Hybrid mobile robot
First Claim
Patent Images
1. A hybrid mobile robot comprising:
- a base link, wherein the base link includes a right base link and a left base link, wherein each of the right and left base links have a drive system, and the right base link and the left base link are spaced apart, the base link adapted to function as a traction device and a turret;
a second link attached to the base link at a first joint, the second link having a drive system and being adapted to function as a traction device and to be deployed for manipulation;
a third link attached to the second link at a second joint; and
a pair of collinear wheel tracks located between the second link and the third link, wherein each of the drive systems of the left and right base links is one of a pulley and track system having a front pulley, a back pulley and a track, and a wheel drive system.
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Abstract
A hybrid mobile robot includes a base link and a second link. The base link has a drive system and is adapted to function as a traction device and a turret. The second link is attached to the base link at a first joint. The second link has a drive system and is adapted to function as a traction device and to be deployed for manipulation. In another embodiment an invertible robot includes at least one base link and a second link. In another embodiment a mobile robot includes a chassis and a track drive pulley system including a tension and suspension mechanism. In another embodiment a mobile robot includes a wireless communication system.
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Citations
25 Claims
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1. A hybrid mobile robot comprising:
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a base link, wherein the base link includes a right base link and a left base link, wherein each of the right and left base links have a drive system, and the right base link and the left base link are spaced apart, the base link adapted to function as a traction device and a turret; a second link attached to the base link at a first joint, the second link having a drive system and being adapted to function as a traction device and to be deployed for manipulation; a third link attached to the second link at a second joint; and a pair of collinear wheel tracks located between the second link and the third link, wherein each of the drive systems of the left and right base links is one of a pulley and track system having a front pulley, a back pulley and a track, and a wheel drive system. - View Dependent Claims (2, 3, 4, 5, 10, 11, 12, 13, 24)
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6. A hybrid mobile robot comprising:
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a base link having a drive system the base link adapted to function as a traction device and a turret; and a second link attached to the base link at a first joint, the second link having a drive system and being adapted to function as a traction device and to be deployed for manipulation; at least one end link attached to the second link at a second joint, the end link having a drive system and being adapted to function as a traction device and to be deployed for manipulation; and an end effector attached to the end link, wherein the second link includes multiple links, wherein the base link includes a right base link and a left base link such that the right base link and the left base link are spaced apart and the second link has a stowed position, and further wherein the second link is nested between the left base link and the right base link, and further wherein the end link has a stowed position such that the end link is nested in the second link, and wherein the first joint is a revolute joint and the second link is pivotal around 360 degrees continuously and the second joint is a revolute joint and the end link is pivotal around 360 degrees continuously. - View Dependent Claims (7)
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8. A hybrid mobile robot comprising:
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a base link, wherein the base link includes a right base link and a left base link, wherein each of the right and left base links have a drive system and the right base link and the left base link are spaced apart, the base link adapted to function as a traction device and a turret; and a second link attached to the base link at a first joint, the second link having a drive system and being adapted to function as a traction device and to be deployed for manipulation, wherein each drive system of the left and right base links is one of a pulley and track system having a front pulley, a back pulley and a track, and a wheel drive system. - View Dependent Claims (9)
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14. A hybrid mobile robot comprising:
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a base link having a drive system the base link adapted to function as a traction device and a turret; a second link attached to the base link at a first joint, the second link having a drive system and being adapted to function as a traction device and to be deployed for manipulation; at least one end link attached to the second link at a second joint, the end link having a drive system and being adapted to function as a traction device and to be deployed for manipulation; and an end effector attached to the end link, wherein the second link includes multiple links, wherein the robot is invertible and the configuration of the links is chosen from the group consisting of the right and left base links being spaced apart and the second link being substantially the same length as the base links;
the right base link being spaced from and connected to the left base link at the front and the back thereof and the second link being shorter than the base links and in the stowed position is nested between the right base link and the left base link;
the base link including a right base link and a left base link aligned proximate to each other, the second link being attached to a side of one of the right base link or the left base link and the end link being attached to one of the second link at a second joint, and the other of the right base link and the left base link; and
at least one base link is a first base link and further including a second base link and the first and second base link are pivotal with respect to one another.
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15. An invertible mobile robot comprising:
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a base link, wherein the base link includes a right base link and a left base link, wherein each of the right and left base links have a drive system and the right base link and the left base link are spaced apart, the base link adapted to function as a traction device and a turret; and a second link attached to the base link at a first joint, the second link having a drive system and being adapted to function as a traction device and to be deployed for manipulation, wherein the right and left base links collectively define an upper and a lower plane the second link having a stowed position and itself defining an upper and lower plane, wherein when the second link is in the stowed position the second link'"'"'s upper and lower planes are within the upper and lower planes of the left and right base links, and wherein each of the drive systems of the left and right base links is one of a pulley and track system having a front pulley, a back pulley and a track, and a wheel drive system. - View Dependent Claims (16, 17, 18, 19, 20, 25)
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21. A mobile robot comprising:
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a base link, wherein the base link includes a right base link and a left base link, wherein each of the right and left base links have a drive system and the right base link and the left base link are spaced apart, the base link adapted to function as a traction device and a turret, wherein the base link includes a module for wireless communication with a remote operator control unit; a second link attached to the base link at a first joint, the second link having a second link drive system and being adapted to function as a traction device and to be deployed for manipulation; an end link attached to the second link at a second joint, the end link having an end link drive system; and a central control system operably connected to the base drive system, operably connected to the second link drive system and operably connected via wireless communication to the end link, wherein a wireless communication link exists between the central control system and the end link, wherein each drive system of the left and right base links is one of a pulley and track system having a front pulley, a back pulley and a track, and a wheel drive system. - View Dependent Claims (22, 23)
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Specification