IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0316311
(2008-12-11)
|
등록번호 |
US-8201649
(2012-06-19)
|
발명자
/ 주소 |
- Andrus, Lance L.
- DeStefano, Brian
- Albin, Scott R.
|
출원인 / 주소 |
|
대리인 / 주소 |
Iandiorio Teska & Coleman, LLP
|
인용정보 |
피인용 횟수 :
5 인용 특허 :
22 |
초록
▼
A modular mobile robot with a chassis including a power source housed therein. Right and left hand track modules are each removeably coupled to the robot chassis. Each track module includes a side plate, at least one drive wheel rotatable with respect to the side plate, a motor for driving the drive
A modular mobile robot with a chassis including a power source housed therein. Right and left hand track modules are each removeably coupled to the robot chassis. Each track module includes a side plate, at least one drive wheel rotatable with respect to the side plate, a motor for driving the drive wheel, at least one idler rotatable with respect to the side plate, and a track extending around the drive wheel, the side plate, and the idler. A turret assembly with its own turret drive subsystem is removeably coupled to the robot chassis via a quick release mechanism.
대표청구항
▼
1. A modular mobile robot comprising: a robot chassis;a power source housed therein;right and left hand track modules each removably coupled to the robot chassis, each track module including: a side plate,at least one drive wheel rotatable with respect to the side plate,a motor for driving the drive
1. A modular mobile robot comprising: a robot chassis;a power source housed therein;right and left hand track modules each removably coupled to the robot chassis, each track module including: a side plate,at least one drive wheel rotatable with respect to the side plate,a motor for driving the drive wheel,at least one idler rotatable with respect to the side plate, anda track extending around the drive wheel, the side plate, and the idler; anda turret assembly with its own turret drive subsystem and removeably coupled to the robot chassis via a quick release mechanism. 2. The robot of claim 1 in which both track module side plates are removeably coupled fore and aft to the robot chassis via couplings. 3. The robot of claim 2 in which the aft couplings are hinges with removable hinge pins. 4. The robot of claim 3 in which each hinge includes a pair of spaced ears coupled to the robot chassis, a sleeve coupled to the side plate and rotatably disposed between the ears, and a hinge pin extending between both ears and the sleeve. 5. The robot of claim 2 in which the fore couplings are clamp assemblies. 6. The robot of claim 5 in which each clamp assembly includes a cam follower releasably urged against a portion of the robot chassis. 7. The robot of claim 6 in which the cam follower extends from a damping bracket including a dowel pin spaced from the cam follower for receiving a shelf portion of the robot chassis. 8. The robot of claim 6 in which each clamp assembly further includes a clamping bracket coupled to a track side plate and including a bore therethrough having a first longitudinal central axis, a cam throw sleeve secured to the cam follower and including a bore therethrough having a second longitudinal central axis offset from the first longitudinal access, anda handle for rotating the cam throw sleeve and the cam follower to engage the shelf portion of the robot chassis. 9. The robot of claim 8 in which each clamp assembly further includes a cam locking sleeve about the cam follower and within the cam throw sleeve, the cam locking sleeve including a bore therethrough having a third longitudinal central axis adjustable with respect to the first and second longitudinal central axes to vary the clamping force of the clamp assembly. 10. The robot of claim 9 in which the cam locking sleeve includes a plurality of orifices therethrough corresponding in location to at least one orifice through the cam throw sleeve and a fastener through at least one orifice in the cam throw sleeve and a chosen orifice of the plurality of orifices in the cam locking sleeve to secure the cam locking sleeve with respect to the cam throw sleeve. 11. The robot of claim 2 further including at least one suspension device between a side plate and a coupling. 12. The robot of claim 11 in which the suspension device includes a suspension cartridge comprising: a base plate secured to the side plate including a pin and spaced damping pads, anda pivot plate attached to the coupling and including an orifice which receives the pin of the base plate and a tang received between the spaced damping pads. 13. The robot of claim 12 in which there is a suspension cartridge between each coupling and its respective side plate. 14. The robot of claim 1 in which each track module further includes a tensioner for the idler. 15. The robot of claim 14 in which each tensioner includes: a tension block abutting a portion of the track module,a slide block for the idler, anda tension adjuster coupled to the slide block and extendable and retractable with respect to the tension block. 16. The robot of claim 15 in which each tensioner further includes a plunger coupled on one end to the slide block and extending within and secured to the tension adjuster. 17. The robot of claim 1 in which the turret includes a pintle extending therefrom, the robot chassis includes a pintle receiver for the pintle, and the quick release mechanism includes a ball lock releasably securing the pintle in the pintle receiver. 18. The robot of claim 1 in which the robot chassis includes one or more electronic connectors and the turret includes one or more corresponding electronic connectors each electrically connected to a slip ring associated with the turret. 19. The robot of claim 1 in which each track includes cut-outs where the idlers engage the track to prevent debris from building up on the idler, or track. 20. The robot of claim 1 in which each track module further includes a lubricious member guiding the track. 21. The robot of claim 1 further including at least one kickstand for raising the robot chassis to remove the tracks and/or track modules. 22. A mobile robot comprising: a robot chassis defining a battery cavity; andleft and right track modules spreadable with respect to the chassis via hinges attaching the track modules to the robot chassis to access the battery cavity, each module including: a side plate,at least one drive wheel rotatable with respect to the side plate,a motor for driving the drive wheel,at least one idler rotatable with respect to the side plate, anda track extending around the drive wheel, the side plate, and the idler,a clamp assembly for each track side plate releasably coupling each track module to the robot chassis, each clamp assembly including a cam follower releasably urged against a portion of the robot chassis. 23. A mobile robot comprising: a robot chassis defining a battery cavity;left and right track modules each including a side plate, at least one drive wheel rotatable with respect to the side plate, a motor for driving the drive wheel, at least one idler rotatable with respect to the side plate, and a track extending around the drive wheel, the side plate, and the idler;a hinge attaching each track module to the robot chassis; anda clamp assembly for each track module releasably coupling the track module to the robot chassis, each clamp assembly including a cam follower releasably urged against a portion of the robot chassis. 24. A mobile robot comprising: a robot chassis defining a battery cavity;left and right track modules each including a side plate, at least one drive wheelrotatable with respect to the side plate, a motor for driving the drive wheel, atleast one idler rotatable with respect to the side plate, and a track extendingaround the drive wheel, the side plate, and the idler;a hinge attaching each track module to the robot chassis; anda clamp assembly for each track module releasably coupling the track module to the robot chassis, each clamp assembly further including a clamping bracket coupled to a track side plate and a bore therethrough having a first longitudinal central axis, and a cam throw sleeve secured to the cam follower and including a bore having a second longitudinal central axis offset from the first longitudinal axis, and a handle for rotating the cam throw sleeve and the cam follower.
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