公开(公告)号：US09573638B2

公开(公告)日：2017-02-21

申请号：US11834290

申请日：2007-08-06

申请人： Chikyung Won

发明人： Chikyung Won

IPC分类号： B62D55/065 ,  B62D55/075 ,  B62D55/116 ,  B25J5/00 ,  B62D55/12 ,  B62D55/14 ,  B62D55/24 ,  B25J11/00

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： An articulated tracked vehicle that has a main section, which includes a main frame, and a forward section. The main frame has two sides and a front end, and includes a pair of parallel main tracks. Each main track includes a flexible continuous belt coupled to a corresponding side of the main frame. The forward section includes an elongated arm. One end of the arm is pivotally coupled to the main frame near the forward end of the main frame about a transverse axis that is generally perpendicular to the sides of the main frame. The arm has a length sufficiently long to allow the forward section to extend below the main section in at least some degrees of rotation of the arm, and a length shorter than the length of the main section. The center of mass of the main section is located forward of the rearmost point reached by the end of the arm in its pivoting about the transverse axis. The main section is contained within the volume defined by the main tracks and is symmetrical about a horizontal plane, thereby allowing inverted operation of the robot.

摘要翻译： 一种铰接的跟踪车辆，其具有包括主框架和前部的主要部分。 主框架具有两侧和前端，并且包括一对平行的主轨道。 每个主轨道包括耦合到主框架的相应侧的柔性连续带。 前部包括细长臂。 臂的一端围绕主要垂直于主框架的侧面的横向轴线枢转地联接到主框架的前端附近的主框架。 臂具有足够长的长度，以允许前部在臂的至少一定程度的旋转中延伸到主部下方，并且长度短于主部的长度。 主要部分的质心位于臂的端部绕其横向轴线枢转的最后点之前。 主要部分包含在由主轨道限定的体积内，并且关于水平面对称，从而允许机器人的反转操作。

公开(公告)号：US08042630B2

公开(公告)日：2011-10-25

申请号：US12820881

申请日：2010-06-22

申请人： Stephen C. Jacobsen

发明人： Stephen C. Jacobsen

IPC分类号： B62D55/265

CPC分类号： B62D55/27 ,  B62D55/28 ,  Y10S180/901

摘要： A serpentine robotic crawler capable of multiple movement moves is disclosed. The serpentine robotic crawler includes a plurality of frame units, coupled together by at least one actuated linkage. Each frame unit includes a continuous track, enabling forward movement of the serpentine robotic crawler. The at least one actuated linkage has at least 7 degrees of movement freedom, enabling the serpentine robotic crawler to adopt a variety of poses.

摘要翻译： 公开了能够进行多次移动的蛇形机器人履带。 蛇形机器人爬行器包括多个框架单元，通过至少一个致动连杆联接在一起。 每个框架单元包括一个连续轨道，使蛇形机器人履带的向前运动。 所述至少一个致动连杆具有至少7度的运动自由度，使得蛇形机器人履带器能够采用各种姿势。

公开(公告)号：US07571039B2

公开(公告)日：2009-08-04

申请号：US11463052

申请日：2006-08-08

申请人： Shih-Ken Chen ,  Nikolai K. Moshchuk ,  Cheng-Foo Chen

发明人： Shih-Ken Chen ,  Nikolai K. Moshchuk ,  Cheng-Foo Chen

IPC分类号： B60G17/016 ,  B60G23/00 ,  B62K25/00

CPC分类号： B60G17/0162 ,  B60G17/0152 ,  B60G2202/20 ,  B60G2400/0521 ,  B60G2400/0523 ,  B60G2400/104 ,  B60G2400/204 ,  B60G2800/0124 ,  B60G2800/9124 ,  Y10S180/901

摘要： A rollover avoidance system for changing the damping characteristics of suspension dampers at each wheel of a vehicle so as to mitigate the potential for vehicle rollover. The system includes a plurality of vehicle parameter sensors for measuring vehicle parameters and providing vehicle parameter signals. The system also includes a controller for generating a damper suspension command signal for each damper using the vehicle parameter signals. The controller considers a roll control factor representing a rollover condition of the vehicle and a yaw stability control factor representing a yaw condition of the vehicle to set the damping of the dampers to mitigate the potential for vehicle rollover.

摘要翻译： 一种用于改变车辆每个车轮处的悬挂阻尼器的阻尼特性的翻转避免系统，以便减轻车辆翻车的可能性。 该系统包括多个用于测量车辆参数并提供车辆参数信号的车辆参数传感器。 该系统还包括控制器，用于使用车辆参数信号为每个阻尼器产生阻尼器悬挂指令信号。 控制器考虑表示车辆的翻转状态的滚动控制因素以及表示车辆的偏航条件的偏航稳定性控制因素，以设定阻尼器的阻尼以减轻车辆翻车的可能性。

公开(公告)号：US20090107738A1

公开(公告)日：2009-04-30

申请号：US12347406

申请日：2008-12-31

申请人： Chikyung Won

发明人： Chikyung Won

IPC分类号： B62D55/065 ,  B62D55/075

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： An articulated vehicle including a main frame, a drive system disposed on the main frame, and at least one arm having a proximal end and a distal end. The proximal end of the at least one arm being pivotally coupled to the main frame and the distal end being pivotable above the surface. The vehicle also including an articulator motor disposed on the main frame and coupled to the at least one arm for pivoting the at least one arm above the surface and about the transverse axis, and a slip clutch coupled between the articulator motor and the at least one front arm for enabling rotation of the at least one front arm without rotation of the articulator drive motor when a torque between the at least one front arm and the main frame exceeds a threshold torque.

摘要翻译： 一种关节式车辆，包括主框架，设置在主框架上的驱动系统以及具有近端和远端的至少一个臂。 所述至少一个臂的近端枢转地联接到所述主框架，并且所述远端可在所述表面上方枢转。 所述车辆还包括设置在所述主框架上并且连接至所述至少一个臂的关节运动器马达，用于使所述至少一个臂在所述表面和所述横向轴线上方枢转，以及滑动离合器，其联接在所述关节运动器马达与所述至少一个 前臂，用于当所述至少一个前臂和所述主框架之间的扭矩超过阈值扭矩时，使所述至少一个前臂的旋转不转动所述关节运动器驱动马达。

公开(公告)号：US20080136254A1

公开(公告)日：2008-06-12

申请号：US11985346

申请日：2007-11-13

申请人： Stephen C. Jacobsen

发明人： Stephen C. Jacobsen

IPC分类号： B62D55/24

CPC分类号： B62D55/27 ,  B62D55/28 ,  Y10S180/901

摘要： A versatile endless track system for a lightweight robotic vehicle is disclosed. The versatile endless track system includes a flexible track configured for threading about a plurality of track supports of the lightweight robotic vehicle. A plurality of traction pads including at least two different types of traction pads is disposed along the endless track. The different types of traction pads provide different ground-interfacing profiles designed to provide traction with respect to ground surfaces having different traction properties. Optionally, traction pads can be removable, allowing the versatile endless track to be reconfigured. A method of configuring a versatile endless track is also disclosed.

摘要翻译： 公开了一种用于轻型机器人车辆的多功能循环轨道系统。 多功能循环轨道系统包括配置用于绕过轻型机器人车辆的多个履带支撑件的柔性轨道。 包括至少两种不同类型的牵引垫的多个牵引垫沿着环形轨道设置。 不同类型的牵引垫提供不同的地面接口轮廓，其被设计成相对于具有不同牵引性能的地面提供牵引力。 可选地，牵引垫可以是可移除的，从而可以重新配置通用的环形履带。 还公开了一种配置多功能循环轨道的方法。

公开(公告)号：US20080040000A1

公开(公告)日：2008-02-14

申请号：US11463052

申请日：2006-08-08

申请人： Shih-Ken Chen ,  Nikolai K. Moshchuk ,  Cheng-Foo Chen

发明人： Shih-Ken Chen ,  Nikolai K. Moshchuk ,  Cheng-Foo Chen

IPC分类号： B60G17/016

CPC分类号： B60G17/0162 ,  B60G17/0152 ,  B60G2202/20 ,  B60G2400/0521 ,  B60G2400/0523 ,  B60G2400/104 ,  B60G2400/204 ,  B60G2800/0124 ,  B60G2800/9124 ,  Y10S180/901

摘要： A rollover avoidance system for changing the damping characteristics of suspension dampers at each wheel of a vehicle so as to mitigate the potential for vehicle rollover. The system includes a plurality of vehicle parameter sensors for measuring vehicle parameters and providing vehicle parameter signals. The system also includes a controller for generating a damper suspension command signal for each damper using the vehicle parameter signals. The controller considers a roll control factor representing a rollover condition of the vehicle and a yaw stability control factor representing a yaw condition of the vehicle to set the damping of the dampers to mitigate the potential for vehicle rollover.

摘要翻译： 一种用于改变车辆每个车轮处的悬挂阻尼器的阻尼特性的翻转避免系统，以便减轻车辆翻车的可能性。 该系统包括多个用于测量车辆参数并提供车辆参数信号的车辆参数传感器。 该系统还包括控制器，用于使用车辆参数信号为每个阻尼器产生阻尼器悬挂指令信号。 控制器考虑表示车辆的翻转状态的滚动控制因素以及表示车辆的偏航条件的偏航稳定性控制因素，以设定阻尼器的阻尼以减轻车辆翻车的可能性。

公开(公告)号：US20050269143A1

公开(公告)日：2005-12-08

申请号：US11197063

申请日：2005-08-03

申请人： William Jeswine ,  Frank Dailey ,  Eric Olsen ,  Cameron Cox

发明人： William Jeswine ,  Frank Dailey ,  Eric Olsen ,  Cameron Cox

IPC分类号： B25J5/00 ,  B60B39/00 ,  B60V1/00 ,  B62D57/024 ,  B64F5/00

CPC分类号： B62D49/0621 ,  B62D53/00 ,  B62D57/024 ,  B62D61/10 ,  B64F5/30 ,  Y02P70/585 ,  Y10S180/901

摘要： A traction unit capable of traversing and turning on surfaces that include compound curves like the surface of a sphere or are inverted like a ceiling. The traction unit includes a plurality of trucks operable to propel the unit across a surface and a plurality of adherence members operable to releasably secure the unit to the surface. In operation, the adherence members cyclically attach to and release from the surface as the trucks propel the unit across the surface. Within each cycle, after the unit has traveled a predetermined distance relative to an attached member, the member releases the surface and reattaches to the surface at a different point.

摘要翻译： 能够横穿和转动表面的牵引单元，其包括诸如球体表面的复合曲线，或像天花板一样倒置。 牵引单元包括多个卡车，其可操作以推动单元穿过表面，并且多个附着部件可操作以将单元可释放地固定到表面。 在操作中，随着卡车推动单元穿过表面，粘附构件周期性地附接到表面并从表​​面释放。 在每个周期内，在单元相对于附接构件行进预定距离之后，构件释放表面并在不同点重新附着到表面。

公开(公告)号：US06158536A

公开(公告)日：2000-12-12

申请号：US873747

申请日：1997-06-12

申请人： Rintaro Misawa

发明人： Rintaro Misawa

IPC分类号： B62B5/02 ,  A61G3/08 ,  A61G5/00 ,  A61G5/06 ,  A61G5/10 ,  B62D55/075 ,  B62D57/024 ,  B62D55/00

CPC分类号： A61G5/061 ,  A61G3/0808 ,  A61G5/066 ,  B62D55/075 ,  A61G2203/42 ,  A61G5/107 ,  Y10S180/901 ,  Y10S280/10

摘要： There is provided a stair-climbing vehicle for transporting a wheelchair with a person sitting on. The vehicle comprise a crawler device including a pair of endless belt crawlers disposed on opposite sides of the vehicle; a vehicle body including a driving motor for driving the crawler device to enabling the stair-climbing vehicle to climb up or down a stairway; a load-carrying platform for mounting a wheelchair, said load-carrying platform being provided above the vehicle body capable of pivoting in vertical direction about one end thereof. The load-carrying platform is provided with a inclination sensor. The inclination sensor includes a first inclination sensing element and a second inclination sensing element, each inclination sensing element is a tubular member containing a flowable electrically conductive material and a pair of electrically conductive terminals.

摘要翻译： 提供了一个与坐着的人一起运送轮椅的爬梯车。 车辆包括履带装置，其包括设置在车辆的相对侧上的一对环形带履带; 车体，其包括用于驱动履带装置的驱动电机，以使登梯车辆能够爬升或者沿着楼梯上升或下降; 用于安装轮椅的承载平台，所述承载平台设置在车身上方，能够在垂直方向绕其一端枢转。 承载平台设有倾斜传感器。 倾斜传感器包括第一倾斜传感元件和第二倾斜感测元件，每个倾斜传感元件是包含可流动的导电材料和一对导电端子的管状部件。

公开(公告)号：US6105695A

公开(公告)日：2000-08-22

申请号：US220493

申请日：1998-12-22

申请人： Yoseph Bar-Cohen ,  Benjamin Joffe ,  Paul Gregory Backes

发明人： Yoseph Bar-Cohen ,  Benjamin Joffe ,  Paul Gregory Backes

IPC分类号： B62D57/02 ,  B62D57/024 ,  B62D57/032

CPC分类号： B62D57/024 ,  B62D57/02 ,  Y10S180/901

摘要： The present invention is an automated crawling robot system including a platform, a first leg assembly, a second leg assembly, first and second rails attached to the platform, and an onboard electronic computer controller. The first leg assembly has an intermittent coupling device and the second leg assembly has an intermittent coupling device for intermittently coupling the respective first and second leg assemblies to a particular object. The first and second leg assemblies are slidably coupled to the rail assembly and are slidably driven by motors to thereby allow linear movement. In addition, the first leg assembly is rotary driven by a rotary motor to thereby provide rotary motion relative to the platform. To effectuate motion, the intermittent coupling devices of the first and second leg assemblies alternately couple the respective first and second leg assemblies to an object. This motion is done while simultaneously moving one of the leg assemblies linearly in the desired direction and preparing the next step. This arrangement allows the crawler of the present invention to traverse an object in a range of motion covering 360 degrees.

摘要翻译： 本发明是一种自动爬行机器人系统，其包括平台，第一支腿组件，第二支腿组件，附接到平台的第一和第二导轨以及车载电子计算机控制器。 第一腿部组件具有间歇连接装置，并且第二腿部组件具有用于将相应的第一和第二腿部组件间歇地联接到特定对象的间歇连接装置。 第一和第二腿组件可滑动地联接到轨道组件，并且由电动机可滑动地驱动，从而允许线性运动。 此外，第一腿组件由旋转电机旋转驱动，从而提供相对于平台的旋转运动。 为了实现运动，第一和第二支腿组件的间歇耦合装置将相应的第一和第二支腿组件交替地耦合到物体。 完成该运动，同时沿所需方向线性移动一个腿组件并准备下一步骤。 这种布置允许本发明的履带在360度的运动范围内横过物体。

公开(公告)号：US5284096A

公开(公告)日：1994-02-08

申请号：US740899

申请日：1991-08-06

申请人： Ronald E. Pelrine ,  Eric A. Edwards ,  Lawrence S. Gullman

发明人： Ronald E. Pelrine ,  Eric A. Edwards ,  Lawrence S. Gullman

IPC分类号： B61B13/10 ,  B62D57/024 ,  F16L55/26 ,  F16L55/32 ,  B62D57/02 ,  B61C15/04

CPC分类号： B62D49/04 ,  B62D57/024 ,  F16L55/26 ,  F16L55/32 ,  F16L2101/00 ,  F16L2101/30 ,  Y10S180/901

摘要： A vehicle is provided for moving within pipes to determine the condition of the interior of the pipes. The vehicle has at least one wheel which is capable of travelling on walls of magnetic material. Each wheel comprises an outer wheel member having an annular peripheral wall with an inner wheel member including a portion of magnetically permeable material. The inner wheel member has an outside diameter smaller than the inside diameter of the outer wheel member and is rollable on the inner peripheral surface of the outer wheel member. A magnet is provided in the inner wheel member having magnetic poles in contact with the permeable portion of the inner wheel. The vehicle is capable of moving through pipes without being blocked by obstacles such as a vertical wall extending from a horizontal surface. A sensor is mounted on the vehicle and a sensor processing module receives distance and time data and processes the data to determine whether the pipe is clear or obstructed.

摘要翻译： 提供用于在管道内移动以确定管道内部状况的车辆。 车辆具有至少一个能够在磁性材料的壁上行进的轮子。 每个轮包括具有环形周壁的外轮构件，内周轮构件包括一部分可导磁材料。 内轮构件的外径小于外轮构件的内径，并且可在外轮构件的内周面上滚动。 在具有与内轮的可渗透部分接触的磁极的内轮构件中设置有磁体。 车辆能够通过管道移动而不被障碍物阻挡，例如从水平表面延伸的垂直壁。 传感器安装在车辆上，传感器处理模块接收距离和时间数据并处理数据以确定管道是否清晰或阻塞。