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1. (WO2019047015) SELF-BALANCING ROBOT
Latest bibliographic data on file with the International Bureau    Submit observation

Pub. No.: WO/2019/047015 International Application No.: PCT/CN2017/100516
Publication Date: 14.03.2019 International Filing Date: 05.09.2017
IPC:
B25J 9/00 (2006.01) ,B25J 19/00 (2006.01) ,B62D 57/032 (2006.01) ,B62D 57/028 (2006.01)
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9
Programme-controlled manipulators
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19
Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
B PERFORMING OPERATIONS; TRANSPORTING
62
LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
D
MOTOR VEHICLES; TRAILERS
57
Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track
02
with ground-engaging propulsion means, e.g. walking members
032
with alternately or sequentially lifted supporting base and leg; with alternately or sequentially lifted feet or skid
B PERFORMING OPERATIONS; TRANSPORTING
62
LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
D
MOTOR VEHICLES; TRAILERS
57
Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track
02
with ground-engaging propulsion means, e.g. walking members
028
having wheels and mechanical legs
Applicants:
刘哲 LIU, Zhe [CN/CN]; CN
Inventors:
刘哲 LIU, Zhe; CN
Priority Data:
Title (EN) SELF-BALANCING ROBOT
(FR) ROBOT À AUTO-ÉQUILIBRAGE
(ZH) 一种自动平衡机器人
Abstract:
(EN) Disclosed is a self-balancing robot, comprising a self-balancing robot main body (1) and a self-balancing foot force-bearing device. The robot main body comprises a slidable and telescopic arm (101). The foot force-bearing device comprises an ankle (1a) and a sole (2a), wherein both sides of the sole are connected with a foot plate (3a), one end of the foot plate is inserted into a foot plate connecting shaft (4a), the foot plate is tightly welded to a support rod (5a) at a middle position thereof, the support rod is fixedly connected to a support rod connecting block (6a), the other end of the support rod connecting block is tightly welded to one end of a branch rod (7a), the other end of the branch rod is fixedly connected to one side of a sliding block (9a), the top of the sliding block is tightly welded to a bottom end of a main spring (10a), and a top end of the spring is tightly welded to an internal upper end of the ankle. When the robot is tilted, one end of the foot plate is under stress, and the pressure is transmitted through the support rod and the support rod connecting block, such that the branch rod pushes the sliding block to move upward so as to push the main spring to be compressed upward. The spring has shock absorption and damping functions so as to slow down the turnover speed of the foot plate in order to improve the stability thereof.
(FR) Robot à auto-équilibrage, comprenant un corps principal (1) de robot à auto-équilibrage et un dispositif porteur de force de pied à auto-équilibrage. Le corps principal de robot comprend un bras coulissant et télescopique (101). Le dispositif porteur force de pied comprend une cheville (1a) et une semelle (2a), les deux côtés de la semelle étant reliés à une plaque de pied (3a), une première extrémité de la plaque de pied étant introduite dans un arbre de liaison (4a) de plaque de pied, la plaque de pied étant étroitement soudée à une tige de support (5a) dans une position centrale de celle-ci, la tige de support étant reliée à demeure à un bloc de liaison (6a) de tige de support, l'autre extrémité du bloc de liaison de tige de support étant étroitement soudée à une première extrémité d'une tige de ramification (7a), l'autre extrémité de la tige de ramification étant reliée à demeure à un premier côté d'un bloc coulissant (9a), la partie supérieure du bloc coulissant étant étroitement soudée à une extrémité inférieure d'un ressort principal (10a), et une extrémité supérieure du ressort étant étroitement soudée à une extrémité supérieure intérieure de la cheville. Lorsque le robot est incliné, une première extrémité de la plaque de pied est sous contrainte, et la pression est transmise à travers la tige de support et le bloc de liaison de tige de support, de telle sorte que la tige de ramification pousse le bloc coulissant à se déplacer vers le haut de façon à pousser le ressort principal à se comprimer vers le haut. Le ressort présente des fonctions d'amortissement et d'absorption de chocs de manière à ralentir la vitesse de basculement de la plaque de pied afin d'améliorer sa stabilité.
(ZH) 一种自动平衡机器人,包括自动平衡机器人主体(1)和自动平衡足部受力装置。机器人主体包括可以滑动和伸缩的手臂(101)。足部受力装置包括足踝(1a)和足底(2a),足底两侧连接有足板(3a),足板的一端嵌入足板连接轴(4a),足板的中间位置与支杆(5a)紧密焊接,支杆与支杆连接块(6a)的一端固定连接,支杆连接块的另一端与分支杆(7a)的一端紧密焊接,分支杆的另一端与滑动块(9a)的一侧固定连接,滑动块的顶部与主弹簧(10a)的底端紧密焊接,主弹簧的顶端与足踝的内部上端紧密焊接。当机器人倾斜时,足板一端受压,压力通过支杆和支杆连接块,使分支杆推动滑动块向上移动从而推动主弹簧向上压缩,而弹簧具有减震和阻尼作用,从而使足板的翻转速度减缓,提高了平稳性。
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: Chinese (ZH)
Filing Language: Chinese (ZH)