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    • 7. 发明申请
    • DYNAMICALLY STABLE STAIR CLIMBING HOME ROBOT
    • 动态稳定的STAIR CLIMBING HOME ROBOT
    • WO2016200884A1
    • 2016-12-15
    • PCT/US2016/036363
    • 2016-06-08
    • MAILEY, ChristopherHSU, Stephen John
    • MAILEY, ChristopherHSU, Stephen John
    • B62D55/065B62D55/075
    • B62D55/075A61G5/061A61G5/066B62D55/065
    • A method of climbing a stair by driving an articulated vehicle along a drive-direction on each stair, comprising driving, while a rigid lower chassis (100) remains parallel to the ground and parallel to an upper body (110), the articulated vehicle to approach a stair with the forward portion of the articulated vehicle; pivoting, front legs (101,102) about a transverse axis from a vertical position next to the lower chassis downward and forward until they touch the top of the step; pivoting, back legs (103,104) about 1 transverse axis from a vertical position next to the lower chassis downward and forward until they are parallel to the ground; pivoting, while the rigid lower chassis remains rigid and parallel to the ground the top of the lower chassis remains parallel to the bottom of the upper body (110), the middle body neck portion (112) of the upper body (110) forward from the rigid lower chassis, moving the upper chassis forward of the rigid lower chassis; pivoting, while the rigid lower chassis remains rigid, the front and back legs about the transverse axis downward and forward and the middle body neck portion backward until the rigid lower body is above the stair and the front legs are parallel to the stair; driving, while the rigid lower chassis remains rigid and parallel to the top of the stair, the articulated vehicle forward until the front legs are entirely on the stair; pivoting, while the rigid lower chassis remains rigid, the back legs about the transverse axis forward until they are in a vertical position; driving, while the rigid lower chassis remains rigid and parallel to the top of the stair, the articulated vehicle forward until the back legs are entirely on the stair; and pivoting, while the rigid lower body remains rigid, the front legs backwards and upwards until they are in the vertical position.
    • 一种通过在每个楼梯上沿着驱动方向驱动铰接式车辆来爬梯的方法,包括驱动,而刚性下底架(100)保持平行于地面并平行于上主体(110),所述铰接车辆 接近与铰接车辆的前部的楼梯; 围绕横向轴线从垂直位置向下并向前转动前腿(101,102),直到它们接触台阶的顶部; 将下腿(103,104)从垂直位置绕下一个横向轴线向下并向前转动,直到它们平行于地面; 枢转,而刚性下底板保持刚性并且平行于地面,下底架的顶部保持平行于上主体(110)的底部,上主体(110)的中间主体颈部(112)向前 刚性下部底盘,将上部机架向前移动到刚性下部底盘; 枢转,而刚性下底盘保持刚性,前后腿围绕横向轴线向下和向前,中间身体颈部部分向后,直到刚性下部主体在楼梯上方,并且前腿平行于楼梯; 驾驶,而刚性下底盘保持刚性并且平行于楼梯的顶部,铰接车辆向前,直到前腿完全在楼梯上; 枢转,而刚性下底架保持刚性,后腿围绕横向轴线向前,直到它们处于垂直位置; 驾驶,而刚性下底盘保持刚性并且平行于楼梯的顶部,铰接车辆向前延伸,直到后腿完全在楼梯上; 并且枢转,同时刚性下身保持刚性,前腿向后和向上直到它们处于垂直位置。