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21. 发明授权

US11945527B2 Planetary wheel type obstacle crossing robot 有权
公开(公告)号：US11945527B2
公开(公告)日：2024-04-02
申请号：US17359671
申请日：2021-06-28
申请人： HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY
发明人： Bin Han , Xuedong Chen
IPC分类号： B62D57/028 , B62D57/02
CPC分类号： B62D57/028 , B62D57/022
摘要： A planetary wheel type obstacle crossing robot, including a frame, a front drive set, and a rear drive set, is provided. The front drive set and the rear drive set are respectively connected to a front end and a rear end of the frame. The front drive set includes a dual-drive steering wheel structure, which includes two drive wheels and two first drive devices. The first drive devices respectively output different rotational speeds to the drive wheels, so that the dual-drive steering wheel structure rotates. The rear drive set includes two planetary wheel sets, two second drive devices, and a planetary wheel set suspension structure. Each planetary wheel set is individually driven and includes a front wheel, a rear wheel, and an upper wheel. The wheels of each planetary wheel set cooperate to climb over an obstacle under an action of a driving torque output by the second drive device.

22. 发明公开

US20240101202A1 STAIR-CLIMBING VEHICLE 审中-公开
公开(公告)号：US20240101202A1
公开(公告)日：2024-03-28
申请号：US18118940
申请日：2023-03-08
申请人： HYUNDAI MOTOR COMPANY , KIA CORPORATION
发明人： Jong Sool Park , Jong Chan Park
IPC分类号： B62D57/02
CPC分类号： B62D57/022
摘要： A vehicle includes: a body, a plurality of driving wheels arranged along a front-rear direction of the body to be rotatable and movable with respect to the body, a wheel position moving device for moving a rotation shaft of the driving wheel while preventing the driving wheel from contacting a stair vertical plane, and a driving source installed to supply driving force to the driving wheel.

23. 发明授权

US11673464B2 Throw able robot with clamshell body 有权
公开(公告)号：US11673464B2
公开(公告)日：2023-06-13
申请号：US16902929
申请日：2020-06-16
申请人： ReconRobotics, Inc.
发明人： Matthew M. Sellner , Alex J. Kossett , Jade Moreau , Andrew Drenner , Steve Gigi
IPC分类号： B60K1/04 , B62D61/00 , B62D57/00 , B60K17/04 , B60K7/00 , B62D57/02 , B60K1/02
CPC分类号： B60K1/04 , B60K1/02 , B60K7/0007 , B60K17/043 , B62D57/00 , B62D57/02 , B62D57/022 , B62D61/00 , B60K2007/0046 , B60K2007/0061
摘要： A two wheeled throwable robot comprises an elongate chassis with two ends, a motor at each end, drive wheels connected to the motors, and a tail extending from the elongate chassis. A rear portion having a deep recess securing the pair of motors with brackets, and batteries with brackets. The forward part having a shallow recess with a printed circuit board secured therein having control circuitry. The wheels are less than six inches in diameter and the robot weighs less than five pounds.

24. 发明申请

US20180118292A1 SYSTEM AND METHOD FOR INDUCING MOTION IN A ROLLING ROBOT USING A DUAL TELESCOPING LINEAR ACTUATOR 审中-公开
公开(公告)号：US20180118292A1
公开(公告)日：2018-05-03
申请号：US15567782
申请日：2016-04-20
申请人： The Board of Regents for Oklahoma State University
发明人： KELLY REHM , MICHAEL GERALD PUOPOLO
IPC分类号： B62D57/02 , B60B3/00 , B60B9/28
CPC分类号： B62D57/022 , A63H33/005 , B60B3/001 , B60B3/002 , B60B9/28 , B60B19/00 , B60B19/02 , B60B19/04 , B60Y2200/40 , B60Y2200/80 , B62D57/00 , B66F3/10
摘要： An embodiment is developed for a cylindrically shaped, elliptical rolling robot that has the ability to morph its outer surface as it rolls. The morphing actuation alters lengths of the major and minor axes, resulting in a torque imbalance that rolls the robot along faster or brakes its motion. A control scheme is implemented, whereby angular position and horizontal velocity are used as feedback to trigger and define morphing actuation. A goal of the control scheme is to cause the robot to follow a given velocity profile comprised of steps and ramps. Equations of motion for the rolling robot are formulated, which include rolling resistance torque caused by deformation of the outer surface tread. A computer program solves the equations of motion, and resulting plots show that by automatically morphing its shape in a periodic fashion, the rolling robot is able to commence from an initial position, achieve constant average velocity and slow itself.

25. 发明授权

US09957002B2 Mobile platform 有权
公开(公告)号：US09957002B2
公开(公告)日：2018-05-01
申请号：US15012664
申请日：2016-02-01
申请人： Genesis Robotics LLP
发明人： James Brent Klassen
IPC分类号： B62D57/02 , B60F5/00 , B62D57/028
CPC分类号： B62D57/022 , B60F3/0007 , B60F5/00 , B62D57/028
摘要： A mobile platform intended for civilian, industrial, research or other use. An ambulation system or mobile platform such as for traveling over uneven terrain includes one or more leg arrangements attached to a main body or chassis. In an embodiment, a leg arrangement comprises one or more legs, such as legs that rotate in the same and singular direction around their respective rotary joints when the vehicle is moving in a single direction. The rotational axis for both legs is located near each other and preferably coaxially and allows ground contact of two or more legs at all times.

26. 发明授权

US09561829B1 Robotic leg with multiple robotic feet 有权
标题翻译：机器人脚与多个机器人脚
公开(公告)号：US09561829B1
公开(公告)日：2017-02-07
申请号：US14613632
申请日：2015-02-04
申请人： X Development LLC
发明人： Junichi Urata , Masaki Hamafuji
IPC分类号： B62D57/032 , B62J11/00 , B62D57/02
CPC分类号： B62D57/032 , B25J13/08 , B25J19/0054 , B62D57/02 , B62D57/022 , B62J11/00 , G06N3/008
摘要： Disclosed are robotic systems, methods, bipedal robot devices, and computer-readable mediums. For example, a robotic system may include a robotic body, a robotic hip connected to the robotic body, a robotic leg connected to the robotic hip. Further, the robotic system may include a first robotic foot that is connected to one end of the robotic leg and a second robotic foot is connected to an opposite end of the robotic leg. Yet further, the robotic leg may be fully rotatable around an axis of rotation defined by the robotic hip. In addition, the robotic hip may be linearly movable along the robotic leg to one or more positions between the one end of the robotic leg and the opposite end of the robotic leg.
摘要翻译：公开了机器人系统，方法，双足机器人装置和计算机可读介质。例如，机器人系统可以包括机器人身体，连接到机器人身体的机器人髋部，连接到机器人髋部的机器人腿。此外，机器人系统可以包括连接到机器人腿的一端的第一机器人脚，并且第二机器人脚连接到机器人腿的相对端。此外，机器人腿可以围绕由机器人髋部限定的旋转轴线完全旋转。此外，机器人髋部可以沿着机器人腿线性地移动到机器人腿的一端和机器人脚的相对端之间的一个或多个位置。

27. 发明授权

US09487253B2 Step-climbing attachment for a wheeled chair 有权
标题翻译：攀爬附件为轮椅
公开(公告)号：US09487253B2
公开(公告)日：2016-11-08
申请号：US14577108
申请日：2014-12-19
申请人： Mobility 2000 (Australia) Limited , University of Technology, Sydney
发明人： Michael Behrens
IPC分类号： A61G5/04 , B62D57/02 , A61G5/06 , B62B5/02 , B62D57/032
CPC分类号： B62D57/022 , A61G5/04 , A61G5/042 , A61G5/061 , A61G5/066 , B62B5/026 , B62D57/032
摘要： A step climbing attachment suitable for attachment to a wheeled chair is described. The step climbing attachment includes a chassis for mounting one or more ground engaging units, a first and a second ground engaging unit mounted to the chassis, at least one of the first and second ground engaging units adapted to move relative to the other of the first or second ground engaging units and the chassis, the relative movement being between a ground engaging position and a step-engaging support position so that in use at least one of the first and/or second ground engaging units engages a step.
摘要翻译：描述了适合于连接到轮椅上的爬梯附件。踏板附件包括用于安装一个或多个地面接合单元的底盘，安装到底盘的第一和第二地面接合单元，第一和第二地面接合单元中的至少一个适于相对于第一和第二接地单元中的另一个移动或第二地面接合单元和底盘，所述相对运动位于地面接合位置和台阶接合支撑位置之间，使得在使用中，第一和/或第二地面接合单元中的至少一个接合台阶。

28. 发明申请

US20160251044A1 MOBILE PLATFORM 有权
标题翻译：移动平台
公开(公告)号：US20160251044A1
公开(公告)日：2016-09-01
申请号：US15012664
申请日：2016-02-01
申请人： Genesis Advanced Technology Inc.
发明人： James Brent Klassen
IPC分类号： B62D57/02
CPC分类号： B62D57/022 , B60F3/0007 , B60F5/00 , B62D57/028
摘要： A mobile platform intended for civilian, industrial, research or other use. An ambulation system or mobile platform such as for traveling over uneven terrain includes one or more leg arrangements attached to a main body or chassis. In an embodiment, a leg arrangement comprises one or more legs, such as legs that rotate in the same and singular direction around their respective rotary joints when the vehicle is moving in a single direction. The rotational axis for both legs is located near each other and preferably coaxially and allows ground contact of two or more legs at all times.
摘要翻译：用于民用，工业，研究或其他用途的移动平台。诸如用于在不平坦地形上行进的行走系统或移动平台包括附接到主体或底盘的一个或多个腿部装置。在一个实施例中，腿布置包括一个或多个腿，例如当车辆沿单个方向移动时围绕其相应的旋转接头以相同和单数方向旋转的腿。两个腿的旋转轴线彼此靠近并且优选地同轴并且允许两个或更多个腿在任何时候的地面接触。

29. 发明申请

US20140239604A1 SYNCHRONIZED MECHANICAL ROBOT 审中-公开
标题翻译：同步机械机器人
公开(公告)号：US20140239604A1
公开(公告)日：2014-08-28
申请号：US14238174
申请日：2012-08-23
申请人： Mario Lecompte
发明人： Mario Lecompte
IPC分类号： B62D57/032
CPC分类号： B62D57/032 , B62D57/022 , B62D57/024
摘要： The present document describes a robot for transforming a rotation movement into a vertical/horizontal displacement on the ground using legs, said robot comprising a chassis; a rotation shaft connected to said chassis; a plurality of leg modules connected to said shaft at a first end for rotating around said shaft; a plurality of legs, each of said legs being rotatably attached to one of said leg modules at a second end opposite the first end; a mechanism for keeping a lower surface of said legs horizontal to the ground as the robots rotates around the rotation shaft for allowing the robot to move on flat surfaces as well to climb stairs.
摘要翻译：本文件描述了一种机器人，其用于使用腿将旋转运动转换为地面上的垂直/水平位移，所述机器人包括底盘; 连接到所述底盘的旋转轴; 多个腿模块，其在第一端处连接到所述轴，用于围绕所述轴旋转; 多个腿，每个所述腿在与第一端相对的第二端处可旋转地附接到一个腿模块; 当机器人围绕旋转轴旋转以允许机器人在平坦表面上移动以爬上楼梯时，将所述腿的下表面保持水平的机构。

30. 发明申请

US20140238755A1 OMNI-DIRECTIONAL TERRAIN CROSSING MECHANISM 有权
标题翻译： OMNI-DIRECTIONAL TERRAIN CROSSING机制
公开(公告)号：US20140238755A1
公开(公告)日：2014-08-28
申请号：US13778509
申请日：2013-02-27
申请人： NATIONAL TAIWAN UNIVERSITY
发明人： Jui-Jen Chou , Li-Shing Yang , Cheng-Tse Yang
IPC分类号： B62D57/02
CPC分类号： B62D57/022 , B60F3/00 , B60F3/0007 , B63B2035/006 , B63H5/02
摘要： The present disclosure provides an omni-directional terrain crossing mechanism, including a transformable mechanism with a plurality of claw wheels, in order to be capable of fast moving on the flat ground or in uneven terrain environments. The omni-directional terrain crossing mechanism includes a first body and a second body. Each of the first body and the second body includes at least one pair of claw wheels. Moreover, the omni-directional terrain crossing mechanism is capable of transforming one pair of first claw wheels of the first body and one pair of second claw wheels of the second body into a pair of complete wheels. Consequently, as compared with the existing mobile machines, the omni-directional terrain crossing mechanism in the present disclosure is capable of moving in various challenging terrain environments.
摘要翻译：本公开提供了一种全方位地形穿越机构，包括具有多个爪轮的可变形机构，以便能够在平坦的地面上或在不平坦的地形环境中快速移动。全方向地形穿越机构包括第一主体和第二主体。第一主体和第二主体中的每一个包括至少一对爪轮。此外，全向地形穿越机构能够将第一主体的一对第一爪轮和第二主体的一对第二爪轮变换成一对完整的车轮。因此，与现有的移动机相比，本公开的全向地形穿越机构能够在各种具有挑战性的地形环境中移动。

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