Adherent Robot
First Claim
1. A vacuum cup assembly including a vacuum cup comprising a stem member and a flexible, substantially conical body, a port in said body for a vacuum source, at least two annular ridges projecting downwardly from said body for intimately contacting a base surface, and at least one port for introducing lubricant to an interface of at least one of said ridges and the base surface.
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Accused Products
Abstract
A robot capable of moving against gravity uses at least one vacuum cup assembly having means for applying a lubricant on the working surface so the cup may slide on the surface as the robot is maneuvered with the aid of powered wheels. The wheels and vacuum cup assemblies are coordinated to move on varied surfaces. The robot module may be equipped with various task-performing assemblies, and may be employed in caravans, trains, or separately in swarms. The vacuum cup assemblies include a pair of springs working against each other to provide stability and flexibility at the point of attachment to the body of the robot.
35 Citations
33 Claims
- 1. A vacuum cup assembly including a vacuum cup comprising a stem member and a flexible, substantially conical body, a port in said body for a vacuum source, at least two annular ridges projecting downwardly from said body for intimately contacting a base surface, and at least one port for introducing lubricant to an interface of at least one of said ridges and the base surface.
- 7. Method of manipulating a robot on a working surface comprising drawing a vacuum on at least one vacuum cup having a flexible surface for adhering to a working surface, feeding a lubricant to said flexible surface to form a film between said flexible surface and said working surface, and activating a locomotion means to propel said robot in a desired direction.
- 10. A robot comprising at least one robot module comprising (a) a locomotion section comprising locomotion means for moving said module on a work surface, and (b) a slidable adherence section for adhering said module to a work surface while said module is moving thereon.
- 21. A robot comprising at least one robot module comprising (a) a locomotion section comprising locomotion means for moving said module on a work surface, (b) a robot body, and (c) a slidable adherence section for adhering said module to a work surface while said module is moving thereon, said slidable adherence section including a pair of opposing springs for flexibly stabilizing the distance of said robot body from a working surface.
- 29. A vacuum cup assembly for a robot having a robot body, comprising a vacuum cup, a stem member thereon, said stem member passing through at least a portion of said robot body, a lower stem housing below said robot body portion, an upper stem housing above said robot body portion, and springs within said upper and lower stem housings for flexibly stabilizing said vacuum cup assembly with respect to said robot body.
Specification