公开(公告)号：US08960339B2

公开(公告)日：2015-02-24

申请号：US13838818

申请日：2013-03-15

Applicant: Helical Robotics, LLC

Inventor： Keith L. Schlee ,  Bruce A. Schlee

IPC: B62D57/00 ,  B60B19/12 ,  B62B3/00 ,  B60B3/00 ,  B60B3/08 ,  B60B19/00 ,  B60B3/10

CPC classification number: B60B19/12 ,  B60B3/002 ,  B60B3/085 ,  B60B3/10 ,  B60B19/003 ,  B62B3/00 ,  B62B2301/02 ,  B62D61/00

Abstract: A Mecanum wheel having a circular plate with a plurality of peripheral flanges formed thereon, the flanges having tab portions bent at an angle of less than 90° from said plate; a roller being mounted to and cantilevering off of each of said tab portions such that the axis of rotation of each roller is at corresponding angle of less than 90° from said plate. In some cases, the angles are approximately the same, being approximately 45°. By cantilevering the rollers, more space is available for use by machines using this Mecanum wheel design.

Abstract translation: 一种具有形成在其上的多个周边凸缘的圆板的Mecanum轮，所述凸缘具有以与所述板成小于90度的角度弯曲的突出部; 一个滚子被安装到每个所述凸片部分上并悬臂，使得每个滚子的旋转轴线距离所述板的对应角度小于90°。 在某些情况下，角度大致相同，约为45°。 通过悬臂滚子，更多的空间可供使用这种Mecanum轮设计的机器使用。

公开(公告)号：US09545965B2

公开(公告)日：2017-01-17

申请号：US14922863

申请日：2015-10-26

Applicant: HELICAL ROBOTICS, LLC

Inventor： Keith L. Schlee ,  Bruce A. Schlee

IPC: B62D57/04 ,  B62D57/024 ,  B60B39/00

CPC classification number: B62D57/024 ,  B60B39/00 ,  B60B2900/931 ,  Y10S901/01

Abstract: A mobile robot configured to be widely versatile in its use. For example, the mobile robot can be configured for being used on a wide assortment of surfaces, regardless of the orientation and/or shape of the surfaces. Alternatively or in combination, the mobile robot can be configured for effective and efficient movement on the surfaces it traverses. In some cases, the mobile robot is configured with two or more component units. In some cases, the component units are configured with magnets and a control system for orientating the magnets. In some cases, one or more component couplings join the component units. In some cases, the mobile unit is configured with Mecanum wheels.

Abstract translation: 配置为在其使用中广泛使用的移动机器人。 例如，移动机器人可被配置为在各种各样的表面上使用，而不管表面的取向和/或形状如何。 可替代地或组合地，移动机器人可以被配置成在它所穿过的表面上有效和有效地移动。 在某些情况下，移动机器人配置有两个或多个组件单元。 在某些情况下，组件单元配置有磁体和用于使磁体定向的控制系统。 在某些情况下，一个或多个组件联轴器连接组件单元。 在某些情况下，移动单元配置有Mecanum轮。

公开(公告)号：US20160194042A1

公开(公告)日：2016-07-07

申请号：US14915975

申请日：2014-09-04

Applicant: Keith SCHLEE ,  HELICAL ROBOTICS, LLC

Inventor： Keith Schlee

IPC: B62D61/06 ,  B62D57/024

CPC classification number: B62D61/06 ,  B62D57/024 ,  Y10S901/01

Abstract: A three wheeled mobile robot (8) configured to be widely versatile in its use due to its novel drive unit and capability to climb ferrous surfaces regardless of the surface curvature. The drive system is based on three parallel wheels (12, 14, 16) in a fixed orientation capable of approximating the most useful traits of Omni-directional capability while also having the ability to traverse surface obstacles. The robot (8) can also have the ability to scale work surfaces regardless of orientation to the ground or curvature of the surface due to the combination of the three-wheel drive system and magneticadhesion capabilities due to an adjustable onboard magnetic unit (24), which allows the robot to carry on a diverse number of work tasks on all ferrous surfaces via unlimited system integration.

Abstract translation: 三轮移动机器人（8）被配置为在其使用中广泛使用，由于其新颖的驱动单元和爬升铁表面的能力，而与表面曲率无关。 驱动系统基于固定取向的三个平行轮（12,14,16），其能够接近全方位能力的最有用的特征，同时还具有穿过表面障碍物的能力。 由于三轮驱动系统的组合和由于可调节的车载磁性单元（24）的磁粘合能力，机器人（8）还可以具有缩放工作表面的能力，而不管其表面的地面或曲率如何， 这允许机器人通过无限制的系统集成在所有黑色金属表面上进行多种工作任务。

公开(公告)号：US20150158332A1

公开(公告)日：2015-06-11

申请号：US14625835

申请日：2015-02-19

Applicant: HELICAL ROBOTICS, LLC

Inventor： Keith L. Schlee ,  Bruce A. Schlee

IPC: B60B19/12 ,  B62D61/00

CPC classification number: B60B19/12 ,  B60B3/002 ,  B60B3/085 ,  B60B3/10 ,  B60B19/003 ,  B62B3/00 ,  B62B2301/02 ,  B62D61/00

Abstract: A Mecanum wheel having a circular plate with a plurality of peripheral flanges formed thereon, the flanges having tab portions bent at an angle of less than 90° from said plate; a roller being mounted to and cantilevering off of each of said tab portions such that the axis of rotation of each roller is at corresponding angle of less than 90° from said plate. In some cases, the angles are approximately the same, being approximately 45°. By cantilevering the rollers, more space is available for use by machines using this Mecanum wheel design.

Abstract translation: 一种具有形成在其上的多个周边凸缘的圆板的Mecanum轮，所述凸缘具有以与所述板成小于90度的角度弯曲的突出部; 一个滚子被安装到每个所述凸片部分上并悬臂，使得每个滚子的旋转轴线距离所述板的对应角度小于90°。 在某些情况下，角度大致相同，约为45°。 通过悬臂滚子，更多的空间可供使用这种Mecanum轮设计的机器使用。

公开(公告)号：US20130292918A1

公开(公告)日：2013-11-07

申请号：US13838818

申请日：2013-03-15

Applicant: HELICAL ROBOTICS, LLC

Inventor： Keith L. Schlee ,  Bruce A. Schlee

IPC: B60B19/12 ,  B62B3/00

CPC classification number: B60B19/12 ,  B60B3/002 ,  B60B3/085 ,  B60B3/10 ,  B60B19/003 ,  B62B3/00 ,  B62B2301/02 ,  B62D61/00

Abstract: A Mecanum wheel having a circular plate with a plurality of peripheral flanges formed thereon, the flanges having tab portions bent at an angle of less than 90° from said plate; a roller being mounted to and cantilevering off of each of said tab portions such that the axis of rotation of each roller is at corresponding angle of less than 90° from said plate. In some cases, the angles are approximately the same, being approximately 45°. By cantilevering the rollers, more space is available for use by machines using this Mecanum wheel design.

Abstract translation: 一种具有形成在其上的多个周边凸缘的圆板的Mecanum轮，所述凸缘具有以与所述板成小于90度的角度弯曲的突出部; 一个滚子被安装到每个所述凸片部分上并悬臂，使得每个滚子的旋转轴线距离所述板的对应角度小于90°。 在某些情况下，角度大致相同，约为45°。 通过悬臂滚子，更多的空间可供使用这种Mecanum轮设计的机器使用。

公开(公告)号：US20160114843A1

公开(公告)日：2016-04-28

申请号：US14922863

申请日：2015-10-26

Applicant: HELICAL ROBOTICS, LLC

Inventor： Keith L. Schlee ,  Bruce A. Schlee

IPC: B62D57/024 ,  B60B39/00

CPC classification number: B62D57/024 ,  B60B39/00 ,  B60B2900/931 ,  Y10S901/01

Abstract: A mobile robot configured to be widely versatile in its use. For example, the mobile robot can be configured for being used on a wide assortment of surfaces, regardless of the orientation and/or shape of the surfaces. Alternatively or in combination, the mobile robot can be configured for effective and efficient movement on the surfaces it traverses. In some cases, the mobile robot is configured with two or more component units. In some cases, the component units are configured with magnets and a control system for orientating the magnets. In some cases, one or more component couplings join the component units. In some cases, the mobile unit is configured with Mecanum wheels.

公开(公告)号：US20130140801A1

公开(公告)日：2013-06-06

申请号：US13690951

申请日：2012-11-30

Applicant: HELICAL ROBOTICS, LLC

Inventor： Keith L. Schlee ,  Bruce A. Schlee

IPC: B60B39/00

CPC classification number: B62D57/024 ,  B60B39/00 ,  B60B2900/931 ,  Y10S901/01

Abstract: A mobile robot configured to be widely versatile in its use. For example, the mobile robot can be configured for being used on a wide assortment of surfaces, regardless of the orientation and/or shape of the surfaces. Alternatively or in combination, the mobile robot can be configured for effective and efficient movement on the surfaces it traverses. In some cases, the mobile robot is configured with two or more component units. In some cases, the component units are configured with magnets and a control system for orientating the magnets. In some cases, one or more component couplings join the component units. In some cases, the mobile unit is configured with Mecanum wheels.

Abstract translation: 配置为在其使用中广泛使用的移动机器人。 例如，移动机器人可被配置为在各种各样的表面上使用，而不管表面的取向和/或形状如何。 可替代地或组合地，移动机器人可以被配置成在它所穿过的表面上有效和有效地移动。 在某些情况下，移动机器人配置有两个或多个组件单元。 在某些情况下，组件单元配置有磁体和用于使磁体定向的控制系统。 在某些情况下，一个或多个组件联轴器连接组件单元。 在某些情况下，移动单元配置有Mecanum车轮。

公开(公告)号：US09168786B2

公开(公告)日：2015-10-27

申请号：US13690951

申请日：2012-11-30

Applicant: HELICAL ROBOTICS, LLC

Inventor： Keith L. Schlee ,  Bruce A. Schlee

IPC: B62D11/00 ,  B60B39/00 ,  B62D57/024

CPC classification number: B62D57/024 ,  B60B39/00 ,  B60B2900/931 ,  Y10S901/01

Abstract: A mobile robot configured to be widely versatile in its use. For example, the mobile robot can be configured for being used on a wide assortment of surfaces, regardless of the orientation and/or shape of the surfaces. Alternatively or in combination, the mobile robot can be configured for effective and efficient movement on the surfaces it traverses. In some cases, the mobile robot is configured with two or more component units. In some cases, the component units are configured with magnets and a control system for orientating the magnets. In some cases, one or more component couplings join the component units. In some cases, the mobile unit is configured with Mecanum wheels.

Abstract translation: 配置为在其使用中广泛使用的移动机器人。 例如，移动机器人可被配置为在各种各样的表面上使用，而不管表面的取向和/或形状如何。 可替代地或组合地，移动机器人可以被配置成在它所穿过的表面上有效和有效地移动。 在某些情况下，移动机器人配置有两个或多个组件单元。 在某些情况下，组件单元配置有磁体和用于使磁体定向的控制系统。 在某些情况下，一个或多个组件联轴器连接组件单元。 在某些情况下，移动单元配置有Mecanum轮。

公开(公告)号：US20150101873A1

公开(公告)日：2015-04-16

申请号：US14498131

申请日：2014-09-26

Applicant: Helical Robotics, LLC

Inventor： Keith L. Schlee ,  Bruce A. Schlee

IPC: B62D53/00 ,  B62D61/10

CPC classification number: B62D53/00 ,  A01B71/066 ,  B25J5/007 ,  B25J9/06 ,  B25J9/065 ,  B60B19/003 ,  B60B19/12 ,  B60B2200/49 ,  B62D57/02 ,  B62D57/024 ,  B62D59/04 ,  B62D61/10 ,  Y10S901/01 ,  Y10T29/49718

Abstract: A multi-unit mobile robot comprising a plurality of separate carriages or units linked together by linkages. Each unit comprises hinged first and second segments which facilitates pitch relative motion between the segments, and accordingly the units. By controlling actuators to the hinges, one can cause the robot to coil around and compress against the exterior, or compress against the interior, of an object to be traversed. The linkage between mobile units facilitates at least one of lateral pivot or yaw relative motion between units, and optionally roll.Each hinged platform is carried by a pair of Mecanum wheels, which facilitate movement of the unit in any direction. Preferably, alternating units are of differing widths, and the wheels on the units are sufficiently large that they capable of overlapping, thereby enabling the robot to navigate very sharp edges or corners in the surface of an object being traversed by the robot, with the wheels always maintaining contact with the surface being traversed.Among other possible uses, the multi-unit mobile robot can be used to service windmill blades and towers, and carrying cargo up and down windmill towers by directing a multi-unit mobile robot to wrap around the and traverse the tower.

Abstract translation: 一种多单元移动机器人，其包括通过连接件连接在一起的多个单独的支架或单元。 每个单元包括铰接的第一和第二段，其有助于段之间的俯仰相对运动，并且因此有利于单元。 通过控制致动器到铰链，可以使机器人围绕并压缩外部，或压缩待穿过的物体的内部。 移动单元之间的联动促进了单元之间的侧向枢转或偏航相对运动中的至少一个，并且可选地卷绕。 每个铰链平台由一对Mecanum车轮承载，便于单元在任何方向的移动。 优选地，交替单元具有不同的宽度，并且单元上的车轮足够大，使得它们能够重叠，从而使得机器人能够导航由机器人穿过的物体的表面中的非常锋利的边缘或拐角，车轮 始终保持与正在穿过的表面的接触。 除了其他可能的用途之外，多单元移动机器人可以用于服务风车叶片和塔架，并通过引导多单元移动机器人围绕并横穿塔架来承载货物上下风车塔。