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1. WO1996003259 - SELF-CONTAINED MOBILE UNIT WITH SPACE-SAVING MANIPULATOR AND APPROPRIATE CONTROL PROCESS

Publication Number WO/1996/003259
Publication Date 08.02.1996
International Application No. PCT/DE1995/000945
International Filing Date 18.07.1995
IPC
A47L 11/40 2006.01
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
11Machines for cleaning floors, carpets, furniture, walls, or wall coverings
40Parts or details of machines not provided for in groups A47L11/02-A47L11/38108
B05B 13/04 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
05SPRAYING OR ATOMISING IN GENERAL; APPLYING LIQUIDS OR OTHER FLUENT MATERIALS TO SURFACES, IN GENERAL
BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
13Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/-B05B11/190
02Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
04the spray heads being moved during operation
B25J 5/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
5Manipulators mounted on wheels or on carriages
B25J 9/06 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
06characterised by multi-articulated arms
B25J 9/16 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
B25J 18/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
18Arms
CPC
A47L 11/4011
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING
11Machines for cleaning floors, carpets, furniture, walls, or wall coverings
40Parts or details of machines not ; provided for in; groups A47L11/02 - A47L11/38, ; or not restricted to one of these groups; , e.g. handles, arrangements of switches, skirts, buffers, levers
4011Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
A47L 11/4038
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING
11Machines for cleaning floors, carpets, furniture, walls, or wall coverings
40Parts or details of machines not ; provided for in; groups A47L11/02 - A47L11/38, ; or not restricted to one of these groups; , e.g. handles, arrangements of switches, skirts, buffers, levers
4036Parts or details of the surface treating tools
4038Disk shaped surface treating tools
A47L 11/4044
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING
11Machines for cleaning floors, carpets, furniture, walls, or wall coverings
40Parts or details of machines not ; provided for in; groups A47L11/02 - A47L11/38, ; or not restricted to one of these groups; , e.g. handles, arrangements of switches, skirts, buffers, levers
4036Parts or details of the surface treating tools
4044Vacuuming or pick-up tools; Squeegees
A47L 11/4061
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING
11Machines for cleaning floors, carpets, furniture, walls, or wall coverings
40Parts or details of machines not ; provided for in; groups A47L11/02 - A47L11/38, ; or not restricted to one of these groups; , e.g. handles, arrangements of switches, skirts, buffers, levers
4061Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
A47L 2201/00
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING
2201Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
B05B 13/0431
BPERFORMING OPERATIONS; TRANSPORTING
05SPRAYING OR ATOMISING IN GENERAL; APPLYING LIQUIDS OR OTHER FLUENT MATERIALS TO SURFACES, IN GENERAL
BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
13Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
02Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
04the spray heads being moved during ; spraying; operation
0431with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
Applicants
  • SIEMENS AKTIENGESELLSCHAFT [DE/DE]; Wittelsbacherplatz 2 D-80333 München, DE (AllExceptUS)
  • NEUBAUER, Werner [DE/DE]; DE (UsOnly)
  • FEITEN, Wendelin [DE/DE]; DE (UsOnly)
  • MINEKIME, Christopher [US/US]; US (UsOnly)
Inventors
  • NEUBAUER, Werner; DE
  • FEITEN, Wendelin; DE
  • MINEKIME, Christopher; US
Priority Data
P 44 25 924.721.07.1994DE
Publication Language German (DE)
Filing Language German (DE)
Designated States
Title
(DE) AUTONOME MOBILE EINHEIT MIT RAUMSPARENDEM MANIPULATOR UND ZUGEHÖRIGES STEUERUNGSVERFAHREN
(EN) SELF-CONTAINED MOBILE UNIT WITH SPACE-SAVING MANIPULATOR AND APPROPRIATE CONTROL PROCESS
(FR) UNITE MOBILE AUTONOME COMPORTANT UN MANIPULATEUR A ENCOMBREMENT REDUIT ET PROCEDE DE COMMANDE CORRESPONDANT
Abstract
(DE)
Mit der Erfindung wird eine autonome mobile Einheit vorgestellt, die einen zusammenfaltbaren Manipulatorarm besitzt, dessen Ende als Effektor, beispielsweise eine Saugdüse oder ein Pinsel ausgebildet ist. Der Arm ist dabei drehbar an der autonomen mobilen Einheit befestigt und kann eine Fläche überstreichen. Er besteht aus mehreren Segmenten, die an ihren Enden drehbar miteinander verbunden sind. Die jeweiligen Drehwinkel können unabhängig voneinander eingestellt werden. So ist es möglich, eine hohe Flexibilität bei der Bewegung des Armes zu erreichen. Das Steuerungsverfahren gibt einen vorteilhaften Algorithmus an, mit dem die Einheit und der Manipulatorarm gesteuert werden können. Es wird eine Hybridvariante favorisiert, bei der der Effektor mit einer Andruckkraft, die durch einen Kraftsensor gemessen wird, an eine Wand gedrückt wird und dabei die Einheit dem Effektor folgt. Einsatzbereiche sind beispielsweise Industriestaubsauger, autonome Roboter, die Wände anstreichen sollen, oder postaustragende Fahrzeuge.
(EN)
The invention proposes a self-contained mobile unit having a folding manipulator arm, the end of which takes the form of an effector, e.g. a suction nozzle or a brush. Here, the arm is fitted to rotate on the self-contained mobile unit and can cover a surface. It consists of several segments, the ends of which are connected together to rotate. The angles of rotation can be mutually independently adjusted. This provides great flexibility in the arm movement. The control process provides an advantageous algorithm by means of which the unit and the manipulator arm can be controlled. Preference may be given to a hybrid embodiment in which the effector can be pressed against a wall at a pressure which can be measured by a force sensor so that the unit follows the effector. Fields of application are, for instance, industrial vacuum cleaners, self-contained robots for painting walls, or mail delivery vehicles.
(FR)
L'invention concerne une unité mobile autonome qui comporte un bras de manipulateur repliable, dont l'extrémité se présente sous forme d'effecteur, par exemple d'ajutage d'aspiration ou de pinceau. A cet effet, le bras est monté rotatif sur l'unité mobile et peut balayer une surface. Ce bras se compose de plusieurs segments dont les extrémités sont solidarisées de manière à tourner. Les angles de rotation peuvent être ajustés indépendamment les uns des autres, ce qui permet d'obtenir une grande flexibilité du mouvement du bras. Le procédé de commande fournit un algorithme avantageux qui permet de piloter l'unité et le bras du manipulateur. La préférence est accordée à une variante hybride dans laquelle l'effecteur est appliqué contre une paroi avec une force de pression pouvant être mesurée par un détecteur de force, et l'unité suit l'effecteur. Cette invention s'utilise par exemple dans les aspirateurs à usage industriel, les robots autonomes qui doivent peindre des parois, ou les véhicules de distribution du courrier.
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