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    • 10. 发明申请
    • ROBOTIC VEHICLE WITH TRACKS AND FLIPPERS
    • 机动车用履带和拖鞋
    • WO2008105948A3
    • 2009-08-06
    • PCT/US2007080138
    • 2007-10-02
    • IROBOT CORPCOUTURE ADAM PPAGE RICHARDO'BRIEN JOHN PFILIPPOV MIKHAILSHEIN ANDREW
    • COUTURE ADAM PPAGE RICHARDO'BRIEN JOHN PFILIPPOV MIKHAILSHEIN ANDREW
    • B25J5/00B62D55/075B62D57/024
    • B62D55/075B25J5/005B25J11/0025B62D55/065B62D57/024Y10S901/01
    • A robotic vehicle (10,100,150A,150B150C,160,1000,1000A,1000B,1000C) includes a chassis (20,106,152,162) having front and rear ends (20A,152A,20B,152B) and supported on right and left driven tracks (34,44,108,165). Right and left elongated flippers (50,60,102,154,164) are disposed on corresponding sides of the chassis and operable to pivot. A linkage (70,156,166) connects a payload deck assembly (D1,D2,D3,80,158,168,806), configured to support a removable functional payload, to the chassis. The linkage has a first end (70A) rotatably connected to the chassis at a first pivot (71), and a second end (70B) rotatably connected to the deck at a second pivot (73). Both of the first and second pivots include independently controllable pivot drivers (72,74) operable to rotatably position their corresponding pivots (71,73) to control both fore-aft position and pitch orientation of the payload deck (D1,D2,D3,80,158,168,806) with respect to the chassis (20,106,152,162).
    • 机器人车辆(10,100,150A,150B150C,160,1000,1000A,1000B,1000C)包括具有前端和后端(20A,152A,20B,152B)并支撑在左右驱动轨道(34)上的底盘(20,106,152,162) 44108165)。 右和左细长鳍状物(50,60,102,154,164)设置在底盘的相应侧上并且可操作以枢转。 连杆(70,156,166)将配置成支撑可移动功能有效载荷的有效载荷甲板组件(D1,D2,D3,80,158,168,806)连接到底盘。 连杆具有在第一枢轴(71)处可转动地连接到底架的第一端(70A)和在第二枢轴(73)处可旋转地连接到甲板的第二端(70B)。 第一和第二枢轴都包括可独立控制的枢转驱动器(72,74),其可操作以可旋转地定位其对应的枢轴(71,73),以控制有效载荷甲板(D1,D2,D3,D3)的前后位置和俯仰方向, 80,158,168,806)相对于底盘(20,106,152,162)。