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41. 发明申请

WO2005018881A3 Robot with removable mounting elements 审中-公开
标题翻译：机械手与可移动安装元件
公开(公告)号：WO2005018881A3
公开(公告)日：2006-04-27
申请号：PCT/US2004026100
申请日：2004-08-12
申请人： BURICK THOMAS J
发明人： BURICK THOMAS J
IPC分类号： B25J5/00 , B25J9/00 , B25J19/00 , G06F19/00 , B65G1/00
CPC分类号： B25J9/0009 , B25J5/007 , B25J19/0075
摘要： A hobby robot (10) having a support structure (14) includes a cavity (28a, 28b) defined within the support structure, the cavity (28a, 28b) includes means positioned within the cavity (28a, 28b) for removably coupling at least one mounting element (16a-c) to an interior portion of the cavity(28a, 28b). The support structure (14) also includes means for securing an encasement shell (12) to the support structure (14). The mounting element (16a-c) may be a tray (16a) or hardware that performs a desired function in connection with the operation of the robot(10). The support structure (14) is adapted to receive a self-contained power source (20, 48) and means (18, 22) for imparting motive force to the support structure(14).

42. 发明申请

WO2006035474A1 車載型腕・ハンド装置审中-公开
标题翻译：车载类型ARM /手持设备
公开(公告)号：WO2006035474A1
公开(公告)日：2006-04-06
申请号：PCT/JP2004/013890
申请日：2004-09-24
申请人：財団法人理工学振興会 , 廣瀬茂男 , 東條佑紀
发明人：廣瀬茂男 , 東條佑紀
IPC分类号： B25J19/00
CPC分类号： B25J5/007 , B25J9/1065 , B25J19/002 , F41H11/16
摘要： An on-vehicle type arm/hand device, comprising a turning base (8) rotatable around a vertical axis (R) which is mounted on a vehicle and a quintic link mechanism (Q) rotating together with the turning base (8). Two link members (A, B) among four link members (A, B, C, D) forming the quintic link mechanism (Q) are mounted on the turning base. A working tool (60) and a counterweight (W) are fitted to the extension parts (C', D') of the remaining two link members (C, D).
摘要翻译：一种车载式手臂装置，包括可绕着安装在车辆上的垂直轴线（R）旋转的转动底座（8）和与转动基座（8）一起旋转的五键连杆机构（Q）。形成五重连杆机构（Q）的四个连杆部件（A，B，C，D）中的两个连杆部件（A，B）安装在车削基座上。在剩余的两个连杆构件（C，D）的延伸部分（C'，D'）上安装有加工工具（60）和配重（W）。

43. 发明申请

WO2005018881A9 ROBOT WITH REMOVABLE MOUNTING ELEMENTS 审中-公开
标题翻译：机器人与可拆卸的安装元件
公开(公告)号：WO2005018881A9
公开(公告)日：2005-09-15
申请号：PCT/US2004026100
申请日：2004-08-12
申请人： BURICK THOMAS J
发明人： BURICK THOMAS J
IPC分类号： B25J5/00 , B25J9/00 , B25J19/00 , G06F19/00 , B65G1/00
CPC分类号： B25J9/0009 , B25J5/007 , B25J19/0075
摘要： A hobby robot (10) having a support structure (14) includes a cavity (28a, 28b) defined within the support structure, the cavity (28a, 28b) includes means positioned within the cavity (28a, 28b) for removably coupling at least one mounting element (16a-c) to an interior portion of the cavity(28a, 28b). The support structure (14) also includes means for securing an encasement shell (12) to the support structure (14). The mounting element (16a-c) may be a tray (16a) or hardware that performs a desired function in connection with the operation of the robot(10). The support structure (14) is adapted to receive a self-contained power source (20, 48) and means (18, 22) for imparting motive force to the support structure(14).
摘要翻译：具有支撑结构（14）的爱好机器人（10）包括限定在所述支撑结构内的空腔（28a，28b），所述空腔（28a，28b）包括定位在所述空腔（28a，28b）内的装置，用于至少可拆卸地联接一个安装元件（16a-c）到空腔（28a，28b）的内部。支撑结构（14）还包括用于将包壳（12）固定到支撑结构（14）的装置。安装元件（16a-c）可以是与机器人（10）的操作相关地执行期望功能的托盘（16a）或硬件。支撑结构（14）适于接收独立的动力源（20,48）和用于将动力传递给支撑结构（14）的装置（18,22）。

44. 发明申请

WO2005018882A1 ロボット装置およびロボット遠隔操作システム审中-公开
标题翻译：机器人系统和机器人远程操作系统
公开(公告)号：WO2005018882A1
公开(公告)日：2005-03-03
申请号：PCT/JP2003/010578
申请日：2003-08-21
申请人：株式会社テムザック , 馬場勝之 , 井野重秋 , 高本陽一 , 本木保成 , 森政男 , 城戸恵一 , 有村優一 , 古谷忠義 , 添田満 , 末廣利範
发明人：馬場勝之 , 井野重秋 , 高本陽一 , 本木保成 , 森政男 , 城戸恵一 , 有村優一 , 古谷忠義 , 添田満 , 末廣利範
IPC分类号： B25J5/00
CPC分类号： B25J5/007 , A62C27/00 , B25J9/1674
摘要：自律的行動が可能なことによりビル内に付帯設備を必要とせず、また異常現象に対して対応することができるロボット装置を提供することを目的とする。自律モードか自律遠隔協調モードかを判定するモード判定手段(112)と、自律モードであるとモード判定手段が判定したときには自律動作を行う自律動作手段(113)と、自律遠隔協調モードであるとモード判定手段が判定したときには協調割合を判定する協調割合判定手段(117)と、判定した協調割合が100%の遠隔操作である場合には完全遠隔動作を行う完全遠隔動作手段(118)と、判定した協調割合が100%の遠隔操作でない場合には自律遠隔協調動作を行う自律遠隔協調動作手段(119)とを有する。
摘要翻译：一种机器人系统，能够自主行动，不需要处理异常现象的建筑物中的附带设施。机器人系统包括用于作出决定是否设置自主模式或设置自主远程协作模式的装置（112），当作出决定设置自主模式时执行自主动作的装置（113），装置（117），用于当由所述模式判定装置作出决定时，判定所述协作的比例，所述协商方式由所述模式判定装置设定为所述自主远程协作模式;如果判断出的合作比例为100，则进行完全远程动作的装置（118）％远程操作，以及如果所判断的协作比例不是100％远程操作，则执行自主远程协作动作的手段（119）。

45. 发明申请

WO01006904A1 ROBOTIC FLOOR CLEANING DEVICE 审中-公开
标题翻译：机动车辆清洁装置
公开(公告)号：WO01006904A1
公开(公告)日：2001-02-01
申请号：PCT/GB2000/002815
申请日：2000-07-20
IPC分类号： A47L5/30 , A47L9/04 , A47L9/28 , B25J5/00 , G05D1/02
CPC分类号： A47L9/2894 , A47L5/30 , A47L9/2805 , A47L9/2847 , A47L9/2852 , A47L9/2857 , A47L9/2884 , A47L9/2889 , A47L2201/04 , A47L2201/06 , B25J5/007 , G05D1/0255 , G05D2201/0215
摘要： A robotic floor cleaning device comprises a chassis (10), motor-driven wheels (11) supporting the chassis (10), a motor-driven suction fan (9), a dirty air inlet (2) and a motor-driven rotatable agitator (4) at the dirty air inlet (2) for agitating the surface. A control system navigates the device around a room and distributes power to the motor-driven wheels (11) and to the agitator (4). The control system detects when the agitator (4) has jammed (100, 102) and, in the event of a jam, attempts to clear the jam (104, 106). After successfully clearing the jam the control system turns the agitator (4) off (114, 116, 118) or navigates the cleaning device around the location at which the jam occurred (119). The cleaning device can store the location of the jam for use in preventing further jams when the cleaning device returns to a similar position in the room.
摘要翻译：机器人地板清洁装置包括底盘（10），支撑底盘（10）的电机驱动轮（11），马达驱动的吸入风扇（9），脏空气入口（2）和马达驱动的可旋转搅拌器（4）在脏空气入口（2）处用于搅拌表面。控制系统将设备导航到房间周围并将电力分配给电动轮（11）和搅拌器（4）。控制系统检测何时搅拌器（4）卡住（100,102），并且在卡纸的情况下，尝试清除卡纸（104,106）。成功清除卡纸后，控制系统将搅拌器（4）关闭（114,116,118）或将清洁装置导向卡纸发生的位置（119）。当清洁装置返回到房间中类似的位置时，清洁装置可以存储卡纸的位置用于防止其他卡纸。

46. 发明申请

WO99051389A1 WORKING MACHINE 审中-公开
标题翻译：工作机
公开(公告)号：WO99051389A1
公开(公告)日：1999-10-14
申请号：PCT/SE1999/000466
申请日：1999-03-24
IPC分类号： B23Q1/25 , B23Q1/48 , B23Q1/50 , B25H1/00 , B25J5/00 , B25J9/04 , B23P23/00 , B23Q37/00
CPC分类号： B23Q1/4842 , B23Q1/25 , B23Q1/4833 , B23Q1/50 , B25H1/0021 , B25J5/007 , B25J9/041
摘要： This invention relates to a mobile working machine for working stationary, big objects, for instance stators in power stations, the working machine being designed regarding the size in such a way that it can be taken out to that place where it shall be used, for instance the place of the power station, and there carry out necessary working operations. According to the invention the working machine is characterized by the combination of the following features: the working machine comprises a lower part which is intended to be placed on a bed, and an upper part which is rotatably applied on the lower part; the upper part comprises a relatively high, essentially vertical pillar on which a suspension device is movable upwards or downwards by an electric motor; the suspension device carries a relatively thick bar which has an essentially horizontal extension and is movable forwards or backwards in the horizontal direction in relation to the suspension device by an electric motor; at the outer part of the bar is arranged a frame which carries an electric motor and the working means itself, the motor driving the working means.
摘要翻译：本发明涉及一种移动式工作机，用于在静止的大型物体（例如发电站的定子）上工作，该工作机器的尺寸设计为可以将其取出到其所用的地方例如发电站的地方，并进行必要的工作。根据本发明，工作机器的特征在于结合以下特征：工作机器包括一个下部件，该下部件要放置在一个床上，上部可转动地安装在下部; 上部包括相对高的基本垂直的支柱，悬挂装置可以通过电动机向上或向下移动; 悬挂装置承载相对较厚的杆，其具有基本上水平的延伸部并且可通过电动机相对于悬挂装置在水平方向上向前或向后移动; 在杆的外部设置有承载电动机和工作装置本身的框架，电动机驱动工作装置。

47. 发明申请

WO99044843A1 CASTER FOR ROBOT 审中-公开
标题翻译：机器人车
公开(公告)号：WO99044843A1
公开(公告)日：1999-09-10
申请号：PCT/JP1999/001085
申请日：1999-03-05
IPC分类号： B25J5/00 , B60B33/00 , B62D57/028 , B62D57/032
CPC分类号： B60B7/00 , B25J5/007 , B60B7/06 , B60B7/061 , B60B33/0002 , B60B33/0039 , B60B33/0049 , B62D57/028 , B62D57/032
摘要： A controllable caster with a sled for running over an obstacle, comprising a wheel (2), a rocking shaft (3e) provided with the wheel (2) thereon, stably supporting legs (4, 12), slidably stabilizing plates (1, 10), friction varying materials (1s) provided on the slidably stabilizing plates (1, 10), a driving device (2w) which rocks the rocking shaft (3e) and changes the angle of the slidably stabilizing plates (1, 10), a rocking shaft inclination angle detection device (2b), a slidably stabilizing plate angle detection device (1f), and a detection device (1Q) for detecting a change in a weight to be applied.
摘要翻译：一种具有用于在障碍物上行驶的雪橇的可控脚轮，包括轮（2），设置有所述轮（2）的摆动轴（3e），稳定地支撑腿（4,12），可滑动地稳定板），设置在所述可滑动稳定板（1,10）上的摩擦变化材料（1s），摇动所述摇摆轴（3e）并改变所述可滑动稳定板（1,10）的角度的驱动装置（2w）摆动轴倾斜角检测装置（2b），滑动稳定板角度检测装置（1f）以及检测装置（1Q），用于检测要施加的重量变化。

48. 发明申请

WO98055272A1 ROBOTIC INSPECTION APPARATUS AND METHOD 审中-公开
标题翻译：机器人检测装置及方法
公开(公告)号：WO98055272A1
公开(公告)日：1998-12-10
申请号：PCT/US1998/011111
申请日：1998-06-04
IPC分类号： B25J5/00 , F16L55/28 , B25J11/00
CPC分类号： B25J5/007 , F16L55/28
摘要： A robotic assembly (20) is provided which is adapted to traverse the surface of a member (138) for inspection and/or work on or about the surface of the member (138). The preferred assembly (20) includes two or more robots (10a-10c) spaced about the body (138) with a tether assembly (140) interconnecting the robots (10a-10c) in order to hold the latter in tractive engagement with the surface of the body (138). Each of the robots (10a-10c) includes rotatable traction wheel assemblies (16) which are independently controllable through respective drive motors (86), as well as independently controllable takeup reels (98) for adjusting the tension of the tether assembly (140). Each robot (10a-10c) preferably includes an elongated body (12) having four corner-mounted wheel assemblies (16) pivotally secured thereto, and a carriage (14) pivotally coupled to the body for pivoting thereof independently of the wheel assemblies (16) and about an axis transverse to the wheel assembly pivot axes. An operating unit (18) such as an imaging device is carried by the carriage (14). A microprocessor-based control (22) allows precise, remote operation of the assembly (20).
摘要翻译：提供了一种机器人组件（20），其适于穿过构件（138）的表面以在构件（138）的表面上或周围进行检查和/或工作。优选的组件（20）包括两个或更多个围绕主体（138）间隔开的机器人（10a-10c），其具有连接机器人（10a-10c）的系绳组件（140），以便将其与表面牵引接合的身体（138）。每个机器人（10a-10c）包括可旋转的牵引轮组件（16），其可通过相应的驱动马达（86）独立控制，以及用于调节系链组件（140）的张力的独立可控的卷取卷轴（98）。每个机器人（10a-10c）优选地包括具有枢转地固定到其上的四个角落安装的轮组件（16）的细长主体（12）和可枢转地联接到主体上以便独立于轮组件（16）枢转的滑架）和横向于车轮组件枢轴的轴线。诸如成像装置的操作单元（18）由托架（14）承载。基于微处理器的控制（22）允许组件（20）的精确的远程操作。

49. 发明申请

WO1998022330A1 WALL SURFACE ABSORPTION TYPE MOVING DEVICE AND MAGNET DRIVING METHOD OF THE WALL SURFACE ABSORPTION TYPE MOVING DEVICE 审中-公开
标题翻译：壁面吸收式移动装置的壁面吸收装置和壁表面吸收型移动装置的磁铁驱动方法
公开(公告)号：WO1998022330A1
公开(公告)日：1998-05-28
申请号：PCT/JP1997004210
申请日：1997-11-19
申请人： MITSUBISHI HEAVY INDUSTRIES, LTD. , HIGUTI, Masaru , IBE, Tomoyosi
发明人： MITSUBISHI HEAVY INDUSTRIES, LTD.
IPC分类号： B62D57/02
CPC分类号： B25J5/007 , B62D57/024
摘要： A wall surface absorption type moving device applicable to inspection and maintenance of large scale iron constructions is allowed to be reliably absorbed to a running surface, while a permanent magnet is prevented from interfering with an obstacle when the device gets over the obstacle on the wall surface, and while the increase of the weight and the scale of the device is prevented, too. The device is characterized by a moving body (5) for running on a wall surface (30) made of a magnetic material, permanent magnets (2a, 2b), driving mechanisms (1a, 1b) for approaching and separating the permanent magnets (2a, 2b) to and from the wall surface (30), sensors (19a, 19b) for detecting the positions of the permanent magnets (2a, 2b) in the approaching/separating direction, sensors (3a, 3b) for detecting the absorption force of the permanent magnets on the wall surface and an absorption mechanism (40a, 40b) characterized by sensors (17a to 18b) for detecting any obstacle on the wall surface (30). When the permanent magnets (2a, 2b) are judged as being likely to interfere with the obstacle on the basis of the detection information from each sensor, control is so made as to generate necessary wall surface absorption force by the same of the wall surface absorption force (2a, 2b) of the permanent magnets in each absorption mechanism (40a, 40b) to avoid the interference.
摘要翻译：允许大规模铁结构的检查和维护的壁面吸收型移动装置被可靠地吸收到行驶表面，同时当装置越过壁表面上的障碍物时防止永久磁铁干扰障碍物同时也防止了装置的重量和尺寸的增加。该装置的特征在于用于在由磁性材料制成的壁表面（30）上行进的移动体（5），用于接近和分离永磁体（2a，2b）的驱动机构（1a，1b），2b）连接到壁表面（30），用于检测永磁体（2a，2b）在接近/分离方向上的位置的传感器（19a，19b），用于检测吸收力的传感器（3a，3b）的表面上的永磁体的吸收机构（40a，40b），其特征在于用于检测壁表面（30）上的任何障碍物的传感器（17a至18b）。当根据来自每个传感器的检测信息判断永磁体（2a，2b）可能与障碍物发生干扰时，通过相同的壁面吸收产生必要的壁面吸收力每个吸收机构（40a，40b）中的永久磁铁的力（2a，2b），以避免干扰。

50. 发明申请

WO1990014788A1 PROCESS AND AUTONOMOUS APPARATUS FOR THE AUTOMATIC CLEANING OF GROUND AREAS THROUGH THE PERFORMANCE OF PROGRAMMED TASKS 审中-公开
标题翻译：通过编程任务的性能实现地面自动清洁的过程和自动化设备
公开(公告)号：WO1990014788A1
公开(公告)日：1990-12-13
申请号：PCT/FR1990000398
申请日：1990-06-06
申请人： ONET , SOUPERT, Jean-Louis , POUJON, Joël
发明人： ONET
IPC分类号： A47L11/40
CPC分类号： A47L11/4011 , A47L11/4061 , A47L2201/04 , B25J5/007 , B25J9/0003 , G05D1/0221 , G05D1/0234 , G05D2201/0203
摘要： The invention, which concerns a process and an autonomous apparatus for the automatic cleaning of ground areas through the performance of programmed tasks, includes, in a known manner, known cleaning tools (2), supported in a front structure (12) which can be detached from the rear section (11), which contains an electronic assembly (8) and relays (5). The apparatus also includes an electric battery (4) and a control console (15), and is protected by a streamlined body (7) throughout which at least 16 sensors (9) for controlling the distance between the apparatus and an obstacle or a wall (29) are placed. Said apparatus assembly is supported by four wheels of which the two (31) for driving and guiding the apparatus are fixed, while the two rear wheels are free. The electronic system (8) drives the apparatus assembly in either manual learning mode, taking its commands from the control console (15), or in execution mode by reading the task, which has been learned and recorded, from a memory. Correction and control of the trajectory is made by measuring the rotation of the driving wheels, via a system of absolute positioning (25) which finds its bearings by reference to fixed beacons and an initialisation sensor (14).

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