at least one sensor facing the upper part (6) and configured to detect objects within its field of view; A robot (1) characterized by:

12. A robot (1) according to any one of claims 1 to 11, said upper part (6) being connected to a first end of said second part (41) by at least a pin joint or a ball and socket joint; A robot (1) characterized by:

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