MULTI-UNIT MOBILE ROBOT
First Claim
1. A multi-unit mobile robot comprising:
- a plurality of separate mobile units linked together by linkages;
each said mobile unit including at least one wheel, and each said mobile unit comprising hinged first and second segments, said hinges being adapted to facilitate pitch relative motion between said segments;
control actuators operably connected to said hinges, operable to cause said robot to coil around and compress against the exterior, or compress against the interior, of an object to be traversed.
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Abstract
A multi-unit mobile robot comprising a plurality of separate carriages or units linked together by linkages. Each unit comprises hinged first and second segments which facilitates pitch relative motion between the segments, and accordingly the units. By controlling actuators to the hinges, one can cause the robot to coil around and compress against the exterior, or compress against the interior, of an object to be traversed. The linkage between mobile units facilitates at least one of lateral pivot or yaw relative motion between units, and optionally roll. Each hinged platform is carried by a pair of Mecanum wheels, which facilitate movement of the unit in any direction.
Among other possible uses, the multi-unit mobile robot can be used to service windmill blades and towers, and carrying cargo up and down windmill towers by directing a multi-unit mobile robot to wrap around the and traverse the tower.
49 Citations
29 Claims
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1. A multi-unit mobile robot comprising:
- a plurality of separate mobile units linked together by linkages;
each said mobile unit including at least one wheel, and each said mobile unit comprising hinged first and second segments, said hinges being adapted to facilitate pitch relative motion between said segments;
control actuators operably connected to said hinges, operable to cause said robot to coil around and compress against the exterior, or compress against the interior, of an object to be traversed. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25)
- a plurality of separate mobile units linked together by linkages;
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26. A multi-unit mobile robot comprising at least two mobile units connected by a pair of tension generating members whereby said multi-unit mobile robot maintains clamping force on an object to be traversed when wrapped around it.
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27. A multi-unit mobile robot comprising:
- a plurality of separate segments, each of said segments being joined to the next adjacent segment in alternating fashion by a hinge or a linkage, said hinges being adapted to facilitate pitch relative motion between said segments;
said linkages being adapted to facilitate at least one of lateral pivot or yaw relative motion between said segments;
control actuators operably connected to said hinges, operable to cause said robot to coil around and compress against the exterior, or compress against the interior, of an object to be traversed;
control actuators operably connected to said linkages, operable to allow said multi-unit mobile robot to wrap around or coil against the interior of the object in a helical fashion;
there being a pair of wheels supporting each pair of hinged segments.
- a plurality of separate segments, each of said segments being joined to the next adjacent segment in alternating fashion by a hinge or a linkage, said hinges being adapted to facilitate pitch relative motion between said segments;
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28. A method of servicing windmill blades and towers comprising directing a multi-unit mobile robot to wrap around, compress against, and traverse the exterior of such a blade or tower, while cleaning, inspecting, resurfacing or painting the blade and/or tower.
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29. A method of carrying cargo up and down windmill towers by directing a multi-unit mobile robot to wrap around, compress against, and traverse the tower.
Specification