公开(公告)号：US08256542B2

公开(公告)日：2012-09-04

申请号：US12134595

申请日：2008-06-06

申请人： Adam P. Couture ,  Richard Page ,  John P. O'Brien ,  Mikhail Filippov

发明人： Adam P. Couture ,  Richard Page ,  John P. O'Brien ,  Mikhail Filippov

IPC分类号： B62D55/065 ,  B62D55/075

CPC分类号： B62D55/0655 ,  B25J5/005 ,  B62D25/2054 ,  B62D55/065 ,  B62D55/075

摘要： A mobile robot includes a chassis defining at least one chassis volume and first and second sets of right and left driven flippers associated with the chassis. Each flipper has a drive wheel and defines a flipper volume adjacent to the drive wheel. The first set of flippers is disposed between the second set of flippers and the chassis. Motive power elements are distributed among the chassis volume and the flipper volumes. The motive power elements include a battery assembly, a main drive motor assembly, and a load shifting motor assembly.

摘要翻译： 移动机器人包括限定至少一个底盘音量的底盘以及与底盘相关联的第一组和第二组左右驱动的脚蹼。 每个挡板都有一个驱动轮，并定义了与驱动轮相邻的导板体积。 第一套脚蹼设置在第二组脚蹼和底盘之间。 动力元件分布在底盘体积和导板体积之间。 动力元件包括电池组件，主驱动电机组件和负载移动电动机组件。

公开(公告)号：US08061461B2

公开(公告)日：2011-11-22

申请号：US13030671

申请日：2011-02-18

申请人： Adam P. Couture ,  Richard Page ,  John P. O'Brien

发明人： Adam P. Couture ,  Richard Page ,  John P. O'Brien

IPC分类号： B62D55/065 ,  B62D55/075

CPC分类号： B62D55/0655 ,  B25J5/005 ,  B62D25/2054 ,  B62D55/065 ,  B62D55/075

摘要： A method is disclosed for a robotic vehicle to climb a step. The robotic vehicle uses tracked flippers to engage the top of the step and drives with additional tracks other than the tracked flippers. The robotic vehicle also shifts and tilts a payload in order to move the CG of the payload ahead of the vehicle chassis and past the edge of the step.

摘要翻译： 公开了一种用于机器人车辆爬上台阶的方法。 机器人车辆使用跟踪的脚蹼接触踏板的顶部，并且跟踪跟踪的脚蹼以外的其他轨道驱动。 机器人车辆还移动并倾斜有效载荷，以便将有效载荷的CG移动到车辆底盘的前方并超过台阶的边缘。

公开(公告)号：US07874386B2

公开(公告)日：2011-01-25

申请号：US11980782

申请日：2007-10-31

申请人： Pinhas Ben-Tzvi ,  Andrew A. Goldenberg ,  Jean W. Zu

发明人： Pinhas Ben-Tzvi ,  Andrew A. Goldenberg ,  Jean W. Zu

IPC分类号： B62D55/00 ,  B62D55/075

CPC分类号： B62D55/075 ,  B25J5/005 ,  B62D55/12

摘要： A hybrid mobile robot includes a base link and a second link. The base link has a drive system and is adapted to function as a traction device and a turret. The second link is attached to the base link at a first joint. The second link has a drive system and is adapted to function as a traction device and to be deployed for manipulation. In another embodiment an invertible robot includes at least one base link and a second link. In another embodiment a mobile robot includes a chassis and a track drive pulley system including a tension and suspension mechanism. In another embodiment a mobile robot includes a wireless communication system.

公开(公告)号：US20090173553A1

公开(公告)日：2009-07-09

申请号：US12400416

申请日：2009-03-09

申请人： Chikyung Won

发明人： Chikyung Won

IPC分类号： B62D55/075 ,  B62D55/065

CPC分类号： B62D55/0655 ,  B25J5/005 ,  B25J11/0025 ,  B62D55/065 ,  B62D55/075 ,  B62D55/12 ,  B62D55/14 ,  B62D55/244 ,  Y10S180/901 ,  Y10S280/901

摘要： A method of negotiating an obstacle including driving an articulated vehicle along a drive direction over a surface, driving the articulated vehicle to approach an obstacle with a rearward portion of the articulated vehicle, pivoting arms of the vehicle from a stowed position next to a main frame of the vehicle downward and away from the main frame, raising and supporting the main frame on the arms, positioning at least a portion of the main frame substantially against the obstacle, and driving onto the obstacle.

摘要翻译： 一种协商障碍物的方法，包括沿着驱动方向在表面上驱动铰接式车辆，驱动铰接车辆与铰接式车辆的后部接近障碍物，使车辆的臂从靠近主框架的收起位置 车辆向下并远离主框架，抬起和支撑臂上的主框架，将主框架的至少一部分基本上靠在障碍物上，并且驱动到障碍物上。

公开(公告)号：US06155362A

公开(公告)日：2000-12-05

申请号：US243738

申请日：1999-02-01

申请人： David R. Owens

发明人： David R. Owens

IPC分类号： B62B5/02 ,  B62D55/075

CPC分类号： B62B5/02 ,  B62B2301/256

摘要： A dolly system with a motorized rolling track is disclosed. The dolly system includes a dolly having two generally vertically extending side rails. An L-shaped support is provided at its lower end thereof and a cross brace is provided adjacent to its upper end. A pair of rotatable wheels are located adjacent to the L-shaped member. Two pair of rearwardly facing braces are provided on the support rails. One pair of facing braces is adjacent the upper end thereof and one pair is adjacent the lower end thereof. An upper rotatable support rod is supported by the upper braces. A lower rotatable support rod is supported by the braces with a plurality of parallel idler rollers therebetween rotatably supported by a central block. The axis of rotation of the idler rollers is parallel with the axis of the rods. Drive cylinders are mounted on the rods with an endless belt positioned over the cylinders for rotation therewith, the belt being movable in a path of travel rearwardly of the support rods. A drive motor and operating drive belts couple the drive motor and the support rods to rotate the support rods and hence the belts upon activation of the motor.

摘要翻译： 公开了具有电动滚动轨道的小车系统。 小车系统包括具有两个大致垂直延伸的侧轨的小车。 在其下端设置有L形支撑件，并且在其上端附近设置有横向支架。 一对可旋转的轮子位于L形构件附近。 两对向后的支架设置在支撑导轨上。 一对面对的支架邻近其上端，一对相邻于其下端。 上部可旋转支撑杆由上部支架支撑。 下旋转支撑杆由支架支撑，多个平行的惰轮在其间由中央块可旋转地支撑。 惰轮的旋转轴线与杆的轴线平行。 驱动气缸安装在杆上，环形带定位在气缸上方以与其一起旋转，该带可以在支撑杆的后方的行进路径中移动。 驱动马达和操作驱动带将驱动马达和支撑杆耦合以在启动马达时旋转支撑杆，从而旋转皮带。

公开(公告)号：US6053265A

公开(公告)日：2000-04-25

申请号：US354116

申请日：1999-07-15

申请人： Hidenao Suzuki ,  Ryohei Matsumoto

发明人： Hidenao Suzuki ,  Ryohei Matsumoto

IPC分类号： B62D55/06 ,  B62D55/075 ,  B62D55/084 ,  B62D51/06

CPC分类号： B62D55/0842 ,  B62D55/06 ,  B62D55/075

摘要： A rough-terrain vehicle employs separate track drives located on opposite sides of a vehicle body, like the wheels of a car. The tractor drives can revolve the track to permit track-driven travel. The drives can also halt the tracks relative to the drives and rotated the entire track drive that supports the track in which case the track drive rotates like a wheel. The latter mode provides an ability to traverse very rough surfaces. To provide high ground clearance, the support connecting the track drive to the vehicle body is located above the axis of rotation of the track drive. Almost the entire transmission mechanism for the track drive is confined to a volume enclosed by the loop of the track protecting it. The track drive supports the track on a polar array of wheels, each located along the line that divides the track into two loops.

摘要翻译： 崎岖地形的车辆采用位于车身相对两侧的独立轨道驱动器，如汽车车轮。 拖拉机驱动器可以旋转轨道，以允许轨道驱动的行驶。 驱动器还可以相对于驱动器停止轨道并且旋转支撑轨道的整个轨道驱动器，在这种情况下，轨道驱动器像车轮一样旋转。 后一种模式提供了穿过非常粗糙表面的能力。 为了提供高的离地间隙，将轨道驱动器连接到车身的支撑件位于轨道驱动器的旋转轴线的上方。 轨道驱动器的整个传输机构几乎都被限制在由保护它的轨道的环路所包围的体积上。 轨道驱动器支持极地阵列阵列上的轨道，每个轨道沿着将轨道分成两个回路的线。

公开(公告)号：US5158309A

公开(公告)日：1992-10-27

申请号：US623082

申请日：1990-12-06

申请人： Robert T. Quigg

发明人： Robert T. Quigg

IPC分类号： A61G5/06 ,  B62D55/075

CPC分类号： A61G5/061 ,  A61G5/066 ,  B62D55/075 ,  Y10S180/907 ,  Y10S280/10

摘要： A stair-climbing attachment for a conventional foldable wheelchair including clutch mechanisms connecting the main wheels of the wheelchair to a drive mechanism for manually driving stair-climbing treads, ratchet and pawl mechanisms to selectively prevent or permit descending movement of the wheelchair on stairs, and manually actuated levers to manually position the treads in an operable and inoperable condition, the attachment permitting the wheelchair to be folded and conveniently transported by the user without outside assistance. A second embodiment incorporates a reversible motor to drive the treads. A third embodiment uses a hydraulic mechanism to position the treads.

摘要翻译： 用于常规折叠轮椅的楼梯附件，包括将轮椅的主轮连接到用于手动驱动楼梯踏板，棘轮和棘爪机构的驱动机构的离合器机构，以选择性地防止或允许轮椅在楼梯上的下降运动;以及 手动致动的手柄以手动将胎面定位在可操作和不可操作的状态，该附件允许轮椅被折叠并且方便地由用户传送而无需外部辅助。 第二实施例结合了可逆电动机来驱动胎面。 第三实施例使用液压机构来定位踏板。

公开(公告)号：US5148882A

公开(公告)日：1992-09-22

申请号：US605446

申请日：1990-10-30

申请人： Olivier Carra ,  Alain Delevallee

发明人： Olivier Carra ,  Alain Delevallee

IPC分类号： G21C17/00 ,  B25J5/00 ,  B62D55/065 ,  B62D55/075

CPC分类号： B62D55/065 ,  B62D55/075

摘要： An intervention vehicle of the type comprising propulsion units (4) that are tiltable by rotation about transverse carrying shafts (66), comprising advance and tilting driven shafts (8, 9) disposed coaxially inside each carrying shaft (66) and transmitting their motion via linear transmission elements (84, 90, 98) inside each propulsion unit for driving advance motion and tilting motion, and also constituting a speed reducer for the tilting motion. The invention is particularly applicable to the nuclear industry.

摘要翻译： 一种包括通过围绕横向承载轴（66）旋转可倾斜的推进单元（4）的干涉车辆，其包括同轴地设置在每个承载轴（66）内的前进和倾斜从动轴（8,9），并且通过 每个推进单元内的线性传动元件（84,90,98），用于驱动前进运动和倾斜运动，并且还构成用于倾斜运动的减速器。 本发明特别适用于核工业。

公开(公告)号：US5123495A

公开(公告)日：1992-06-23

申请号：US440054

申请日：1989-11-21

申请人： Douglas J. Littlejohn ,  John H. Hessler ,  Baxter R. Watkins

发明人： Douglas J. Littlejohn ,  John H. Hessler ,  Baxter R. Watkins

IPC分类号： A61G5/04 ,  A61G5/06 ,  A61G5/10 ,  B62B5/02 ,  B62D55/075 ,  B66B9/08

CPC分类号： A61G5/061 ,  A61G5/066 ,  B62D55/075 ,  B66B9/08 ,  A61G2203/42 ,  A61G2203/44 ,  A61G5/107 ,  A61G5/1075 ,  Y10S180/907 ,  Y10S280/10 ,  Y10S297/04

摘要： The present invention provides a sensor for detecting the angle of an incline, such as a staircase, before it is reached by the wheelchair. A control signal is provided to a motor for tilting the seat to cause the seat to be tilted to a predetermined minimum safe angle before the wheelchair reaches the staircase. The minimum safe angle is an angle of tilt at which the wheelchair will not roll over if the tilting mechanism should fail to completely rotate the seat to a horizontal position and as the stairs are descended. The minimum safe angle is determined by the position of the center of gravity of the wheelchair which is affected by the users weight. If the seat does not achieve this minimum tilt, the wheelchair is prevented from going over the stairs.

摘要翻译： 本发明提供了一种用于在轮椅到达之前检测诸如楼梯的倾斜角度的传感器。 控制信号被提供给电动机，用于倾斜座椅，以使座椅在轮椅到达楼梯之前倾斜到预定的最小安全角度。 如果倾斜机构不能将座椅完全旋转到水平位置和楼梯下降，则最小安全角度是轮椅不会翻转的倾斜角度。 最小安全角度由轮椅的重心位置决定，受到用户重量的影响。 如果座椅没有达到这个最小倾角，轮椅就不会超过楼梯。

公开(公告)号：US5117930A

公开(公告)日：1992-06-02

申请号：US604626

申请日：1990-10-29

申请人： Jean R. Argouarc'h

发明人： Jean R. Argouarc'h

IPC分类号： B62D1/28 ,  B25J5/00 ,  B62D55/065 ,  B62D55/075 ,  G05D3/00

CPC分类号： B62D55/075 ,  B62D55/065 ,  Y10S280/01

摘要： The vehicle is supported on the ground by tiltable propulsion units carried by a vehicle body. The vehicle includes force sensors for forming force signals representative of the forces applied to each propulsion unit from the vehicle body. Support signal forming means receive and process these force signals to form support signals representative of the support forces applied to the propulsion unit by the ground. The invention is particularly applicable to the nuclear industry.

摘要翻译： 车辆由车身承载的可倾斜推进装置支撑在地面上。 车辆包括用于形成代表从车体施加到每个推进单元的力的力信号的力传感器。 支撑信号形成装置接收和处理这些力信号以形成表示由地面施加到推进单元的支撑力的支撑信号。 本发明特别适用于核工业。