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公开(公告)号：US08327960B2
公开(公告)日：2012-12-11
申请号：US12444236
申请日：2007-10-02
IPC分类号： B62D55/00
CPC分类号： B62D55/075 , B25J5/005 , B25J11/0025 , B62D55/065 , B62D57/024 , Y10S901/01
摘要： A robotic vehicle (10,100,150A,150B150C,160,1000,1000A, includes a chassis (20,106,152,162) having front and rear ends (20A,152A,20B,152B) and supported on right and left driven tracks (34,44,108,165). Right and left elongated flippers (50,60,102,154,164) are disposed on corresponding sides of the chassis and operable to pivot. A linkage (70,156,166) connects a payload deck assembly (D1,D2,D3,80,158,168,806), configured to support a removable functional payload, to the chassis. The linkage has a first end (70A) rotatably connected to the chassis at a first pivot (71), and a second end (70B) rotatably connected to the deck at a second pivot (73). Both of the first and second pivots include independently controllable pivot drivers (72,74) operable to rotatably position their corresponding pivots (71,73) to control both fore-aft position and pitch orientation of the payload deck (D1,D2,D3,80,158,168,806) with respect to the chassis (20,106,152,162).
摘要翻译： 机器人车辆（10,100,150A，150B150C，160,1000,1000A）包括具有前端和后端（20A，152A，20B，152B）并支撑在右和左驱动轨道（34,44,108,165）上的底架（20,106,152,162）。 连杆（70,156,166）连接有效甲板组件（D1，D2，D3,80,158,168,806），其被配置为支撑可拆卸的功能有效载荷， 联动装置具有在第一枢轴（71）处可旋转地连接到底架的第一端（70A）和在第二枢轴（73）处可旋转地连接到甲板的第二端（70B），第一端 并且第二枢轴包括可独立控制的枢转驱动器（72,74），其可操作以可旋转地定位其对应的枢轴（71,73），以相对于有效载荷甲板（D1，D2，D3,80,158,168,806）的前后位置和俯仰方向 （20,106,152,162）。
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公开(公告)号：US07784570B2
公开(公告)日：2010-08-31
申请号：US11834658
申请日：2007-08-06
IPC分类号： B62D55/00
CPC分类号： B25J5/005 , B62D25/2054 , B62D55/065 , B62D55/0655
摘要： A robotic vehicle is disclosed, which is characterized by high mobility, adaptability, and the capability of being remotely controlled in hazardous environments. The robotic vehicle includes a chassis having front and rear ends and supported on right and left driven tracks. Right and left elongated flippers are disposed on corresponding sides of the chassis and operable to pivot. A linkage connects a payload deck, configured to support a removable functional payload, to the chassis. The linkage has a first end rotatably connected to the chassis at a first pivot, and a second end rotatably connected to the deck at a second pivot. Both of the first and second pivots include independently controllable pivot drivers operable to rotatably position their corresponding pivots to control both fore-aft position and pitch orientation of the payload deck with respect to the chassis.
摘要翻译： 公开了一种机动车辆，其特征在于高度的移动性，适应性以及在危险环境中被远程控制的能力。 机器人车辆包括具有前端和后端并支撑在右和左驱动轨道上的底盘。 右和左细长鳍状物设置在底盘的相应侧上并可操作以枢转。 一个链接将一个配置成支持可移动功能有效载荷的有效载荷甲板连接到机箱。 联动装置具有在第一枢轴处可转动地连接到底盘的第一端，以及在第二枢轴处可旋转地连接到甲板的第二端。 第一枢轴和第二枢轴都包括可独立控制的枢转驱动器，其可操作以可旋转地定位其对应的枢轴以控制有效载荷甲板相对于底盘的前后位置和俯仰方位。
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公开(公告)号：US20120073886A1
公开(公告)日：2012-03-29
申请号：US12838824
申请日：2010-07-19
IPC分类号： B62D55/075 , B60L11/18
CPC分类号： B25J5/005 , B62D25/2054 , B62D55/065 , B62D55/0655
摘要： A robotic vehicle is disclosed, which is characterized by high mobility, adaptability, and the capability of being remotely controlled in hazardous environments. The robotic vehicle includes a chassis having front and rear ends and supported on right and left driven tracks. Right and left elongated flippers are disposed on corresponding sides of the chassis and operable to pivot. A linkage connects a payload deck, configured to support a removable functional payload, to the chassis. The linkage has a first end rotatably connected to the chassis at a first pivot, and a second end rotatably connected to the deck at a second pivot. Both of the first and second pivots include independently controllable pivot drivers operable to rotatably position their corresponding pivots to control both fore-aft position and pitch orientation of the payload deck with respect to the chassis.
摘要翻译： 公开了一种机动车辆，其特征在于高度的移动性，适应性以及在危险环境中被远程控制的能力。 机器人车辆包括具有前端和后端并支撑在右和左驱动轨道上的底盘。 右和左细长鳍状物设置在底盘的相应侧上并可操作以枢转。 一个链接将一个配置成支持可移动功能有效载荷的有效载荷甲板连接到机箱。 联动装置具有在第一枢轴处可转动地连接到底盘的第一端，以及在第二枢轴处可旋转地连接到甲板的第二端。 第一枢轴和第二枢轴都包括可独立控制的枢转驱动器，其可操作以可旋转地定位其对应的枢轴以控制有效载荷甲板相对于底盘的前后位置和俯仰方位。
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公开(公告)号：US08342271B2
公开(公告)日：2013-01-01
申请号：US11970199
申请日：2008-01-07
IPC分类号： B62D55/075
CPC分类号： B62D55/075 , B25J5/005 , B25J19/005 , B60K1/00 , B60L15/2036 , B62D37/00 , Y02T10/72 , Y02T10/7275 , Y02T90/16
摘要： A robotic vehicle including a chassis having front and rear ends, an electric power source supported by the chassis, and multiple drive assemblies supporting the chassis. Each drive assembly including a track trained about a corresponding drive wheel and a drive control module. The drive control module including a drive control housing, a drive motor carried by the drive control housing and operable to drive the track, and a drive motor controller in communication with the drive motor. The drive motor controller including a motor controller logic circuit and an amplifier commutator in communication with the drive motor and the motor controller logic circuit and is capable of delivering both amplified and reduced voltage to the drive motor from the power source. In one instance, the drive control module is separately and independently removable from a receptacle of the chassis as a complete unit.
摘要翻译： 一种机器人车辆，包括具有前端和后端的底架，由底盘支撑的电源和支撑底盘的多个驱动组件。 每个驱动组件包括关于相应的驱动轮和驱动控制模块训练的轨道。 驱动控制模块包括驱动控制壳体，由驱动控制壳体承载并可操作以驱动轨道的驱动马达以及与驱动马达连通的驱动马达控制器。 驱动电动机控制器包括与驱动电动机和电动机控制器逻辑电路连通的电动机控制器逻辑电路和放大器换向器，并且能够从电源向驱动电动机提供放大和降低的电压。 在一种情况下，驱动器控制模块作为一个完整的单元独立且独立地从机架的插座中移除。
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公开(公告)号：US08256542B2
公开(公告)日：2012-09-04
申请号：US12134595
申请日：2008-06-06
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。
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公开(公告)号：US20090314554A1
公开(公告)日：2009-12-24
申请号：US12134595
申请日：2008-06-06
IPC分类号： B62D55/065
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。
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公开(公告)号：US20080223630A1
公开(公告)日：2008-09-18
申请号：US11834658
申请日：2007-08-06
IPC分类号： B62D55/065
CPC分类号： B25J5/005 , B62D25/2054 , B62D55/065 , B62D55/0655
摘要： A robotic vehicle is disclosed, which is characterized by high mobility, adaptability, and the capability of being remotely controlled in hazardous environments. The robotic vehicle includes a chassis having front and rear ends and supported on right and left driven tracks. Right and left elongated flippers are disposed on corresponding sides of the chassis and operable to pivot. A linkage connects a payload deck, configured to support a removable functional payload, to the chassis. The linkage has a first end rotatably connected to the chassis at a first pivot, and a second end rotatably connected to the deck at a second pivot. Both of the first and second pivots include independently controllable pivot drivers operable to rotatably position their corresponding pivots to control both fore-aft position and pitch orientation of the payload deck with respect to the chassis.
摘要翻译： 公开了一种机动车辆，其特征在于高度的移动性，适应性以及在危险环境中被远程控制的能力。 机器人车辆包括具有前端和后端并支撑在右和左驱动轨道上的底盘。 右和左细长鳍状物设置在底盘的相应侧上并可操作以枢转。 一个链接将一个配置成支持可移动功能有效载荷的有效载荷甲板连接到机箱。 联动装置具有在第一枢轴处可转动地连接到底盘的第一端，以及在第二枢轴处可旋转地连接到甲板的第二端。 第一枢轴和第二枢轴都包括可独立控制的枢转驱动器，其可操作以可旋转地定位其对应的枢轴以控制有效载荷甲板相对于底盘的前后位置和俯仰方位。
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公开(公告)号：US08316971B2
公开(公告)日：2012-11-27
申请号：US12838824
申请日：2010-07-19
IPC分类号： B62D55/065 , B62D55/075
CPC分类号： B25J5/005 , B62D25/2054 , B62D55/065 , B62D55/0655
摘要： A robotic vehicle is disclosed, which is characterized by high mobility, adaptability, and the capability of being remotely controlled in hazardous environments. The robotic vehicle includes a chassis having front and rear ends and supported on right and left driven tracks. Right and left elongated flippers are disposed on corresponding sides of the chassis and operable to pivot. A linkage connects a payload deck, configured to support a removable functional payload, to the chassis. The linkage has a first end rotatably connected to the chassis at a first pivot, and a second end rotatably connected to the deck at a second pivot. Both of the first and second pivots include independently controllable pivot drivers operable to rotatably position their corresponding pivots to control both fore-aft position and pitch orientation of the payload deck with respect to the chassis.
摘要翻译： 公开了一种机动车辆，其特征在于高度的移动性，适应性以及在危险环境中被远程控制的能力。 机器人车辆包括具有前端和后端并支撑在右和左驱动轨道上的底盘。 右和左细长鳍状物设置在底盘的相应侧上并可操作以枢转。 一个链接将一个配置成支持可移动功能有效载荷的有效载荷甲板连接到机箱。 联动装置具有在第一枢轴处可转动地连接到底盘的第一端，以及在第二枢轴处可旋转地连接到甲板的第二端。 第一枢轴和第二枢轴都包括可独立控制的枢转驱动器，其可操作以可旋转地定位其对应的枢轴以控制有效载荷甲板相对于底盘的前后位置和俯仰方位。
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公开(公告)号：US20100263948A1
公开(公告)日：2010-10-21
申请号：US12444236
申请日：2007-10-02
IPC分类号： B25J5/00 , B62D55/075 , B62D57/024
CPC分类号： B62D55/075 , B25J5/005 , B25J11/0025 , B62D55/065 , B62D57/024 , Y10S901/01
摘要： A robotic vehicle (10,100,150A,150B150C,160,1000,1000A, includes a chassis (20,106,152,162) having front and rear ends (20A,152A,20B,152B) and supported on right and left driven tracks (34,44,108,165). Right and left elongated flippers (50,60,102,154,164) are disposed on corresponding sides of the chassis and operable to pivot. A linkage (70,156,166) connects a payload deck assembly (D1,D2,D3,80,158,168,806), configured to support a removable functional payload, to the chassis. The linkage has a first end (70A) rotatably connected to the chassis at a first pivot (71), and a second end (70B) rotatably connected to the deck at a second pivot (73). Both of the first and second pivots include independently controllable pivot drivers (72,74) operable to rotatably position their corresponding pivots (71,73) to control both fore-aft position and pitch orientation of the payload deck (D1,D2,D3,80,158,168,806) with respect to the chassis (20,106,152,162).
摘要翻译： 机器人车辆（10,100,150A，150B150C，160,1000,1000A）包括具有前端和后端（20A，152A，20B，152B）并支撑在右和左驱动轨道（34,44,108,165）上的底架（20,106,152,162）。 连杆（70,156,166）连接有效甲板组件（D1，D2，D3,80,158,168,806），其被配置为支撑可拆卸的功能有效载荷， 联动装置具有在第一枢轴（71）处可旋转地连接到底架的第一端（70A）和在第二枢轴（73）处可旋转地连接到甲板的第二端（70B），第一端 并且第二枢轴包括可独立控制的枢转驱动器（72,74），其可操作以可旋转地定位其对应的枢轴（71,73），以相对于有效载荷甲板（D1，D2，D3,80,158,168,806）的前后位置和俯仰方向 （20,106,152,162）。
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公开(公告)号：US07600593B2
公开(公告)日：2009-10-13
申请号：US11762458
申请日：2007-06-13
IPC分类号： B62D55/00
CPC分类号： B62D55/075 , B25J5/005 , B25J19/005 , B60K1/00 , B60L15/2036 , B62D37/00 , Y02T10/72 , Y02T10/7275 , Y02T90/16
摘要： A robotic vehicle including a chassis having front and rear ends, an electric power source supported by the chassis, and multiple drive assemblies supporting the chassis. Each drive assembly including a track trained about a corresponding drive wheel and a drive control module. The drive control module including a drive control housing, a drive motor carried by the drive control housing and operable to drive the track, and a drive motor controller in communication with the drive motor. The drive motor controller including a signal processor and an amplifier commutator in communication with the drive motor and the signal processor and is capable of delivering both amplified and reduced power to the drive motor from the power source. In one instance, the drive control module is separately and independently removable from a receptacle of the chassis as a complete unit.
摘要翻译： 一种机器人车辆，包括具有前端和后端的底架，由底盘支撑的电源和支撑底盘的多个驱动组件。 每个驱动组件包括关于相应的驱动轮和驱动控制模块训练的轨道。 驱动控制模块包括驱动控制壳体，由驱动控制壳体承载并可操作以驱动轨道的驱动马达以及与驱动马达连通的驱动马达控制器。 驱动电动机控制器包括与驱动电动机和信号处理器通信的信号处理器和放大器换向器，并且能够从电源向驱动电动机提供放大和降低的功率。 在一种情况下，驱动器控制模块作为一个完整的单元独立且独立地从机架的插座中移除。
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