Spherical-wheel robot comprising a set of stabilizing wheels

Abstract

The present invention relates to a robot comprising a single spherical movement wheel intended to be in contact with the ground and a platform mounted on the spherical wheel, the platform comprising at least one stabilizing wheel (5) configured to keep the robot stable in a static position and while in movement, the stabilizing wheel (5) being in point contact on the spherical wheel, each stabilizing wheel (5) being composed of first cylindrical secondary wheels (50) and second cylindrical secondary wheels (51), the diameter of the first secondary wheels (50) being greater than the diameter of the second secondary wheels (51), the first secondary wheels (50) and the second secondary wheels (51) being alternately distributed on the stabilizing wheel (5) so as to allow the mobility of the stabilizing wheel (5) and to allow the robot to be maintained in a standing position.

Description

Ball-wheel robot including a set of stabilizing wheels

[0001] The present invention relates to the field of robots, in particular humanoid robots. More specifically, the invention relates to a robot with a single spherical wheel having a stabilization means comprising secondary wheels for stabilizing the robot. STATE OF THE ART

[0002] Robots are known that have a single spherical wheel on which the entire robot rests. These types of robots are commonly called "Ballbots." These robots are mobile by means of the single spherical wheel, in all directions, in a stable manner.

[0003] In particular, robots with a single spherical wheel are known, each comprising a trunk, two arms and an upper part. The trunk is connected to the spherical wheel and is fixed relative to it, each arm is connected to the trunk by means of a pivot connection or by means of a ball joint connection so as to allow the mobility of each of the arms relative to the trunk and the upper part is connected to an upper portion of the trunk and is fixed relative to it. The upper part of the robot comprises at least one sensor configured so that the robot can locate itself in its environment. Such a robot is configured to move in all directions and to perform tasks by means of its arms, such as grasping objects. In this case, the arms are provided with grippers allowing the gripping of the objects to be grasped.

[0004] To enable the mobility of the spherical wheel and / or to maintain the robot in a standing position, it is known to mount secondary wheels between the spherical wheel and the robot's trunk.

[0005] However, the known secondary wheels vibrate on the spherical wheel, causing a lack of stability of the robot and causing significant noise.

[0006] The present invention therefore aims to solve the aforementioned problems by proposing a robot comprising a single spherical displacement wheel, in contact with the ground, the mobility of the spherical wheel and the maintenance of the robot in a standing position being ensured by secondary wheels limiting vibrations on the spherical wheel, reducing the noise generated, improving the stability of the robot and the cost of which is reduced and assembly simplified. PRESENTATION OF THE INVENTION

[0007] More specifically, the invention relates to a robot comprising a single spherical movement wheel intended to be in contact with the ground and a platform mounted on said spherical wheel. The robot is configured to be mobile on the ground by means of said spherical wheel, the platform cooperating with at least one stabilizing wheel configured to keep the robot stable in a static position and in movement, the stabilizing wheel being in point contact on the platform and on the spherical wheel and configured to rotate along an axis forming an angle with a frontal plane of the robot.Each stabilizing wheel is composed of first cylindrical secondary wheels and second cylindrical secondary wheels, the diameter of the first secondary wheels being greater than the diameter of the second secondary wheels, the first secondary wheels and the second secondary wheels being alternately distributed on the stabilizing wheel so as to allow the stabilizing wheel to be mobile and the robot to be maintained in a standing position.

[0008] The first secondary wheels and the second secondary wheels, alternately juxtaposed on the circumference of the stabilizing wheel, allow the robot to be held stably in a static position and in motion. In particular, when they begin to rotate, they allow the robot to be kept static or, on the contrary, to begin to move, in all directions. The fact that the secondary wheels are distributed over the entire circumference of the stabilizing wheel limits the vibrations generated by their rotation, as well as the noise. Thus, the stability of the robot is improved.

[0009] In addition, the stabilizing wheel further comprises a stabilizing support, connected to the platform and on which each secondary wheel is mounted.

[0010] The stabilization bracket allows the secondary wheels to be connected together, thus forming a single-piece stabilization bracket that can be connected directly to the robot platform. This simplifies assembly.

[0011] The stabilizing support defines a plurality of first openings configured to accommodate the first secondary wheels and a plurality of second openings configured to accommodate the second secondary wheels.

[0012] The first and second openings accommodate the first and second secondary wheels which have a different diameter.

[0013] Also, the stabilizing support comprises a plurality of support portions juxtaposed to each other, each support portion defining a first opening configured to house a first secondary wheel, a second opening being formed between two juxtaposed support portions.

[0014] The support portions allow for the housing of first secondary wheels. The plurality of portions connected to the stabilization support allows for a single-piece support that can be connected directly to the robot platform, and can be adapted to different diameters of secondary wheels. This simplifies assembly and makes it adaptable as needed.

[0015] Additionally, each support portion has a mounting tab configured to connect to the robot platform.

[0016] Each fixing tab is flat and has a plurality of openings allowing it to be connected to the platform, the fixing tabs of the different portions having shapes complementary to each other so as to be juxtaposed to each other, without a gap or space being left between them.

[0017] Advantageously, the stabilizing support further comprises a central portion connected to the platform and to which the plurality of support portions are connected.

[0018] The central portion connects the support portions together to form a single stabilizing support. Only the central portion needs to be connected to the robot platform. This reduces assembly time.

[0019] Advantageously, the first secondary wheel is inclined relative to the second secondary wheel, the inclination being between 120 and 160 degrees.

[0020] Advantageously, the inclination between the first secondary wheel and the second secondary wheel is 135 degrees.

[0021] Such cooperation allows to limit the size and such an inclination allows by limiting the size, a juxtaposition of the secondary wheels on the circumference of the stabilization wheel without presenting a space between the secondary wheels. The absence of such spaces allows a better precision of the robot's movements.

[0022] Advantageously, the first secondary wheel comprises a fixing body and a wheel body, the fixing body comprising a shaft on which two bearings are fixed, the wheel body being mounted movably on the shaft, the shaft having a length less than that of the wheel body, so as to delimit a chamber on either side of the shaft, said chamber being configured to house at least in part a second secondary wheel.

[0023] Advantageously, the shaft comprises a female coupling element, through which a male coupling element is inserted, the female coupling element and the male coupling element of each first secondary wheel each being connected to the stabilizing support. PRESENTATION OF FIGURES

[0024] The invention will be better understood on reading the following description, given solely by way of example, and referring to the appended drawings given as non-limiting examples, in which identical references are given to similar objects and in which:

[0025] This is a left perspective view of the robot according to the invention, comprising a spherical displacement wheel, a platform mounted on the spherical wheel by means of stabilizing wheels;

[0026] The is a schematic representation of a stabilizing wheel of the, comprising a plurality of first secondary wheels and second secondary wheels distributed alternately;

[0027] This is a schematic representation of the central portion of the stabilizer wheel on which a stabilizing support portion is connected;

[0028] The is a schematic representation of the stabilizing support of the, on which is fixed, by means of the central portion of the, a plurality of support portions juxtaposed to each other;

[0029] This is a schematic representation of a stabilizing support connected to a secondary wheel;

[0030] This is a view similar to the, from which the central portion has been omitted and each support portion being connected to a secondary wheel; and

[0031] This is a schematic cross-sectional representation of a first secondary wheel connected to a second secondary wheel.

[0032] It should be noted that the figures set out the invention in detail to enable the invention to be implemented; although not limiting, said figures serve in particular to better define the invention where appropriate. DETAILED DESCRIPTION OF THE INVENTION

[0033] The invention relates to a robot 100, shown in the, comprising a single spherical wheel 200 intended to be in contact with the ground and a platform 300 mounted on the spherical wheel 200. The robot 100 rests on the spherical wheel 200 via the platform 300. This type of robot 100 is commonly referred to as a "Ballbot".

[0034] The robot 100 is mobile on the ground by means of the single spherical wheel 200, in all directions, in a stable manner.

[0035] The platform 300 is mounted on the spherical wheel 200, such that a lower portion of the spherical wheel 200 is permanently in contact with the ground. In particular, the platform 300 comprises a stabilizing wheel 5 configured to allow the robot 100 to be held stably on the spherical wheel 200 when the robot 100 is in a static position but also when the robot 100 is in motion.

[0036] With reference to the, the platform 300 may comprise a plurality of stabilizing wheels 5 distributed around the circumference of the spherical wheel 200. Here, the platform 300 comprises three stabilizing wheels 5, equidistant from each other. The stabilizing wheels 5 are ring-shaped.

[0037] With reference to the, each stabilizing wheel 5 comprises a plurality of cylindrical secondary wheels 50, 51. Here, the stabilizing wheel 5 comprises twelve cylindrical secondary wheels 50, 51. It is obvious that the stabilizing wheel 5 may comprise fewer secondary wheels 50, 51 or on the contrary more secondary wheels 50, 51, for example depending on the size of the spherical wheel 200 of the robot 100.

[0038] The cylindrical secondary wheels correspond to rollers, generally designated by those skilled in the art by the Anglicism “roller”.

[0039] The stabilizing wheel 5 is in point contact on the platform and is configured to rotate along an axis forming an angle with a frontal plane of the robot 100.

[0040] In particular, and with reference to the, the stabilizing wheel 5 is formed of first secondary wheels 50 and second secondary wheels 51. The diameter of the first secondary wheels 50 is greater than the diameter of the second secondary wheels 51. The first secondary wheels 50 and the second secondary wheels 51 are alternately distributed so as to allow the mobility of the stabilizing wheel 5 and therefore of the spherical wheel 200 and thus the robot 100 to be maintained in a standing position.

[0041] The first secondary wheels 50 and the second secondary wheels 51 juxtaposed alternately make it possible to maintain the robot 100 in a stable manner in a static position and in movement. In particular, when they start to rotate, they make it possible to maintain the robot static or, on the contrary, to make it start to move, in all directions. The secondary wheels 50, 51 distributed over the entire circumference of the stabilizing wheel 5 make it possible to limit the vibrations generated by their start to rotate, as well as the noise. Thus, the stability of the robot 100 is improved.

[0042] With reference to figures 2 and 4, the stabilizing wheel 5 further comprises a stabilizing support 10, connected to the platform 300. Each of the first secondary wheels 50 and / or the second secondary wheels 51, is mounted on the stabilizing support 10.

[0043] The stabilization support 10 makes it possible to connect the secondary wheels 50, 51 together and thus form a stabilization support 10 in one piece with the secondary wheels 50, 51, which can be connected directly to the platform 300 of the robot 100. Thus, assembly on the robot 100 is simplified.

[0044] With reference to the, the stabilizing support 10 comprises a plurality of first openings 52 configured to house the second secondary wheels 51 and a plurality of second openings 53 configured to house the first secondary wheels 50.

[0045] The stabilizing support 10 comprises, in particular, a plurality of support portions 6, juxtaposed to one another. Each support portion 6 delimits the opening 52 configured to house the second secondary wheel 51, the opening 53 is formed between two juxtaposed support portions 6. This opening 53 is configured to house the first secondary wheel 50 ().

[0046] The support portions 6 make it possible to house first secondary wheels 50. The plurality of portions 6 connected to the stabilizing support 10 makes it possible to have a support 10 in one piece which can be connected directly to the platform 300 of the robot 100, and which can be adapted to different diameters of secondary wheels. Thus, the assembly is simplified and adaptable as needed.

[0047] With reference to Figures 4 and 5, each support portion 6 comprises a fixing tab 60. The fixing tab 60 is configured to be connected to the platform 300 of the robot 100. In particular, the fixing tab 60 is planar and has a plurality of openings allowing it to be connected to the platform 300 of the robot 100. Here, the fixing tab 60 has five openings allowing it to be connected to the platform 300 of the robot 100. The fixing tabs 60 have shapes complementary to each other so as to be juxtaposed to each other, without a gap or space being left between them, thus minimizing their bulk. As visible in the, the fixing tabs 60 have a shape similar to that of a trapezoid. Juxtaposed to each other on the circumference of the stabilizing wheel 5, the plurality of tabs 60 form a circle.

[0048] The fixing tab 60 of each support portion 6 is connected to a holding portion. The holding portions delimit the openings 52 configured to house the secondary wheels 51. Two juxtaposed holding portions delimit an opening 53 configured to house the secondary wheels 50. The holding portions comprise fixing means, allowing the fixing of the secondary wheels 51 in the openings 52 and allowing the fixing of one end of the secondary wheels 50 in the opening 53. Thus, two holding portions each have a point for fixing the secondary wheels 50.

[0049] With reference to the, the stabilizing support 10 may further comprise a central portion 7. The central portion 7 is connected to the platform 300. In particular, it is interposed between the platform and the support portions 6. In such an embodiment, the central portion 7 has openings complementary to the openings of the fixing tabs 60, making it possible to connect the fixing tabs 60 to the platform 300. In particular, the support portion 7 cooperates with the fixing tabs 60 juxtaposed with each other. With reference to the, the fixing tabs 60 are distributed over the entire circumference of the central portion 7.

[0050] Such a central portion 7 makes it possible to have in a single mechanical block all of the support portions 6 to be connected to the platform 300. It is more practical and quicker to connect the entire mechanical block, rather than one support portion 6 after the other on the platform 300. Only the central portion 7 is to be connected to the platform 300 of the robot 100. The assembly time is thus reduced.

[0051] According to the embodiment illustrated in the, the central portion 7 may have a shape similar to that of a hexagon. However, it is obvious that the central portion 7 may be in any other shape, such as a circle for example.

[0052] With reference to set 7, a first secondary wheel 50 and a second secondary wheel 51 alternate over the entire circumference of the stabilizing wheel 5.

[0053] With reference to the, the first secondary wheel 50 comprises a fixing body 500 and a wheel body 501. The fixing body 500 comprises a shaft 502 on which two bearings are fixed, on the bearings 506 is fixed the wheel body 501. The wheel body 501 is mounted movably on the shaft 502. The shaft 502 has a length less than that of the wheel body 501, so as to delimit a chamber 503 on either side of the shaft 502.

[0054] The chamber 503 is configured to at least partially house a second secondary wheel 51.

[0055] The shaft 502 comprises a female coupling element 504, through which a male coupling element 505 is inserted. The female coupling element 504 and the male coupling element 505 of each first secondary wheel 50 are each connected to the stabilizing support 10.

[0056] Advantageously, a first bearing 506 abuts against a shoulder of the male coupling element 505 and a second bearing 506 abuts against a shoulder of the female coupling element 504.

[0057] The male coupling element 505 has a first end with the shoulder and a second free end, said free end being inserted into a blind opening present in one end of the female coupling element 504 along a longitudinal axis of the male coupling element 505, coaxial with a longitudinal axis of the female coupling element 504. The male coupling element 505 is inserted into the female coupling element 504 such that said end of the female coupling element 504 extends away from the shoulder of the male coupling element 505.

[0058] The second secondary wheel 51 comprises, like the first secondary wheel 50, a fixing body 507 and a wheel body 508. The fixing body 507 comprises a shaft 509 on which two bearings 510 are fixed, on the bearings 510 is fixed the wheel body 508. The wheel body 508 is mounted movably on the shaft 509. The shaft 509 has a length similar to that of the wheel body 508.

[0059] The shaft 509 comprises a female coupling element 511, through which a male coupling element 512 is inserted. The female coupling element 511 and the male coupling element 512 of each second secondary wheel 51 are each connected to the stabilizing support 10. In particular, each second secondary wheel 51 is housed in an opening 52 of the holding portion of the support portions 6.

[0060] Advantageously, a first bearing 513 abuts against a shoulder of the male coupling element 512 and a second bearing 513 abuts against a shoulder of the female coupling element 511.

[0061] The male coupling element 512 has a first end with the shoulder and a second free end, said free end being inserted into a blind opening present in one end of the female coupling element 511 along a longitudinal axis of the male coupling element 512, coaxial with a longitudinal axis of the female coupling element 511. The male coupling element 512 is inserted into the female coupling element 511 such that said end of the female coupling element 511 extends away from the shoulder of the male coupling element 512.

[0062] In particular, the first secondary wheel 50 is inclined relative to the second secondary wheel 51. With reference to the, the chamber 503 is configured to house at least in part a second secondary wheel 51, more particularly a portion of the wheel body 508 and a portion of the fixing body 507 of the second secondary wheel 51.

[0063] The inclination between the two secondary wheels can be between 120 and 160 degrees. Advantageously, the inclination between the two secondary wheels is 135 degrees.

[0064] Such cooperation makes it possible to limit the size and such an inclination allows, by limiting the size, a juxtaposition of the secondary wheels on the circumference of the stabilizing wheel 5 without presenting a space between the secondary wheels. The absence of such spaces allows better precision of the movements of the robot 100.

[0065] It will also be noted that the invention is not limited to the embodiments described above. It will indeed appear to those skilled in the art that various modifications can be made to the embodiment described above, in light of the teaching which has just been disclosed to them.

[0066] In the detailed presentation of the invention given above, the terms used should not be interpreted as limiting the invention to the embodiment set out in the present description, but should be interpreted to include all equivalents whose prediction is within the reach of those skilled in the art by applying their general knowledge to the implementation of the teaching just disclosed to them.

Claims

Robot (100) comprising a single spherical wheel (200) for movement intended to be in contact with the ground and a platform (300) mounted on said spherical wheel (200), the robot (100) being configured to be mobile on the ground by means of said spherical wheel (200), the platform (300) cooperating with at least one stabilizing wheel (5) configured to keep the robot (100) stable in a static position and in movement, the stabilizing wheel (5) being in point contact on the platform (300) and on the spherical wheel (200) and configured to rotate along an axis forming an angle with a frontal plane of the robot (100), each stabilizing wheel (5) being composed of first cylindrical secondary wheels (50) and second cylindrical secondary wheels (51), the diameter of the first secondary wheels (50) being greater than the diameter of the second secondary wheels (51),the first secondary wheels (50) and the second secondary wheels (51) being alternately distributed on the stabilization wheel (5) so as to allow the mobility of the stabilization wheel (5) and the robot (100) to be maintained in a standing position, the robot being characterized in that the stabilization wheel (5) further comprises a stabilization support (10), connected to the platform (300) and on which each secondary wheel (50, 51) is mounted, the stabilization support (10) delimiting a plurality of first openings (52) configured to house the first secondary wheels (50) and a plurality of second openings (53) configured to house the second secondary wheels (51), the stabilization support (10) comprising a plurality of support portions (6) juxtaposed to each other, each support portion (6) delimiting a first opening (52) configured to house a first secondary wheel (50),a second opening (53) being formed between two juxtaposed support portions (6) to house a second secondary wheel (51), each support portion (6) comprising a flat fixing tab (60) and having a plurality of openings allowing it to be connected to the platform (300), the fixing tabs (60) having shapes complementary to each other so as to be juxtaposed to each other, without a gap or space being left between them., Robot (100) according to claim 1, wherein the stabilizing support (10) further comprises a central portion (7) connected to the platform (300) and on which the plurality of support portions (6) are connected. Robot (100) according to one of claims 1 to 2, wherein the first secondary wheel (50) is inclined relative to the second secondary wheel (51), the inclination being between 120 and 160 degrees. The robot (100) of claim 3, wherein the inclination between the first secondary wheel (50) and the second secondary wheel (51) is 135 degrees. Robot (100) according to one of claims 1 to 4, wherein the first secondary wheel (50) comprises a fixing body (500) and a wheel body (501), the fixing body (500) comprising a shaft (502) on which two bearings (506) are fixed, the wheel body (501) being movably mounted on the shaft (502), the shaft (502) having a length less than that of the wheel body (501), so as to delimit a chamber (503) on either side of the shaft (502), said chamber (503) being configured to house at least in part a second secondary wheel (51). Robot (100) according to claim 5, wherein the shaft (502) comprises a female coupling element (504), through which is inserted a male coupling element (505), the female coupling element (504) and the male coupling element (505) of each first secondary wheel (50) being each connected to the stabilizing support (10).

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