SELF-RECONFIGURING MODULAR ROBOT WITH RETRACTABLE

WHEEL MECHANISMS

This invention relates to self-reconfiguring modular robotic systems, and more particularly to a self-reconfiguring modular robot that can be disconnected and reconnect *ed to similar modular robots in various configurations to create a - new form that provides new functional capabilities.

The following patents present existing modular robotic sysfems:

U.S. Pat. No. 6605914B2 to Yim et al, titled "ROBOTIC TOY MODULAR SYSTEM". A robotic module for a toy construction system includes a housing enclosing a gear mechanism and an actuator connected to a pivot mechanism to supply operational power for rotation. An energy storage device supplies power to the actuator, which rotates in response to instructions received from a control unit connected to the actuator. A connection plate forms a connection between at least two of the modules. At least one position sensor is provided to sense the arrangement of the modules connected together.

However, the modular robot of this design needs to be connected to each Other manually. To connect two robotic modules to each other, a connection plate is required. One module of this design is not independently mobile; therefore, several modules must be connected to each other in order to the robot to be mobile and start performing its functions.

U.S. Pat. No. 20160005331A1 to RYLAND et al., titled "MODULAR ROBOT SYSTEM". A modular robot for use as an educational robot system having multiple degrees of freedom and mounting features that allow multiple modules to be assembled with accessories to form a multitude of configurations. Each module is independently mobile and useful when alone or assembled with other modules.

However, modular robots of this design need to be connected to each other manually before their moving or performing their functions. The assembly of connected robotic modules cannot be self-reconfigurable.

U.S. Pat. No. 20160325429A1 to Rus et al., titled "MODULAR ANGULAR-MOMENTUM DRIVEN MAGNETICALLY CONNECTED ROBOTS". A modular robotic system that includes a plurality of self-configuring robots. Each self-configuring robot includes a frame structure having a plurality of cylindrical bonding magnets positioned along the edges of the frame structure. The frame structure includes magnetic, non-gendered, hinges on any of the edges of the frame. The hinges provide enough force to maintain a pivot axis through various motions. The cylindrical bonding magnets are free to rotate allowing for multiple self-configurations with other like self-configuring robots. A movement generator is positioned within the frame structure that pivots to generate multi-axis movement allowing both robust self-reconfiguration with the other self- configuring robots and independent locomotion.

However, the forms created by modular robots have an unreliable construction design, since modular robots are connected to each other by weak magnetic contacts. Before each movement, the modular robot needs to achieve high speeds in the inertial drive with the flywheel. Connecting one modular robot to another may require several attempts, as shown by the video "M-Blocks Modular Robots" of the invention authors on YouTube. This invention has been selected as a prototype. The prototype and the claimed invention have the following common features:

- form of cube;

- electric motor;

- circuit board and rechargeable battery.

A drawback that prevents the widespread adoption of modular robots in everyday life, architecture and existing robotics is that known modular robots need to be assembled or reconfigured manually or additional adapters for the assembly of modular robots to begin performing their function. If the known modular robots and their systems use only magnetic contacts to connect with each other, then the forms, created by them, have an unreliable construction design that can easily collapse and are not intended for any mechanical vibration and loads.

The basis of this invention is to create a self-reconfiguring modular robot with retractable wheel mechanisms, which can operate as a self-reconfiguring modular robotic system in a group with identical modular robots in which each modular robot is made with the possibility of autonomous movement, independent connection and disconnection with identical modular robots, and independent movement on the surfaces of identical modular robots for the building of various mechanically connected forms and further independent dynamic change of the built forms in the X, Y, Z planes without manual connecting.

The objective is solved by a self-reconfiguring modular robot (hereinafter a “modular robot”) made in the form of cube, with retractable wheel mechanisms, equipped with a circuit board, an electric motor, a wireless RF module and a rechargeable battery, in which all the cube edges are equipped with grooves with identical retractable wheel mechanisms, consisting of a pair of wheels with built-in electric motors that are mounted on levers with the ability to move along the shaft, which allows the whole mechanism to move independently on the surface from any position, to make independently mechanical connection and disconnection of one modular robot with another or other similar modular robots, to move independently on the surfaces of identical modular robots in X, Y, Z planes with the ability to build and change the built forms by a group of modular robots, at that each cube face of a modular robot is equipped with a position sensor and an induction coil for wireless charging.

The novelty of claimed invention in that on each edge of the cube of the modular robot there are grooves with identical retractable wheel mechanisms, consisting of a pair of wheels with built-in electric motors that are mounted on levers with the ability to move along the shaft, which allows the whole mechanism to move independently on the surface from any position, to make independent mechanical connection and disconnection of one modular robot with another or other similar modular robots in X, Y, Z planes so as to build and change the built forms by a group of modular robots, at that each face of the cube of a modular robot is equipped with a position sensor and an induction coil for wireless charging.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. l is a general view of a modular robot in the form of cube;

FIG. 2 is a retractable wheel mechanism of the modular robot;

FIG. 3 is a cross-sectional view of the modular robot housing;

FIG. 4 illustrates the movement of the modular robot; FIG. 5 illustrates the direction of movement of the modular robot wheels for turning;

FIG. 6 illustrates the step-by-step connection of the wheel mechanisms of modular robots;

FIG. 7 illustrates the moment of building a modular robot A on a modular robot B; FIG. 8 illustrates the built modular robot A on modular robot B;

FIG. 9 illustrates four connected modular robots;

FIG. 10 illustrates four connected retractable wheel mechanisms;

FIG. 11 illustrates the building or changing of the built form by a group of modular robots;

FIG. 1, 2, 3 illustrate a general view of the modular robot in the form of cube, where:

1. retractable wheel mechanism;

2. groove for the retractable wheel mechanism placement;

3. position sensor located on each cube face of the modular robot;

4. wheels of the retractable wheel mechanism;

5. electric motor that drives the wheels;

6. wheel protrusions;

7. wheel teeth;

8. groove located on the lever;

9. lever teeth;

10. lever;

11. shaft;

12. electric motor housing;

13. electric motor that rotates the shaft; 14. mechanism housing for extend and retract the retractable wheel mechanism;

15. induction coil for wireless charging;

16. circuit board;

17. rechargeable battery.

* GENERAL VIEW OF THE MODULAR ROBOT

FIG. 1 illustrates a general view of a modular robot in the form of cube, each edge of which is made with a groove 2, where a retractable wheel mechanism 1 is placed, which is used for independent movement of the modular robot on a surface, to connect independently one modular robot to another identical modular robot, to build one modular robot on another identical modular robot, for independent movement along the surfaces of identical modular robots and building together figures or shapes by a group of identical modular robots without the attaching one modular robot to another manually. For clarity, on some edges of the cube there are extended wheel mechanisms (FIG. 1, position 1A1, 1A2, 1A4). Also, on each face of the cube of the modular robot there is a position sensor 3.

Design and operation of the retractable wheel mechanism

FIG. 2 illustrates the retractable wheel mechanism 1 of the modular robot, which consists of a pair of wheels 4, which are rotate using an electric motor 5 and are arranged on the principle of a wheel motor. A pair of wheels 4 are located on the levers 10, which can move along the shaft 11 using a screw mechanism. Shaft 11· is rotated by an electric motor 13, located in the housing 12. Each wheel 4 has wheel protrusions 6, which are used to connect to the opposite identical wheel mechanism of the connected modular robot with grooves 8, located on the levers 10. Instead of the described electric motors in the modular robot with wheel mechanisms, piezoelectric or ultrasonic motors can be used. As an alternative, the movement of the levers 10 along the shaft 11 can be realized via the linear movement mechanism, and mechanical guides can be used to stabilize the retractable wheel mechanism 1.

In addition, wheels 4 have teeth 7 and levers 10 have teeth 9, which are necessary to prevent slippage between the wheel 4 and the lever 10 of the modular robots connected to each other during the rotation of wheels 4. Teeth 7 and 9 can be replaced with rough surfaces of different textures.

The retractable wheel mechanism 1 can be extended and retracted from the groove 2 located on each edge of the modular robot in the form of cube via screw mechanism or linear movement mechanism, actuated by electric motor or linear actuator located in the housing 14.

The length of the shaft 11 is designed to place four pairs of retractable wheel mechanisms connected to each other. Accordingly, two (see FIG. 7), three (see FIG. 8) and four (see FIG. 9) modular robots can be connected to each other.

Modular robot control elements

FIG. 3 illustrates the cross-section through the modular robot housing, where the fragments of the retractable wheel mechanism 1 located in the grooves 2 are visible, the conditional cut of the electric motor 13 and the mechanism housing 14 to extend and retract the retractable wheel mechanisms 1.

It thereafter highlights the basic electronic components and their functions which correspond to the level of technology development at the time of filing the patent. Each individual modular robot has a specially designed circuit board 16 with a microprocessor, memory, accelerometer, wireless RF module and rechargeable battery 17. The microprocessor is used to process and _. execute transmitted or pre recorded programs or commands over the wireless RF module necessary to determine the position, moving, building of shapes and change the built shapes by modular robots. The accelerometer and position sensor 3 are used to determine the inclination and position of a modular robofin space and the position of one modular robot relative to other modular robots. On the inner side of the position sensor 3 is an induction coil for wireless charging 15, which is used to charge a single modular robot or a group of connected modular robots. The wireless RF module is used to receive and transmit data that can be sent from a desktop, laptop, tablet or smartphone via a specially designed cross-platform modular robot system management program. Also, commands or data can be sent from one modular robot to another modular robot or a group of modular robots.

Alternatively, a group of modular robots can be programmed as a semi- autonomous or autonomous system that performs a pre-recorded program function.

As an additional function, the modular robots can be equipped with a GPS navigation module to determine the position of one modular robot or a group of modular robots.

Modular robot movement

It does not matter which side of the modular robot is turned to the surface to start moving, as all the cube edges have hidden retractable wheel mechanisms on them. A built-in accelerometer determines which side of the cube is bottom to the surface, then the computer program gives the command to extend the retractable wheel mechanisms 1 from the bottom edges of the cube for further movement on the surface and further connection to other identical modular robots. FIG. 4 illustrates the movement of the modular robot B to the modular robot A to connect the 1B4 retractable wheel mechanism with the 1A1 retractable wheel mechanism.

Performing modular robot turns

To perform a turn or spin, the modular robot uses the extended two opposing retractable wheel mechanisms 1 on the side of the surface on which it is moving.

FIG. 5 illustrates the direction of movement of the wheels 4 of the retractable wheel mechanisms 1 for turning. The wheels located on one shaft rotate in the opposite direction related to each other, while the wheels on the other, parallel to the shaft, replicate the same direction of rotating. Therefore, the modular robot can perform turns and spins on-site.

Connection of retractable wheel mechanisms of modular robot

FIG. 6 illustrates the step-by-step connection of the retractable wheel mechanisms 1 A1 and 1B4 of two modular robots A and B, the appearance of which is shown on FIG. 4. The screw mechanism thread on the shaft 11 is not shown on FIG. 6 to simplify the display.

The connection is performed by the following steps:

Step 1: Before connecting the two modular robots A and B, the modular robot A in the retractable wheel mechanism 1A1 moves the levers 10 with wheels 4 to the center, along the shaft 11.

Step 2: The modular robot B approaches the modular robot A until the wheels 4 of the 1B4 retractable wheel mechanism are on the same line as the wheels 4 of the retractable wheel mechanism 1A1. The proximity of the modular robot B to the modular robot A is determined by the position sensors 3, which are shown in FIG. 4.

Step 3: Modular robot B in the retractable wheel mechanism 1B4 moves the levers 10 with wheels 4 along the shaft 11 to the center, while the wheel protrusions 6 enter the grooves 8 located in the levers of the retractable wheel mechanism 1A1 of the modular robot A.

FIG. 6 in steps 1, 2 and FIG. 2 illustrate the position of the wheel protrusions 6 in the inner side of the wheels and the grooves 8, located on the outer side of both levers.

Building of geometric shapes by modular robots

FIG. 7 illustrates the moment of building of a modular robot A on a modular robot B. In this construction, modular robot C is used as a counterweight. The building is possible after the connection of two opposed retractable wheel mechanisms. For the building, the modular robot B rotates wheels 4 in the connected retractable wheel mechanism 1B4 during which the modular robot A is moved on the modular robot B around the axis X. The rotation takes place until the position sensors 3 of the modular robot A are connected to the modular robot B. At the time of connection, the modular robot A has extended wheels 4 in the retractable wheel mechanism 1 A4 for further connection to the retractable wheel mechanism 1C1 of the modular robot C, which is already connected to the modular robot B.

FIG. 8 illustrates a built modular robot A on a modular robot B, where the retractable wheel mechanisms of three modular robots A, B and C are connected to each other along the axis X. In order to move the modular robot A further to the modular robot C, the retractable wheel mechanism 1 A4 of the modular robot A will rotate the wheels 4 until the position sensors 3 of the modular robot A are connected to the modular robot C. Before moving the modular robot A has moved wheels in opposite directions in the retractable wheel mechanism 1A3 for following connection to the retractable wheel mechanism 1C1 of the modular robot C, whose wheels have moved to the center.

FIG. 9 illustrates four interconnected modular robots D, A, C, and B, where four of their retractable wheel mechanisms are connected simultaneously along the axis X. For clarity of connection, a partial figure of four retractable wheel mechanisms 1D4, 1A4, 1C4, 1B1 is placed to the right side of the figure with connected modular robots.

FIG. 10 illustrates a simplified side and top views of the four connected retractable wheel mechanisms of modular robots D, A, C, B to each other. The shaft 11 length is designed to place four pairs of connected wheel mechanisms 1. Thus, modular robots can move around in their own kind and build different forms in the X, Y, Z planes.

FIG. 11 illustrates moving, connecting and building modular robots to each other for a desired built form or object obtaining and its further dynamic changing.

Industrial use

Since this invention makes it possible to create a self-reconfiguring modular robot with retractable wheel mechanisms, which is a group with identical modular robots can work as a self-reconfiguring modular robotic system, which can build different shape or object and then it's changing dynamically, it can be applied in different fields of activity. Modular robot groups can be made in different sizes and their frames and mechanical parts can be made of different materials designed for mechanical loads, depending on the task they need to perform. Limitation on the building of forms and objects is the number of individual modular robots, which can also vary depending on the task.

Robotics

Since a group of self-reconfiguring modular robots which can move independently and build different shape or object and then change them dynamically, according to a given computer program, it can be used as a separate independent robot with capability to add or change the necessary parts of its pre-configured form for a particular task. Also, a group of modular robots can potentially be connected to existing robots and perform additional functions, or share with them and perform joint or separate tasks. Therefore, this invention offers a new approach that can extend and simplify the functionality and reconfiguration of existing robotics.

Architecture

Since the modular robot has the form of cube, a group of modular robots can be used for building and further changing permanent or temporary built structures. In interiors, modular robots can be used to assemble, disassemble and changing of interior objects such as walls, tables, chairs, wardrobes, shelves, etc. All desired forms or objects can be reconfigured and disassembled at the necessary moment depending on the sent or pre-recorded computer programs.

Art and media

Since a group of self-reconfiguring modular robots can build different shapes and objects and then dynamically reconfigure them, it can be used as static or dynamic sculptures, visualization of various dynamic or static shapes, art objects, landscapes, graphics and other media presentations.

Military industry

Since the system of self-reconfigurable modular robots can move independently and build dynamic shapes, it can also be used in the military industry. For example, on a given computer command, in front of -a soldier, a protective shield or a shelter can be built.

The known significant differences enable it to achieve the following technical result: to create a self-reconfiguring modular robot with retractable wheel mechanisms, which can operate as a self-reconfiguring modular robotic system in a group with identical modular robots in which each modular robot is made with the possibility of autonomous movement, independent connection and disconnection with identical modular robots, and independent movement on the surfaces of identical modular robots for the building of various mechanically connected forms and further independent dynamic change of the built forms in the X, Y, Z planes, without manual connecting.