EP0109201A2
Expired / Lapsed
EP
⏱️ 0.0 years remaining
A self-propelled robot platform and system and method of moving a tool over a support surface
Assignee: Calspan Corp
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Filing: 1983-10-18
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Granted: —
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Expires: 2003-10-18
Abstract
Abstract A self-propelled robot consists of a platform (24a) with a plurality of castors (26a) to support the platform on and space the platform from a supporting surface, as well as permitting any selected direction of movement over the support surface. The magnetic field generating means (20a to 23a) of at least two linear motors are arranged on the platform transversely to one another and generally parallel to the support surface and so that their flux links with the support surface or a magnetic backing thereof. The motor fluxes linking the supporting surface drive the platform. The platform is provided with tool support means (46) and that tool support means includes articulation structure (42a) with associated drive means (44a) which permits tool positoning. As a consequence, the robot platform (24a) may be moved over the surface in a predetermined pattern doing work with a supported tool or it may be moved from point to point where work is to be done where the tool is actuated either manually or by programmed information. If the support surface is magnetic, the surface need not be horizontal to hold the platform.
Inventors
- 👤 Charles A. Belsterling
- 👤 Robert K. Soberman
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-28 17:56
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/408; G05B19/4086; B; B23; B23Q; B23Q1/00; B23Q1/25; B23Q1/44; B23Q1/50; B23Q1/54; B23Q1/545; B23Q1/5462; B25; B25J; B25J15/00; B25J15/02; B25J15/0206; B25J17/00; B25J17/02; B25J17/0208; B25J17/0216; B25J19/00; B25J19/005; B25J5/00; B25J5/007; B25J9/00; B25J9/02; B25J9/04; B25J9/041; B25J9/16; B25J9/1615; B25J9/162; B25J9/1623; B62; B62D; B62D57/00; B62D57/02; G05B2219/00; G05B2219/30; G05B2219/40; G05B2219/40277; G05B2219/40298; G05B2219/41; G05B2219/41309; G05B2219/45; G05B2219/45071; G05B2219/49; G05B2219/49257; G05B2219/49271; G05B2219/50; G05B2219/50162; G05B2219/50215
Claims Analysis
Total Claims: 16
Claim 1
Independent Claim
127 words
A self-propelled robot (116: 122) for cooperative use in connection with a support surface (114: 119), said robot comprising a platform (24), a plurality of support members (26, 34, 36) adapted to cooperate with the support surface to support and space the platform from the surface and permit movement of the platform (24) over the support surface in any selected direction characterised in that at least two linear motor means (20, 21, 22, 23: 30, 32: 117) are fixed to the platform transversely to one another to magnetically link the support surface, or means generally conforming to the support surface, such that, by a combination of signals to the respective transversely positioned motor means, the motor means can drive the platform in a variety of selected directions.
Claim 2
Dependent Claim
127 words
A self-propelled robot (116: 122) for cooperative use in connection with a support surface (114: 119), said robot comprising a platform (24), a plurality of support members (26, 34, 36) adapted to cooperate with the support surface to support and space the platform from the surface and permit movement of the platform (24) over the support surface in any selected direction characterised in that at least two linear motor means (20, 21, 22, 23: 30, 32: 117) are fixed to the platform transversely to one another to magnetically link the support surface, or means generally conforming to the support surface, such that, by a combination of signals to the respective transversely positioned motor means, the motor means can drive the platform in a variety of selected directions.
Claim 3
Dependent Claim
41 words
A robot as claimed in claim 1, characterised in that a tool support means (40) is articulated on the platform (24), whereby a tool supported by the tool support means may do predetermined work at predetermined locations of the platform (24).
Claim 4
Dependent Claim
35 words
A robot as claimed in claim 1 or claim 2, characterised in that the support members are wheels (34, 36) at least one of which (36) is mounted to swivel relative to the platform (24).
Claim 5
Dependent Claim
70 words
A robot as claimed in claim 3, characterised in that the linear motor means (30, 32) is arranged in a "T" pattern on the platform (24) with the cross bar of the "T" being transverse to a preferred direction of movement, and in that the plurality of support members include a swiveling castor (36) in front of the "T" configured motor means (30, 32) in the preferred direction of travel.
Claim 6
Dependent Claim
48 words
A robot as claimed in claim 1 or claim 2, characterised in that there are provided at least one pair of parallel spaced linear motors (20, 21: 22, 23) enabling turning of the platform (24) by causing the fields generated by said motors to move in opposite directions.
Claim 7
Dependent Claim
49 words
A robot as claimed in claim 5, characterised in that there are two pairs of parallel linear motor means (20-23) in a mutually transverse arrangement and the plurality of support members is in the form of at least three swiveling castors (26) having wheels rolling on the support surface.
Claim 8
Dependent Claim
28 words
A robot as claimed in any preceding claim, characterised in that sensing means is provided to sense the angle of turn and/or the linear movement of the platform.
Claim 9
Independent Claim
268 words
A system for positioning and operating a tool-supporting self-propelled robot in relation to a supporting surface for the robot comprising a platform (24), a plurality of support members (26) supported on the platform (24), adapted to cooperate with the supporting surface to support and space the platform (24) from the surface and permitting movement of the robot over the support surface in any selected direction; characterised in that at least two linear motor means (20-23) are fixed to the platform (24) transversely to one another and generally parallel to the support surface in position to magnetically link the support surface, or means generally conforming to the support surface, such that, by a combination of signals to the respective transversely positioned motor means (20-23), the motor means can drive the platform (24) in a variety of selected directions and along a selected path or pattern; tool support means (40) including an articulation structure (42) and associated drive means (44) permitting tool position adjustment, whereby a tool supported in the tool support means (40) may be made to do work at selected locations of the platform (24); in that power control means (96) are provided for connecting the respective linear motor means (20-23) to an electric power source (102) and responsive to direction control means (95, 97, 98) to cause movement of the platform (24) relative to the support surface; and in that tool position control means (88, 86) is provided to move drive means (44) of the tool support means (40) in proper sequence and at a rate to accomplish a desired movement of the tool support means (40).
Claim 10
Independent Claim
268 words
A system for positioning and operating a tool-supporting self-propelled robot in relation to a supporting surface for the robot comprising a platform (24), a plurality of support members (26) supported on the platform (24), adapted to cooperate with the supporting surface to support and space the platform (24) from the surface and permitting movement of the robot over the support surface in any selected direction; characterised in that at least two linear motor means (20-23) are fixed to the platform (24) transversely to one another and generally parallel to the support surface in position to magnetically link the support surface, or means generally conforming to the support surface, such that, by a combination of signals to the respective transversely positioned motor means (20-23), the motor means can drive the platform (24) in a variety of selected directions and along a selected path or pattern; tool support means (40) including an articulation structure (42) and associated drive means (44) permitting tool position adjustment, whereby a tool supported in the tool support means (40) may be made to do work at selected locations of the platform (24); in that power control means (96) are provided for connecting the respective linear motor means (20-23) to an electric power source (102) and responsive to direction control means (95, 97, 98) to cause movement of the platform (24) relative to the support surface; and in that tool position control means (88, 86) is provided to move drive means (44) of the tool support means (40) in proper sequence and at a rate to accomplish a desired movement of the tool support means (40).
Claim 11
Dependent Claim
50 words
A system as claimed in claim 8, characterised in that the input means includes both manual controls (97) and computer controls (94) including a program memory (95) for at least one of the power control means for the linear motor means (20-23) and the tool position control means (88, 86).
Claim 12
Dependent Claim
62 words
A system as claimed in claim 8 or claim 9, characterised in that there is provided a platform closed loop system (113) which controls the power control means (96) and in that platform position sensing means (104, 106, 112) is provided to feed back signals to the platform closed loop system (113) to correct the output to the power control means (96).
Claim 13
Dependent Claim
83 words
A system as claimed in claim 8, 9 or 10, characterised in that an input means (100) feeds tool position command signals to a coordinate converter (87) which, in turn, drives individual drive means (44) for the tool support means (40) and in that means (90) is provided for sensing the position and velocity of the drive means (44) or the structure driven thereby and generating signals and feeding back those signals to modify the individual signals to the respective drive means (44).
Claim 14
Independent Claim
56 words
A method of moving a tool over a supporting surface which comprises mounting the tool on an articulated support means carried by a platform movable over a support surface, characterised in that the platform is held against said support surface and moved relative thereto by the magnetic field generating means of at least two linear motors.
Claim 15
Independent Claim
56 words
A method of moving a tool over a supporting surface which comprises mounting the tool on an articulated support means carried by a platform movable over a support surface, characterised in that the platform is held against said support surface and moved relative thereto by the magnetic field generating means of at least two linear motors.
Claim 16
Dependent Claim
41 words
A method as claimed in claim 12, characterised in that the support surface is non-magnetic but is backed by magnetic material either in a static layer or in a dummy magnetic robot platform on the opposite side of the support surface.
References Cited (Backward Citations)
No citation records indexed.
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