Patent JPS5368581A successfully refreshed from Google Patents.
EP0389243A2
Expired / Lapsed
EP
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Robot devices
Assignee: PORTSMOUTH ENTERPRISE Ltd, University of
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Filing: 1990-03-20
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Granted: —
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Expires: 2010-03-20
Abstract
Abstract A robot device, preferably in the form of a walking robot 1 comprises a chassis 3 and a plurality of articulated legs 7, each leg 7 comprising an upper leg 10 rotatively and pivotally mounted on the chassis 3 and extending generally upwards therefrom, a lower leg 11 pivotally coupled to the upper leg 10 and a gripper foot 9 mounted on the lower leg 11, the gripper foot 9 being generally lower than the chassis 3, control of the articulated leg 7 being derived from three double acting pneumatic actuating cylinders 17, 18 and 19 each connected between the chassis 3 and the leg 7, position sensors 24, 25 and 26 being provided for determining the position of the leg and differential pressure sensors 42 (Fig. 3B) being provided for sensing the force applied to the leg, processor control means 30 (Fig. 3A) being provided for each leg 7 for effecting movement of the leg 7 in dependence upon the outputs of the position sensors 24, 25 and 26 and the differential pressure sensors 42. Preferably, the process control means 30 of each leg will be controlled by a remotely positioned personal computer 32 (Fig. 3A) which controls the walking movement of the walking robot 1 (Figs. 1A and 2A).
Inventors
- 👤 Arthur Alexander Collie
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-06 12:03
CPC Classifications
B; B62; B62D; B62D57/00; B62D57/02; B62D57/024; Y; Y10; Y10S; Y10S180/00; Y10S180/901
Claims Analysis
Total Claims: 19
Claim 1
Independent Claim
262 words
A robot device comprising a base, at least one articulated limb mounted on said base, said at least one limb comprising a first limb portion which is rotatively and pivotally mounted at one end on said base and which extends generally upwards from said base, and a second limb portion one end of which is pivotally coupled to the other end of said first limb portion and which extends generally therefrom, first and second pneumatically controlled double acting actuating devices each rotatively and pivotally connected at each end between said first limb portion and said base, said first and second actuating devices each effecting both up-and-down movement and rotary movement of said first limb portion, a third pneumatically controlled double acting actuating device which is pivotally connected at each end between said first and second limb portions for extending and retracting said second limb portion, first and second position sensing means being provided associated with the rotary and pivotal mounting of said first limb portion for sensing the rotary position and up-and-down position respectively of said first limb portion, third position sensing means associated with the pivotal mounting between said first and second limb portions for sensing the extended and retracted position of said second limb portion, and differential pressure sensing means individually associated with each of said pneumatically controlled actuating devices for sensing the force applied to the associated limb portion, processor control means being provided for effecting movement of said limb in dependence upon the outputs of said position sensing means and the outputs of said differential pressure sensing means.
Claim 2
Dependent Claim
262 words
A robot device comprising a base, at least one articulated limb mounted on said base, said at least one limb comprising a first limb portion which is rotatively and pivotally mounted at one end on said base and which extends generally upwards from said base, and a second limb portion one end of which is pivotally coupled to the other end of said first limb portion and which extends generally therefrom, first and second pneumatically controlled double acting actuating devices each rotatively and pivotally connected at each end between said first limb portion and said base, said first and second actuating devices each effecting both up-and-down movement and rotary movement of said first limb portion, a third pneumatically controlled double acting actuating device which is pivotally connected at each end between said first and second limb portions for extending and retracting said second limb portion, first and second position sensing means being provided associated with the rotary and pivotal mounting of said first limb portion for sensing the rotary position and up-and-down position respectively of said first limb portion, third position sensing means associated with the pivotal mounting between said first and second limb portions for sensing the extended and retracted position of said second limb portion, and differential pressure sensing means individually associated with each of said pneumatically controlled actuating devices for sensing the force applied to the associated limb portion, processor control means being provided for effecting movement of said limb in dependence upon the outputs of said position sensing means and the outputs of said differential pressure sensing means.
Claim 3
Dependent Claim
35 words
A robot device as claimed in claim 1, comprising pneumatic valve means associated with each of said actuating devices and operable under the control of said processor control means for effecting movement of said limb.
Claim 4
Dependent Claim
23 words
A robot device as claimed in claim 2, in which the pneumatic valve means takes the form of a plurality of pulsed valves.
Claim 5
Dependent Claim
22 words
A robot device as claimed in claim 3, in which the pneumatic valve means takes the form of three, three-way pulsed valves.
Claim 6
Dependent Claim
64 words
A robot device as claimed in any preceding claim, in the form of a walking robot device, in which said base takes the form of a chassis, said walking robot device comprising a plurality of said articulated limbs mounted on said chassis, each of said limbs constituting a leg of said device, each leg having processor control means individual thereto for effecting movement thereof.
Claim 7
Dependent Claim
31 words
A robot device as claimed in claim 5, comprising computer means to which the processor control means of each leg is connected, for controlling walking movement of said walking robot device.
Claim 8
Dependent Claim
28 words
A robot device as claimed in claim 6, in which said computer means is connected remotely to the processor control means of said device via a cable link.
Claim 9
Dependent Claim
27 words
A robot device as claimed in any of claims 5 to 7, comprising a source of pressurised air for said pneumatically controlled actuating devices of said legs.
Claim 10
Dependent Claim
26 words
A robot device as claimed in claim 8, in which said source of pressurised air is connected remotely to said robot device via a pneumatic pipe.
Claim 11
Dependent Claim
28 words
A robot device as claimed in claim 9 when dependent upon claim 7, in which said cable link and said pneumatic pipe extend together to said robot device.
Claim 12
Dependent Claim
47 words
A robot device as claimed in any of claims 5 to 10, in which each of the second limb portions extends generally downwards from said other end of said first limb portion, and the other end of each of said second limb portions extends below said chassis.
Claim 13
Dependent Claim
52 words
A robot device as claimed in any of claims 5 to 10, in which each leg is provided with a further limb portion, one end of which is pivotally mounted to the other end of the respective second limb portion, the other end of said further limb portion extending below said chassis.
Claim 14
Dependent Claim
34 words
A robot device as claimed in claim 11 or claim 12, in which the other end of each of said second limb portions or said further limb portions is provided with a foot portion.
Claim 15
Dependent Claim
26 words
A robot device as claimed in claim 13, in which each foot portion is connected to its second limb portion with a rotary and pivotal mounting.
Claim 16
Dependent Claim
32 words
A robot device as claimed in claim 13 or claim 14, in which each foot portion is provided with attachment means for attaching the robot device to an adjacent surface or object.
Claim 17
Dependent Claim
21 words
A robot device as claimed in claim 15, in which the attachment means comprises one or more pneumatically controlled suction devices.
Claim 18
Dependent Claim
36 words
A robot device as claimed in any of claims 5 to 16, in which said chassis is provided with one or more pneumatically controlled suction devices for attaching said chassis to said adjacent surface or object.
Claim 19
Dependent Claim
18 words
A robot device as claimed in any of claims 5 to 17, in which said chassis is articulated.
References Cited (Backward Citations)
No citation records indexed.
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