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1. WO2020137499 - AUTONOMOUS MOBILE ROBOT DEVICE WITH VACUUM SUCTION

Publication Number WO/2020/137499
Publication Date 02.07.2020
International Application No. PCT/JP2019/048157
International Filing Date 09.12.2019
IPC
A47L 1/02 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
1Cleaning windows
02Power-driven machines or devices
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
B62D 57/032 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
57Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track
02with ground-engaging propulsion means, e.g. walking members
032with alternately or sequentially lifted supporting base and leg; with alternately or sequentially lifted feet or skid
CPC
A47L 1/02
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING
1Cleaning windows
02Power-driven machines or devices
B25J 15/06
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads ; and other end effectors
06with vacuum or magnetic holding means
B25J 5/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
5Manipulators mounted on wheels or on carriages
B62D 57/032
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
57Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
02with ground-engaging propulsion means, e.g. walking members
032with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Applicants
  • ウラカミ合同会社 URAKAMI LLC [JP]/[JP]
Inventors
  • 浦上 不可止 URAKAMI Fukashi
Priority Data
2018-24840028.12.2018JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) AUTONOMOUS MOBILE ROBOT DEVICE WITH VACUUM SUCTION
(FR) DISPOSITIF ROBOT MOBILE AUTONOME À ASPIRATION SOUS VIDE
(JA) 負圧吸着自走ロボット装置
Abstract
(EN)
[Problem] To provide a robot device that can adhere to an object surface by vacuum suction and move autonomously in either of a Y direction and an X direction. [Solution] A robot device 4 is provided with four suction pad units, a Y-axis actuator, and an X-axis actuator. The planar shape of a suction pad is the shape of one square quartered into four quadrilaterals having identical shapes. Each of the quadrilaterals has two right-angle portions formed at diagonally opposite corners, and one right angle of the two right-angle portions forms one right angle of the four right angles of the square shape. The two sides forming the one right angle of the suction pad overlap the two sides forming the right angle of the square. The two sides forming the other one of the right angles of the suction pad intersect the two sides forming the right angle of the square such that one pair of the sides intersect at an acute angle and another pair of the sides intersect at an obtuse angle.
(FR)
La présente invention vise à fournir un dispositif robot qui peut adhérer à une surface d'objet par aspiration sous vide et se déplacer de manière autonome dans l'une ou l'autre d'une direction Y et d'une direction X. À cet effet, l'invention porte sur un dispositif robot (4) qui comprend quatre unités de ventouse, un actionneur d'axe Y et un actionneur d'axe X. La forme plane d'une ventouse est la forme d'un carré, divisé en quarts, en quatre quadrilatères ayant des formes identiques. Chacun des quadrilatères a deux parties à angle droit formées à des coins diagonalement opposés, et un angle droit des deux parties à angle droit forme un angle droit des quatre angles droits de la forme carrée. Les deux côtés formant ledit angle droit de la ventouse chevauchent les deux côtés formant l'angle droit du carré. Les deux côtés formant l'autre des angles droits de la ventouse coupent les deux côtés formant l'angle droit du carré de telle sorte qu'une paire des côtés se croisent en un angle aigu et une autre paire des côtés se croisent en un angle obtus.
(JA)
【課題】物体表面に負圧吸着しY軸方向とX軸方向のどちらへも自走することが可能なロボット装置を提供する。 【解決手段】ロボット装置は4個の吸盤ユニットとY軸アクチュエータとX軸アクチュエータを具備しており、吸盤の平面形状は1個の正方形を同一形状の4個の四角形に4分割した形状を成し、又対角部分に2個の直角部分を備えた四角形を成し、又2個の直角部分のうちの1個の直角は正方形の4個の直角のうちの1個の直角を構成し、又吸盤の直角を構成する2つの辺は正方形の直角を構成する2つの辺と重なり、又吸盤のもう1つの直角を構成する2つの辺は、正方形の直角を構成する2つの辺と、一方の辺どうしは鋭角に他方の辺どうしは鈍角に交差している。
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