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, hinges for said segments being adapted to facilitate pitch relative motion between said segments; and
control actuators operably connected to said hinges, operable to cause said robot to coil around and compress against exterior, or compress against interior, of an object to be traversed, wherein;
said wheels on said mobile units are Mecanum wheels each driven independently by a motor, a controller being associated with each said motor, whereby through operation of said controllers, said multi-unit mobile robot can be moved in any direction;
pitch axis of each said hinges is concentric with axis of rotation of said Mecanum wheels,there are a pair of said Mecanum wheels for each pair of said hinged segments, one on each side of the segments; and
alternating ones of said mobile units are of differing widths, and said Mecanum wheels adjacent the mobile units are sufficiently large such that said Mecanum wheels are capable of overlapping, thereby enabling the multi-unit mobile robot to navigate very sharp edges or corners in a surface of and object being traversed by said robot, with said Mecanum wheels maintaining contact with the surface being traversed.
0 Assignments
0 Petitions
Accused Products
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.
63 Citations
16 Claims
-
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, hinges for said segments being adapted to facilitate pitch relative motion between said segments; and control actuators operably connected to said hinges, operable to cause said robot to coil around and compress against exterior, or compress against interior, of an object to be traversed, wherein; said wheels on said mobile units are Mecanum wheels each driven independently by a motor, a controller being associated with each said motor, whereby through operation of said controllers, said multi-unit mobile robot can be moved in any direction; pitch axis of each said hinges is concentric with axis of rotation of said Mecanum wheels, there are a pair of said Mecanum wheels for each pair of said hinged segments, one on each side of the segments; and alternating ones of said mobile units are of differing widths, and said Mecanum wheels adjacent the mobile units are sufficiently large such that said Mecanum wheels are capable of overlapping, thereby enabling the multi-unit mobile robot to navigate very sharp edges or corners in a surface of and object being traversed by said robot, with said Mecanum wheels maintaining contact with the surface being traversed. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
-
Specification