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1. 发明授权

EP0389243B1 Robot devices 失效
标题翻译：机器人设备。
公开(公告)号：EP0389243B1
公开(公告)日：1994-11-30
申请号：EP90302979.1
申请日：1990-03-20
申请人： PORTSMOUTH TECHNOLOGY CONSULTANTS LIMITED , UNIVERSITY OF PORTSMOUTH ENTERPRISE LIMITED
发明人： Collie, Arthur Alexander
IPC分类号： B62D57/024
CPC分类号： B62D57/024 , Y10S180/901

2. 发明公开

EP0389243A3 Robot devices 失效
标题翻译：机器人设备
公开(公告)号：EP0389243A3
公开(公告)日：1991-11-27
申请号：EP90302979.1
申请日：1990-03-20
申请人： PORTSMOUTH TECHNOLOGY CONSULTANTS LIMITED , UNIVERSITY OF PORTSMOUTH ENTERPRISE LIMITED
发明人： Collie, Arthur Alexander
IPC分类号： B62D57/024
CPC分类号： B62D57/024 , Y10S180/901
摘要： A robot device, preferably in the form of a walking robot 1 comprises a chassis 3 and a plurality of articulated legs 7, each leg 7 comprising an upper leg 10 rotatively and pivotally mounted on the chassis 3 and extending generally upwards therefrom, a lower leg 11 pivotally coupled to the upper leg 10 and a gripper foot 9 mounted on the lower leg 11, the gripper foot 9 being generally lower than the chassis 3, control of the articulated leg 7 being derived from three double acting pneumatic actuating cylinders 17, 18 and 19 each connected between the chassis 3 and the leg 7, position sensors 24, 25 and 26 being provided for determining the position of the leg and differential pressure sensors 42 (Fig. 3B) being provided for sensing the force applied to the leg, processor control means 30 (Fig. 3A) being provided for each leg 7 for effecting movement of the leg 7 in dependence upon the outputs of the position sensors 24, 25 and 26 and the differential pressure sensors 42. Preferably, the process control means 30 of each leg will be controlled by a remotely positioned personal computer 32 (Fig. 3A) which controls the walking movement of the walking robot 1 (Figs. 1A and 2A).

3. 发明公开

EP0389243A2 Robot devices 失效
标题翻译：机器人-Vorrichtungen。
公开(公告)号：EP0389243A2
公开(公告)日：1990-09-26
申请号：EP90302979.1
申请日：1990-03-20
申请人： PORTSMOUTH TECHNOLOGY CONSULTANTS LIMITED , UNIVERSITY OF PORTSMOUTH ENTERPRISE LIMITED
发明人： Collie, Arthur Alexander
IPC分类号： B62D57/024
CPC分类号： B62D57/024 , Y10S180/901
摘要： A robot device, preferably in the form of a walking robot 1 comprises a chassis 3 and a plurality of articulated legs 7, each leg 7 comprising an upper leg 10 rotatively and pivotally mounted on the chassis 3 and extending generally upwards therefrom, a lower leg 11 pivotally coupled to the upper leg 10 and a gripper foot 9 mounted on the lower leg 11, the gripper foot 9 being generally lower than the chassis 3, control of the articulated leg 7 being derived from three double acting pneumatic actuating cylinders 17, 18 and 19 each connected between the chassis 3 and the leg 7, position sensors 24, 25 and 26 being provided for determining the position of the leg and differential pressure sensors 42 (Fig. 3B) being provided for sensing the force applied to the leg, processor control means 30 (Fig. 3A) being provided for each leg 7 for effecting movement of the leg 7 in dependence upon the outputs of the position sensors 24, 25 and 26 and the differential pressure sensors 42. Preferably, the process control means 30 of each leg will be controlled by a remotely positioned personal computer 32 (Fig. 3A) which controls the walking movement of the walking robot 1 (Figs. 1A and 2A).
摘要翻译：优选地以行走机器人1的形式的机器人装置包括底架3和多个铰接支腿7，每个支腿7包括可旋转地且可枢转地安装在底盘3上并从其上大致向上延伸的上腿10， 11枢转地联接到上腿10和安装在小腿11上的夹爪9，夹爪9通常低于底盘3，铰接腿7的控制源自三个双作用气动致动缸17,18 和19，每个连接在底盘3和腿7之间，位置传感器24,25和26被设置用于确定腿部和差压传感器42的位置（图3B），其被设置用于感测施加到腿部的力，为每个支腿7提供处理器控制装置30（图3A），用于根据位置传感器24,25和26以及差压传感器42的输出实现支腿7的移动。优选地，每个腿的过程控制装置30将由远程定位的个人计算机32（图1）控制。控制步行机器人1（图1A和2A）的步行运动的图3A）。

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