Stair assist robot mechanism and method

• US 20080296853A1
• Filed: 06/01/2007
• Published: 12/04/2008
• Est. Priority Date: 06/01/2007
• Status: Abandoned Application

• Current Assignee: Foster-Miller Incorporated (Thermo Fisher Scientific Incorporated)
• Original Assignee: Foster-Miller Incorporated (Thermo Fisher Scientific Incorporated)
• Inventors: Langford, Christopher J., Dean, Charles Edwin, Sarkis, Jennifer R., Walden, John
• Application Number:
  US11/809,598
• Publication Number:
  US 20080296853A1
• Time in Patent Office: Days
• US Class Current: 280/5.22
• CPC Class Codes: B25J 5/005 mounted on endless tracks or belts
• CPC Class Codes: B62D 55/075 Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfacesmagnetic or pneumatic ground-engaging parts B62D55/265; chairs or multi-track cycles specially adapted for invalids A61G5/00
• CPC Class Codes: B62D 57/024 specially adapted for moving on inclined or vertical surfaces endless-track vehicles for ascending or descending stairs B62D55/075; hand-carts with provision for travelling up or down stairs B62B5/02

Abstract

A mobile robot with a chassis including one or more drive mechanisms and at least a first arm pivotably connected to the chassis and configured to pitch up and down. A ski structure is attached on an underside of the first arm for raising the chassis as the arm is pitched down so the drive mechanisms can traverse a riser in the path of the chassis.

Claims

1. A mobile robot comprising:

a chassis including one or more drive mechanisms;

at least a first arm pivotably connected to the chassis and configured to pitch up and down; and

a ski structure on an underside of the first arm for raising the chassis as the arm is pitched down so the drive mechanisms can traverse a riser in the path of the chassis.

2. The mobile robot of claim 1 in which the drive mechanisms include side tracks.

3. The mobile robot of claim 1 further including a second arm pivotably connected to the first arm.

4. The mobile robot of claim 1 in which the second arm includes at least one camera and at least one end effector.

5. The mobile robot of claim 1 in which the ski structure is releasably connected to the first arm.

6. The mobile robot of claim 1 in which the ski structure includes snap fit receptacles which receive therein structure of the first arm.

7. The mobile robot of claim 1 in which the ski structure includes a forward angled toe and a rearward angled heel.

8. The mobile robot of claim 1 in which the ski structure includes an anti-slide feature thereon for preventing sliding of the ski structure with respect to the robot arm.

9. The mobile robot of claim 8 in which the ski structure includes a snap fit receptacle which receives therein the first arm and the anti-slide feature includes a cut out in a side of the snap fit receptacle.

10. The mobile robot of claim 1 in which the ski structure includes an anti-rotation feature thereon for preventing rotation of the ski structure with respect to the robot arm.

11. The mobile robot of claim 10 in which the ski structure includes a snap fit receptacle which receives therein the first arm and the anti-rotation feature includes an orifice in the snap fit receptacle.

12. The mobile robot of claim 1 in which the ski structure includes a forward guard portion.

13. The mobile robot of claim 1 in which the ski structure includes ties for securing the ski structure to the first arm.

14. A method of climbing stairs with a mobile robot equipped with at least a first pivotable arm, the method comprising:

equipping the first pivotable arm with a ski structure;

maneuvering the mobile robot to a position proximate a set of stairs;

lowering the first pivotable arm until the ski structure contacts the tread of a stair; and

maneuvering the mobile robot closer to the stairs whereupon the ski structure causes the mobile robot to raise to a more suitable angle by which to climb the first stair.

15. The method of claim 14 further including the step of raising the first pivotable arm after the mobile robot begins to climb the stairs so as to not interfere with remaining stairs.

16. The method of claim 14 in which the robot includes side tracks.

17. The method of claim 14 in which the robot includes a second arm pivotably connected to the first arm.

18. The method of claim 14 in which the second arm includes at least one camera and at least one end effector.

19. The method of claim 14 in which the ski structure is releasably connected to the first arm.

20. The method of claim 19 in which the ski structure includes snap fit receptacles which receive therein structure of the first arm.

21. The method of claim 14 in which the ski structure includes a forward angled toe and a rearward angled heel.

22. A stair assist mechanism for a mobile robot, the mechanism comprising:

a ski structure including receptacles which receive therein an arm of the mobile robot;

a forward upwardly angled toe on the ski structure; and

a rearward upwardly angled heel on the ski structure.

23. The mechanism of claim 22 in which the ski structure includes an anti-slide feature thereon for preventing sliding of the ski structure with respect to the robot arm.

24. The mechanism of claim 23 in which the anti-slide feature includes a cut out in a side of a receptacle.

25. The mechanism of claim 22 in which the ski structure includes an anti-rotation feature thereon for preventing rotation of the ski structure with respect to the robot arm.

26. The mechanism of claim 25 in which the anti-rotation feature includes an orifice in the receptacle.

27. The mechanism of claim 22 in which the ski structure includes a forward guard portion.

28. The mechanism of claim 22 in which the ski structure includes ties for securing the ski structure to the robot arm.