公开(公告)号：US20090309319A1

公开(公告)日：2009-12-17

申请号：US12281864

申请日：2006-03-06

申请人： Steven Kamara ,  Michael Yang

发明人： Steven Kamara ,  Michael Yang

IPC分类号： B62B5/02

CPC分类号： B62B5/026

摘要： A towing device comprising a power-assisted spider wheel assembly for ascending and descending stairwells is capable of avoiding unintentional back turning hazards that may result while descending shallower stairwells by applying torque alternatively in the climb-down and climb-up direction to the spider assembly responsive to the angle formed between the spider assembly and lower stair riser. This ensures that the unit will not suddenly fall to a lower tread, which results if the lower-leaning wheel is not first pinned against the lower inside riser and rolls forward instead. The torque exerting means may also lock said spider assembly in a fixed arbitrary orientation during ascent and descent to allow the spider assembly to achieve a safe orientation before stopping mid-stairwell increasing safety.

摘要翻译： 包括用于上升和下降楼梯间的功率辅助的蜘蛛车轮组件的牵引装置能够避免在向下爬升和向上爬行方向上施加扭矩的情况下，通过施加扭矩来响应于对蜘蛛组件的响应，这可能导致在较浅的楼梯壁下降期间的无意的后部转弯危险 到达蜘蛛组件和下阶梯提升器之间形成的角度。 这确保了该单元不会突然下降到较低的胎面，这将导致如果下倾斜轮不首先被固定在下部内侧提升器中并且向前滚动。 扭矩施加装置还可以在上升和下降期间将所述蜘蛛组件锁定在固定的任意方位，以允许在停止中间楼梯间间隔增加安全性之前使得所述蜘蛛组件实现安全的取向。

公开(公告)号：US20080265529A1

公开(公告)日：2008-10-30

申请号：US11796381

申请日：2007-04-27

申请人： Steven Kamara ,  Michael Yang ,  David Follette

发明人： Steven Kamara ,  Michael Yang ,  David Follette

IPC分类号： B62B5/02

CPC分类号： B62B5/026 ,  A45C5/14 ,  A45C5/146 ,  A45C2005/148 ,  B62B2205/12

摘要： A collapseable spider wheel assembly on a towing device enables storage of the device into a standard rectangular space. Once collapsed, the collapsible spider assembly is protected within the body of the towing device. Furthermore, actuation of the folding and unfolding may be accomplished through the usual telescoping of the carrying handle of such a device, such as in a suitcase embodiment. While the spider wheels are in the open position, the carrying apparatus may exert a drive force to climb up stairs and braking force to descend stairs. The unit operates as a normal wheeled carrying apparatus while traversing a horizontal surface.

摘要翻译： 牵引装置上的可折叠的蜘蛛轮组件能够将装置存储在标准的矩形空间中。 一旦折叠，可折叠的蜘蛛组件在牵引装置的主体内受到保护。 此外，折叠和展开的致动可以通过诸如在手提箱实施例中的这种装置的携带手柄的通常伸缩来实现。 当轮子处于打开位置时，携带装置可以施加驱动力以爬楼梯和制动力下降楼梯。 该单元在横向水平表面时作为普通轮式搬运装置工作。

公开(公告)号：US20130186698A1

公开(公告)日：2013-07-25

申请号：US13668186

申请日：2012-11-02

申请人： Joseph Sarokhan ,  Steven Kamara ,  Michael Yang

发明人： Joseph Sarokhan ,  Steven Kamara ,  Michael Yang

IPC分类号： B62B5/02

CPC分类号： F16D7/02 ,  B62B5/0069 ,  B62B5/026 ,  B62B5/065 ,  B62B5/066

摘要： A wheeled vehicle comprising a power-driven spider assembly for ascending and descending stairs. The vehicle includes an angular position sensor providing input to a controller operable to control a servo-motor to effectively lock the position of the spider relative to the frame, regardless of the hand truck's spatial orientation relative to a vertical plane, or any balancing of the hand truck. The angular position sensor provides input to the controller, which is programmed with predefined angular zones of instability, and causes the controller to accelerate rotation of the spiders through those zones when the wheeled vehicle is in the descent mode, to avoid instability of the hand truck. A hand truck may include a removable basket and/or a pivotable platform usable to transport loads.

公开(公告)号：US20090133517A1

公开(公告)日：2009-05-28

申请号：US12254854

申请日：2008-10-21

申请人： Steven Kamara ,  Michael Yang

发明人： Steven Kamara ,  Michael Yang

IPC分类号： F16H35/18

CPC分类号： B62B5/026 ,  B62B5/0033 ,  B62B5/0069 ,  B62B5/065 ,  B62B5/066 ,  B62B2202/12

摘要： While there have been described herein the principles of the invention, it is to be a mechanical tri-wheel retention assembly for a stair-climbing wheeled vehicle having a tri-wheel assembly. The ass has a tri-lobular roller cam mechanism to retain the tri-wheel at a desired angular position for normal two-wheeled operation, and further includes a spring-loaded roller that is configured to pop out of a locking mode in the event of an overload condition, permitting rotation of the tri-wheel assembly to a next predetermined angular position at which point the tri-wheel assembly will be retained, thus preventing damage to the unit and the locking mechanism. The mechanical tri-wheel retention assembly may further include a solenoid actuator configured to automatically disengage the mechanical tri-wheel retention assembly.

摘要翻译： 虽然本文已经描述了本发明的原理，但是它是用于具有三轮组件的楼梯式轮式车辆的机械三轮保持组件。 屁股具有三叶轮凸轮机构，用于将三轮轮保持在期望的角度位置以进行正常的两轮操作，并且还包括弹簧加载的滚轮，其被配置为在发生锁定的情况下弹出锁定模式 过载状态，允许三轮组件旋转到下一个预定角度位置，此时三轮组件将被保持，从而防止对单元和锁定机构的损坏。 机械三轮保持组件还可以包括螺线管致动器，其构造成自动地脱离机械三轮保持组件。

公开(公告)号：US20130231814A1

公开(公告)日：2013-09-05

申请号：US13870808

申请日：2013-04-25

申请人： Joseph Sarokhan ,  Steven Kamara

发明人： Joseph Sarokhan ,  Steven Kamara

IPC分类号： B25J9/16 ,  B25J5/00

CPC分类号： B62B5/02 ,  A61G5/061 ,  B25J5/00 ,  B25J9/1694 ,  B62B1/008 ,  B62B5/0026 ,  B62B5/0033 ,  B62B5/0036 ,  B62B5/0069 ,  B62B5/026 ,  B62B5/065 ,  B62B5/066 ,  B62B9/06 ,  B62D57/022 ,  Y10S901/01

摘要： A robotic, wheeled surveillance vehicle capable of stair-climbing and traversing level surfaces. The vehicle comprises a rigid frame supporting a rotatable axle; an extension on which is mounted at least one surveillance device; a pair of spider assemblies rotatably supported adjacent opposite ends of said axle, each of said pair of spider assemblies supporting a plurality of rotatable wheels coupled to rotate in synchronicity; an inertial sensor supported on said frame in position to measure an angular position of at least one of said pair of spider assemblies relative to said frame; and an electric motor supported on said frame and operatively connected to drive said pair of spider assemblies to rotate. A power source supported on said frame is operatively connected to said electric motor; and a controller supported on said frame and operatively connected to said angular position sensor and said power source causes said electric motor to apply varying rotational torque to said pair of spider assemblies to cause said pair of spider assemblies to maintain a selected angular position of said spider assemblies relative to said frame as a function of input received from said angular position sensor.

摘要翻译： 一种机器人，轮式监视车，能够爬楼梯和水平面。 车辆包括支撑可旋转轴的刚性框架; 其上安装有至少一个监视装置; 一对可绕所述轴的相对端旋转地支撑的一个，其中每一个所述一对蜘蛛组件支撑多个可旋转的轮子，所述多个可旋转的轮子同步旋转; 支撑在所述框架上的惯性传感器，用于测量所述一对蜘蛛组件中的至少一个相对于所述框架的角位置; 以及支撑在所述框架上并可操作地连接以驱动所述一对蜘蛛组件旋转的电动马达。 支撑在所述框架上的电源可操作地连接到所述电动机; 以及支撑在所述框架上并且可操作地连接到所述角度位置传感器和所述电源的控制器，所述控制器使所述电动机对所述一对蜘蛛组件施加变化的旋转扭矩，以使所述一对蜘蛛组件保持所述蜘蛛的选定的角位置 作为从所述角位置传感器接收的输入的函数的相对于所述框架的组件。

公开(公告)号：US07669862B2

公开(公告)日：2010-03-02

申请号：US11796381

申请日：2007-04-27

申请人： Steven Kamara ,  Michael Yang ,  David Follette

发明人： Steven Kamara ,  Michael Yang ,  David Follette

IPC分类号： B62B5/02

CPC分类号： B62B5/026 ,  A45C5/14 ,  A45C5/146 ,  A45C2005/148 ,  B62B2205/12

摘要： A collapsible spider wheel assembly on a towing device enables storage of the device into a standard rectangular space. Once collapsed, the collapsible spider assembly is protected within the body of the towing device. Furthermore, actuation of the folding and unfolding may be accomplished through the usual telescoping of the carrying handle of such a device, such as in a suitcase embodiment. While the spider wheels are in the open position, the carrying apparatus may exert a drive force to climb up stairs and braking force to descend stairs. The unit operates as a normal wheeled carrying apparatus while traversing a horizontal surface.

摘要翻译： 牵引装置上的可折叠的蜘蛛轮组件能够将装置存储在标准的矩形空间中。 一旦折叠，可折叠的蜘蛛组件在牵引装置的主体内受到保护。 此外，折叠和展开的致动可以通过诸如在手提箱实施例中的这种装置的携带手柄的通常伸缩来实现。 当轮子处于打开位置时，携带装置可以施加驱动力以爬楼梯和制动力下降楼梯。 该单元在横向水平表面时作为普通轮式搬运装置工作。

公开(公告)号：US20140257560A1

公开(公告)日：2014-09-11

申请号：US14199275

申请日：2014-03-06

申请人： Steven Kamara

发明人： Steven Kamara

IPC分类号： A61F2/68

CPC分类号： A61F2/68 ,  A61F2/54 ,  A61F2/60 ,  A61F2/72 ,  A61F2002/704 ,  A61F2002/7615 ,  B25J9/0006 ,  G05B2219/33079 ,  G05B2219/40305 ,  G05B2219/40585

摘要： An apparatus, system and method for controlling a robotic limb. The apparatus, system and method may include at least one microprocessor, a computing memory associated with the microprocessor, the computing memory having resident therein computing instructions, and the computing instructions comprising at least weighting code suitable for weighting control of the robotic limb by the microprocessor versus control by a plurality of bio-neuro sensors associated with the robotic limb. The weighed control may be varied over time by the weighting code.

摘要翻译： 一种用于控制机器人肢体的装置，系统和方法。 装置，系统和方法可以包括至少一个微处理器，与微处理器相关联的计算存储器，其中驻留有计算指令的计算存储器，以及计算指令，其包括至少加权代码，该加权代码适用于微处理器对机器人肢体的加权控制 与通过与机器人肢体相关联的多个生物神经传感器的控制。 加权控制可以随着时间的推移随着加权代码而变化。

公开(公告)号：US20130274973A1

公开(公告)日：2013-10-17

申请号：US13667791

申请日：2013-04-12

申请人： Steven Kamara ,  Michael Yang ,  Joseph Sarokhan

发明人： Steven Kamara ,  Michael Yang ,  Joseph Sarokhan

IPC分类号： B62B5/02 ,  F16D41/00

CPC分类号： B62B5/026 ,  A61G5/065 ,  B62B1/008 ,  B62B5/0026 ,  B62B5/0033 ,  B62B5/0069 ,  B62B5/065 ,  B62B5/066 ,  F16D41/00

摘要： A wheeled vehicle comprising a power-driven spider assembly for ascending and descending stairs. The vehicle includes an angular position sensor providing input to a controller operable to control a servo-motor to effectively lock the position of the spider relative to the frame, regardless of the hand truck's spatial orientation relative to a vertical plane, or any balancing of the hand truck. The angular position sensor provides input to the controller, which is programmed with predefined angular zones of instability, and causes the controller to accelerate rotation of the spiders through those zones when the wheeled vehicle is in the descent mode, to avoid instability of the hand truck. A hand truck may include a removable basket and/or a pivotable platform usable to transport loads.

公开(公告)号：US20130192907A1

公开(公告)日：2013-08-01

申请号：US13667659

申请日：2012-11-02

申请人： Joseph Sarokham ,  Steven Kamara ,  Michael Yang

发明人： Joseph Sarokham ,  Steven Kamara ,  Michael Yang

IPC分类号： F16D7/02 ,  B62B5/02

CPC分类号： F16D7/02 ,  B62B5/0069 ,  B62B5/026 ,  B62B5/065 ,  B62B5/066

摘要： A wheeled vehicle comprising a power-driven spider assembly for ascending and descending stairs. The vehicle includes an angular position sensor providing input to a controller operable to control a servo-motor to effectively lock the position of the spider relative to the frame, regardless of the hand truck's spatial orientation relative to a vertical plane, or any balancing of the hand truck. The angular position sensor provides input to the controller, which is programmed with predefined angular zones of instability, and causes the controller to accelerate rotation of the spiders through those zones when the wheeled vehicle is in the descent mode, to avoid instability of the hand truck. A hand truck may include a removable basket and/or a pivotable platform usable to transport loads.

摘要翻译： 一种轮式车辆，包括用于上升和下降楼梯的动力驱动的蜘蛛组件。 车辆包括角位置传感器，其向控制器提供输入，该控制器可操作以控制伺服电机，以有效地锁定蜘蛛相对于框架的位置，而不管手推车相对于垂直平面的空间取向，或者任何平衡 手推车。 角位置传感器为控制器提供输入，该控制器使用预定义的不稳定角度区域进行编程，并且当轮式车辆处于下降模式时，使控制器加速蜘蛛通过这些区域的旋转，以避免手动卡车的不稳定 。 手推车可以包括可移动的篮和/或可枢转平台，其可用于运输负载。

公开(公告)号：US20130184917A1

公开(公告)日：2013-07-18

申请号：US13787439

申请日：2013-03-06

申请人： Joseph Sarokhan ,  Steven Kamara ,  Michael Yang

发明人： Joseph Sarokhan ,  Steven Kamara ,  Michael Yang

IPC分类号： B62B5/00 ,  B62B5/02

CPC分类号： B62B5/02 ,  A61G5/061 ,  A61G5/065 ,  B62B1/008 ,  B62B5/0026 ,  B62B5/0033 ,  B62B5/0036 ,  B62B5/0069 ,  B62B5/026 ,  B62B5/065 ,  B62B5/066 ,  B62B9/06 ,  B62D57/022

摘要： An apparatus and method for supplying operating voltages to a plurality of electronic devices is disclosed. A plurality of power supply modules of a modular power supply may output voltages to at least two electronic devices respectively. The apparatus may identify a failure of one of the power supply modules. The electronic device may be disconnected from the failed power supply module, and then reconnected to a functional power supply module of the modular power supply. switching a supplied voltage of the functional power supply module of the modular power supply, wherein the supplied voltage matches the set output voltage of the failed power supply module. If necessary, a supplied voltage of a functional power supply module may be switched to match the set output voltage of the failed power supply module.

摘要翻译： 公开了一种用于向多个电子设备提供工作电压的装置和方法。 模块化电源的多个电源模块可以分别向至少两个电子设备输出电压。 该装置可以识别其中一个电源模块的故障。 电子设备可能与故障电源模块断开连接，然后重新连接到模块化电源的功能电源模块。 切换模块化电源的功能电源模块的供电电压，其中所提供的电压与故障电源模块的设定输出电压相匹配。 如果需要，可以切换功能电源模块的供电电压以匹配故障电源模块的设定输出电压。