[특허]Tracked robotic crawler having a moveable arm

Raytheon Company

검색어에 아래의 연산자를 사용하시면 더 정확한 검색결과를 얻을 수 있습니다.
검색연산자

검색도움말
검색연산자	기능	검색시 예
()	우선순위가 가장 높은 연산자	예1) (나노 (기계 \| machine))
공백	두 개의 검색어(식)을 모두 포함하고 있는 문서 검색	예1) (나노 기계) 예2) 나노 장영실
\|	두 개의 검색어(식) 중 하나 이상 포함하고 있는 문서 검색	예1) (줄기세포 \| 면역) 예2) 줄기세포 \| 장영실
!	NOT 이후에 있는 검색어가 포함된 문서는 제외	예1) (황금 !백금) 예2) !image
*	검색어의 *란에 0개 이상의 임의의 문자가 포함된 문서 검색	예) semi*
""	따옴표 내의 구문과 완전히 일치하는 문서만 검색	예) "Transform and Quantization"

과학기술 지식인프라 ScienceON

연합인증

연합인증 가입 기관의 연구자들은 소속기관의 인증정보(ID와 암호)를 이용해 다른 대학, 연구기관, 서비스 공급자의 다양한 온라인 자원과 연구 데이터를 이용할 수 있습니다.

이는 여행자가 자국에서 발행 받은 여권으로 세계 각국을 자유롭게 여행할 수 있는 것과 같습니다.

연합인증으로 이용이 가능한 서비스는 NTIS, DataON, Edison, Kafe, Webinar 등이 있습니다.

한번의 인증절차만으로 연합인증 가입 서비스에 추가 로그인 없이 이용이 가능합니다.

다만, 연합인증을 위해서는 최초 1회만 인증 절차가 필요합니다. (회원이 아닐 경우 회원 가입이 필요합니다.)

연합인증 절차는 다음과 같습니다.

최초이용시에는
ScienceON에 로그인 → 연합인증 서비스 접속 → 로그인 (본인 확인 또는 회원가입) → 서비스 이용

그 이후에는
ScienceON 로그인 → 연합인증 서비스 접속 → 서비스 이용

연합인증을 활용하시면 KISTI가 제공하는 다양한 서비스를 편리하게 이용하실 수 있습니다.

특허 상세정보

MyON담기

내보내기 페이스북 공유 트위터 공유 카카오톡 공유

Tracked robotic crawler having a moveable arm

특허상세정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	G05B-019/04 G05B-015/00
미국특허분류(USC)	700/250; 700/001; 700/245; 901/001; 901/029
출원번호	US-0985336 (2007-11-13)
등록번호	US-8185241 (2012-05-22)
발명자 / 주소	Jacobsen, Stephen C.
출원인 / 주소	Raytheon Company
대리인 / 주소	Thorpe North & Western LLP
인용정보	피인용 횟수 : 8 인용 특허 : 203

초록

A tracked robotic crawler capable of multiple movement moves is disclosed. In one embodiment, the tracked robotic crawler includes at least one frame unit, the frame unit having a continuous track rotatably coupled thereto. Disposed on the at least one frame unit is at least one articulated arm, the arm being movable relative to the frame unit in at least one dimension. The articulated arm helps to improve mobility of the tracked robotic crawler in various environments.

대표
청구항
▼

1. A tracked robotic crawler comprising: a plurality of frame units, each frame unit having a continuous track rotatably coupled to the frame unit with at least one surface of the continuous track being exposed to enable engagement with a surface for propulsion of the frame unit;at least one actuated linkage coupling the frame units in a series configuration, the actuated linkage having at least one actuated joint configured to provide controllable bending about at least one axis; andat least one arm disposed on one of the plurality of frame units to form an armed frame unit, said at least one arm being movable relative to the armed frame unit in at least one dimension to extend beyond an end of the armed frame unit to assist in control of pose and movement of the tracked robotic crawler over the surface, wherein said at least one arm is selectively movable to a position out of contact with the surface. 2. The tracked robotic crawler of claim 1, wherein each of the frame units are substantially contained within a perimeter defined by an inner surface of their corresponding continuous track. 3. The tracked robotic crawler of claim 1, wherein the at least one arm is configured so that it can be moved into a stowed position where the at least one arm is substantially contained within a perimeter defined by an inner surface of the corresponding continuous track. 4. The tracked robotic crawler of claim 1, wherein the armed frame unit comprises: a first drive unit coupled to the continuous track;a second drive unit coupled to the at least one arm; anda drive control system coupled to the first and second drive units and configured to coordinate movement of the continuous track and the at least one arm to provide propulsion of the tracked robotic crawler. 5. The tracked robotic crawler of claim 4, wherein the at least one actuated linkage is coupled to the drive control system to coordinate movement and pose of the tracked robotic crawler. 6. The tracked robotic crawler of claim 1, wherein the at least one actuated linkage has sufficient torque to enable lifting of at least one of the frame units while being supported by at least one remaining frame unit. 7. The tracked robotic crawler of claim 1, wherein the at least one arm is rotatable about a point of attachment to the armed frame unit. 8. The tracked robotic crawler of claim 1, wherein the at least one arm is moveable in a two-dimensional plane substantially perpendicular to an axis of rotation of the continuous track of the armed frame unit. 9. The tracked robotic crawler of claim 1, wherein the at least one arm has a plurality of actuated joints. 10. The tracked robotic crawler of claim 1, wherein the at least one arm further comprises a tool affixed thereto at a distal end. 11. The tracked robotic crawler of claim 1, wherein the at least one arm is coupled near a front end of the armed frame unit and the at least one actuated linkage is coupled near a back end of the armed frame unit. 12. The tracked robotic crawler of claim 11, wherein the at least one arm is movable to extend past the front end of the armed frame unit. 13. A method of operating a tracked robotic crawler over a surface comprising the steps of: (a) providing a first frame and a second frame, each frame having a continuous track with an exposed area for engagement with the surface, wherein at least one continuous track is coupled to a drive source to provide rotation of the continuous track;(b) providing at least two articulated arms, an arm attached to each of the first frame and the second frame, the arms independently moveable in at least one dimension relative to each other and relative to their corresponding frames and selectively movable to a position out of contact with the surface;(c) providing an actuated multi-degree of freedom linkage arm coupled between the first frame and the second frame; and(d) coordinating rotation of the continuous track, movement of the articulated arms, and actuation of the multi-degree of freedom linkage arm to control pose and movement of the tracked robotic crawler over the surface and positioning the articulated arms to extend beyond respective ends of the first frame and the second frame so as to contact the surface thereby providing additional stability and/or traction to the tracked robotic crawler. 14. The method of claim 13 wherein step (d) comprises positioning the first frame and the second frame in a tank-like configuration where the first frame and the second frame are side by side and substantially parallel. 15. The method of claim 14 wherein step (d) comprises positioning the articulated arms to extend in the same direction past ends of the first frame and the second frame. 16. The method of claim 13 wherein step (d) comprises positioning the first frame and the second frame in a train-like configuration where the first frame and the second frame are aligned end to end. 17. The method of claim 16 wherein step (d) comprises positioning the articulated arms to extend past distal ends of the first frame and the second frame. 18. The method of claim 13 wherein step (d) comprises positioning the first frame and the second frame in an outside-climbing configuration where the first frame and the second frame are positioned with exposed portions of the continuous tracks facing toward each other and in contact with opposite outer surfaces of a structure to be climbed. 19. The method of claim 13 wherein step (d) comprises positioning the first frame and the second frame in a inside-climbing configuration where the first frame and the second frame are positioned with exposed portions of the continuous tracks facing away from each other and in contact with opposite inner surfaces of a structure to be climbed. 20. The method of claim 19 wherein step (d) comprises positioning the articulated arm on each frame unit in a position to contact the same inner surface of the structure as the corresponding exposed portion of the continuous track thereby providing additional stability and/or traction to the tracked robotic crawler. 21. The method of claim 19 wherein step (d) comprises positioning the articulated arm on each frame unit in a position to contact the inner surface of the structure opposite the corresponding exposed portion of the continuous track thereby providing additional stability and/or traction to the tracked robotic crawler. 22. The method of claim 14 wherein step (d) comprises: positioning the articulated arms to extend in a forward direction past the end of one of the first frame and the second frame; anddeflecting the articulated arms inward to form a pointed configured. 23. The method of claim 14 wherein step (d) comprises: deflecting the articulated arms inward to interface with a convex surface thereby providing additional stability and/or traction to the tracked robotic crawler. 24. The method of claim 14 wherein step (d) comprises: deflecting the articulated arms outward to interface with a concave surface thereby providing additional stability and/or traction to the tracked robotic crawler.

이 특허에 인용된 특허 (203)

이 특허를 인용한 특허 피인용횟수: 8

IPC 상위 출원인

내보내기

상세정보
내보내기 구분	파일저장 인쇄 메일전송
구성항목	관리번호, 국가코드, 자료구분, 상태, 출원번호, 출원일자, 공개번호, 공개일자, 등록번호, 등록일자, 발명명칭(한글), 발명명칭(영문), 출원인(한글), 출원인(영문), 출원인코드, 대표IPC 관리번호, 국가코드, 자료구분, 상태, 출원번호, 출원일자, 공개번호, 공개일자, 공고번호, 공고일자, 등록번호, 등록일자, 발명명칭(한글), 발명명칭(영문), 출원인(한글), 출원인(영문), 출원인코드, 대표출원인, 출원인국적, 출원인주소, 발명자, 발명자E, 발명자코드, 발명자주소, 발명자 우편번호, 발명자국적, 대표IPC, IPC코드, 요약, 미국특허분류, 대리인주소, 대리인코드, 대리인(한글), 대리인(영문), 국제공개일자, 국제공개번호, 국제출원일자, 국제출원번호, 우선권, 우선권주장일, 우선권국가, 우선권출원번호, 원출원일자, 원출원번호, 지정국, Citing Patents, Cited Patents
저장형식	Text(ASCII format) Excel format PIAS분석(.xls)
메일정보	받는사람 (필수) @ 보내는사람 (선택) @ 제목 내용 KISTI 검색결과 이메일 서비스
안내	> 총 건의 자료가 검색되었습니다. > 다운받으실 자료의 인덱스를 입력하세요. (1-10,000) > 검색결과의 순서대로 최대 10,000건 까지 다운로드가 가능합니다. > 데이타가 많을 경우 속도가 느려질 수 있습니다.(최대 2~3분 소요) > 다운로드 파일은 UTF-8 형태로 저장됩니다. 파일의 내용이 제대로 보이지 않을실 때는 웹브라우저 상단의 보기 -> 인코딩 -> 자동선택 여부를 확인하십시오 > ~ > Text(ASCII format) Excel format

과학기술 지식인프라 ScienceON

ScienceON Chatbot

연합인증

특허 상세정보

Tracked robotic crawler having a moveable arm

초록

대표
청구항
▼

이 특허에 인용된 특허 (203)

이 특허를 인용한 특허 피인용횟수: 8

IPC 상위 출원인

과제정보

상세정보조회

원문조회

IPC 상세정보(version : 201201)

연구과제 성과물(0)

참여연구원의 다른 문헌(0)

처리중입니다.

잠시만 기다려주세요.

ScienceON Chatbot

연합인증

특허 상세정보

Tracked robotic crawler having a moveable arm

초록

대표청구항 ▼

이 특허에 인용된 특허 (203)

이 특허를 인용한 특허 피인용횟수: 8

IPC 상위 출원인

과제정보

상세정보조회

원문조회

IPC 상세정보(version : 201201)

연구과제 성과물(0)

참여연구원의 다른 문헌(0)

처리중입니다.

잠시만 기다려주세요.

대표
청구항
▼