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    Robotic arm and wrist mechanisms
    21.
    发明授权
    Robotic arm and wrist mechanisms 有权

    公开(公告)号：US10578197B2

    公开(公告)日：2020-03-03

    申请号：US15813933

    申请日：2017-11-15

    Applicant: iRobot Corporation

    Inventor： Mark R. Claffee ,  Timothy R. Ohm ,  Erik Amaral ,  Annan M. Mozeika

    IPC: B25J18/00 ,  F16H25/20 ,  B25J17/02

    Abstract: A robot includes a support, a movable member coupled to the support to permit gimbal rotation about a pitch axis and a yaw axis, and first and second linear actuators connected to each of the support and the movable member and operable to rotate the movable member about the pitch axis and the yaw axis. The first linear actuator is pivotally attached to the movable member at a first pivot point. The second linear actuator is pivotally attached to the movable member at a second pivot point. The first and second pivot points are each angularly offset from the pitch axis and the yaw axis by about 45 degrees and are located on the same side of the pitch axis.

    Robotic arm and wrist mechanisms
    22.
    发明授权
    Robotic arm and wrist mechanisms 有权

    公开(公告)号：US09845850B2

    公开(公告)日：2017-12-19

    申请号：US14610013

    申请日：2015-01-30

    Applicant: iRobot Corporation

    Inventor： Mark R. Claffee ,  Timothy R. Ohm ,  Erik Amaral ,  Annan M. Mozeika

    IPC: F16H25/20 ,  B25J17/02

    CPC classification number: F16H25/20 ,  B25J17/0266 ,  F16H35/18 ,  F16H2025/2062

    Abstract: A robot includes a support, a movable member coupled to the support to permit gimbal rotation about a pitch axis and a yaw axis, and first and second linear actuators connected to each of the support and the movable member and operable to rotate the movable member about the pitch axis and the yaw axis. The first linear actuator is pivotally attached to the movable member at a first pivot point. The second linear actuator is pivotally attached to the movable member at a second pivot point. The first and second pivot points are each angularly offset from the pitch axis and the yaw axis by about 45 degrees and are located on the same side of the pitch axis.

    RESILIENT WHEEL ASSEMBLIES
    23.
    发明申请
    RESILIENT WHEEL ASSEMBLIES 审中-公开
    活力轮组件

    公开(公告)号：US20160311479A1

    公开(公告)日：2016-10-27

    申请号：US15135826

    申请日：2016-04-22

    Applicant: iRobot Corporation

    Inventor： Pavlo E. Rudakevych ,  Garran M. Gossage ,  Christopher L. Morey ,  Todd M. Meaney ,  Timothy R. Ohm

    IPC: B62D55/088 ,  B60B9/26 ,  F41H7/00 ,  B62D55/08 ,  B62D55/32 ,  B29D30/02 ,  B60B1/08 ,  B60B5/02

    CPC classification number: B62D55/075 ,  B29C45/00 ,  B29D30/02 ,  B29K2069/00 ,  B29K2077/00 ,  B29L2031/32 ,  B60B5/02 ,  B60B9/26 ,  B60B2310/204 ,  B60B2360/32 ,  B62D55/08 ,  B62D55/088 ,  B62D55/0885 ,  B62D55/12 ,  B62D55/14 ,  B62D55/32 ,  F41H7/005 ,  Y10S901/01

    Abstract: A wheel assembly for a remote vehicle comprises a wheel structure comprising a plurality of spokes interconnecting a rim and a hub. The spokes comprise at least one slit extending therethrough radially inward from the rim to the hub. The assembly also comprises a flipper structure comprising an arm, a plurality of legs, and an attachment base. The plurality of legs and the attachment base comprise a four-bar linkage. The assembly further comprises an insert comprising a bore with a flat surface that tapers outward from a top portion to a bottom portion of the insert. The insert being configured to couple the flipper structure to the wheel structure via an axle on the remote vehicle and prevent backlash between the axle and the flipper structure. The flipper structure being configured to transmit axial forces to the wheel structure. The wheel structure being configured to absorb radial and axial forces.

    Abstract translation: 用于远程车辆的车轮组件包括轮架结构，其包括将轮辋和轮毂相互连接的多个辐条。 轮辐包括至少一个从轮缘向内延伸穿过轮毂的狭缝。 组件还包括包括臂，多个腿和附接底座的导板结构。 多个腿部和附接基部包括四杆连杆。 组件还包括插入件，其包括具有从插入件的顶部向底部向外逐渐变细的平坦表面的孔。 所述插入件构造成经由所述远程车辆上的轴将所述导板结构耦合到所述车轮结构，并且防止所述车轴与所述导板结构之间的间隙。 导板结构被构造成将轴向力传递到车轮结构。 轮结构被构造成吸收径向和轴向力。

    Maneuvering Robotic Vehicles Having A Positionable Sensor Head
    24.
    发明申请
    Maneuvering Robotic Vehicles Having A Positionable Sensor Head 有权
    具有定位传感器头的机动车辆的机动车辆

    公开(公告)号：US20160114839A1

    公开(公告)日：2016-04-28

    申请号：US14872783

    申请日：2015-10-01

    Applicant: iRobot Corporation

    Inventor： Timothy R. Ohm ,  Michael Bassett

    IPC: B62D55/075

    CPC classification number: B62D55/075 ,  B25J5/005 ,  B62D37/04 ,  B62D55/02 ,  B62D55/065 ,  B62D57/024 ,  Y10S180/907 ,  Y10S901/01

    Abstract: Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. Various head and neck morphologies are provided to allow positioning for various poses such as a stowed pose, observation poses, and inspection poses. Neck extension and actuator module designs are provided to implement various head and neck morphologies. Robot control network circuitry is also provided.

    Abstract translation: 为车辆机器人或其他车辆提供配置，以提供其重心移动以增强障碍物导航。 提供各种头颈部形态，以允许定位各种姿势，例如收起姿势，观察姿势和检查姿势。 提供颈部延伸和致动器模块设计以实现各种头颈部形态。 还提供机器人控制网络电路。

    Maneuvering robotic vehicles
    25.
    发明授权
    Maneuvering robotic vehicles 有权
    机动车辆机动车

    公开(公告)号：US09216781B2

    公开(公告)日：2015-12-22

    申请号：US14158090

    申请日：2014-01-17

    Applicant: iRobot Corporation

    Inventor： Timothy R. Ohm ,  Michael Bassett

    IPC: B25J5/00 ,  B62D55/075 ,  G05D1/02

    CPC classification number: B62D55/075 ,  B25J5/005 ,  G05D1/0246 ,  G05D2201/0207 ,  G05D2201/0209 ,  Y10S901/01

    Abstract: Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. A robot chassis with pivotable driven flippers has a pivotable neck and sensor head mounted toward the front of the chassis. The neck is pivoted forward to shift the vehicle combined center of gravity (combined CG) forward for various climbing and navigation tasks. The flippers may also be selectively moved to reposition the center of gravity. Various weight distributions allow different CG shifting capabilities.

    Abstract translation: 为车辆机器人或其他车辆提供配置，以提供其重心移动以增强障碍物导航。 具有可转动驱动的脚轮的机器人底盘具有可枢转的颈部和传感器头，朝向机箱前部安装。 颈部向前枢转以将车辆组合重心（组合CG）向前移动，用于各种攀爬和导航任务。 脚蹼也可以选择性地移动以重新定位重心。 各种重量分布允许不同的CG移动能力。

    Mobile cleaning robot suspension
    26.
    发明授权
    Mobile cleaning robot suspension 有权

    公开(公告)号：US12290228B2

    公开(公告)日：2025-05-06

    申请号：US17682021

    申请日：2022-02-28

    Applicant: iRobot Corporation

    Inventor： Timothy R. Ohm ,  Erik Amaral

    IPC: A47L9/00 ,  B60G3/00 ,  B60G17/00

    Abstract: A mobile cleaning robot can be movable within an environment, the mobile cleaning robot can include a body, a drive wheel arm, a drive wheel, a cam, and a cam follower. The drive wheel arm can be connected to the body and can be movable with respect to the body between an extended position and a retracted position. The drive wheel can be connected to the drive wheel arm and can be movable therewith. The drive wheel can be operable to move the mobile cleaning robot. The cam can be connected to the drive wheel arm and can be movable therewith. The cam follower can be connected to the body and can be engaged with the cam to move the drive wheel arm toward the extended position.

    MOBILE CLEANING ROBOT SUSPENSION
    27.
    发明申请
    MOBILE CLEANING ROBOT SUSPENSION 有权

    公开(公告)号：US20250089958A1

    公开(公告)日：2025-03-20

    申请号：US18369665

    申请日：2023-09-18

    Applicant: iRobot Corporation

    Inventor： Timothy R. Ohm ,  Erik Amaral

    IPC: A47L9/00 ,  A47L11/28 ,  A47L11/40

    Abstract: A mobile cleaning robot can be movable within an environment, the mobile cleaning robot can include a body and a drive arm movable with respect to the body between an extended position and a retracted position. The robot can include a drive wheel connected to the drive arm and movable therewith. The drive wheel can be operable to move the mobile cleaning robot. The robot can include a first link connected to the body and connected to the drive arm. The robot can include a second link connected to the body and connected to the drive arm to, together with the first link, the body, and the drive arm, define a center of rotation about which the drive arm and the drive wheel rotate between the extended position and the retracted position.

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