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    ROBOTIC FINGERS AND END EFFECTORS INCLUDING SAME
    1.
    发明申请
    ROBOTIC FINGERS AND END EFFECTORS INCLUDING SAME 审中-公开
    包括相同的机器人手指和末端效应器

    公开(公告)号：WO2017079105A1

    公开(公告)日：2017-05-11

    申请号：PCT/US2016/059818

    申请日：2016-11-01

    Applicant: IROBOT CORPORATION

    Inventor： OHM, Timothy R. ,  CLAFFEE, Mark R. ,  AMARAL, Erik ,  SHAMLIAN, Steven V. ,  MOZEIKA, Annan M.

    IPC: B25J15/12 ,  A61F2/54 ,  B25J15/02 ,  B25J15/08

    CPC classification number: B25J15/08 ,  B25J9/1045 ,  B25J13/084 ,  B25J15/0009

    Abstract: A robotic end effector includes a finger and at least one actuator. The finger extends from a proximal end to a distal end along a finger axis. The finger includes a first phalanx proximate the proximal end, a second phalanx proximate the distal end, and a knuckle joint including at least one vertebra interposed between and separating the first and second phalanxes. The knuckle joint is configured to permit the second phalanx to pivot relative to the first phalanx about a pivot axis transverse to the linger axis. Each vertebra has an axial thickness extending along the finger axis and a lateral width extending perpendicular to its axial thickness, and its lateral width is greater than its axial thickness. The at least one actuator is operable to move the second phalanx relative to the first phalanx about the pivot axis.

    Abstract translation: 机器人末端执行器包括手指和至少一个致动器。 手指沿手指轴从近端延伸到远端。 手指包括邻近近端的第一指骨，邻近远端的第二指骨以及包括插入第一指骨和第二指骨之间并分离第一指骨的至少一个椎骨的关节。 关节接头构造成允许第二趾骨相对于第一趾骨围绕垂直于徘徊轴线的枢转轴线枢转。 每个椎骨具有沿手指轴线延伸的轴向厚度和垂直于其轴向厚度延伸的横向宽度，并且其横向宽度大于其轴向厚度。 所述至少一个致动器可操作以使第二指骨相对于第一指骨围绕枢转轴线移动。

    MOBILE CLEANING ROBOT WITH SKIDS
    2.
    发明申请
    MOBILE CLEANING ROBOT WITH SKIDS 审中-公开

    公开(公告)号：WO2023009300A1

    公开(公告)日：2023-02-02

    申请号：PCT/US2022/036637

    申请日：2022-07-11

    Applicant: IROBOT CORPORATION

    Inventor： OHM, Timothy R. ,  AMARAL, Erik ,  DESCHENES, Andrew

    IPC: A47L9/04 ,  A47L9/00 ,  A47L9/06

    Abstract: A mobile cleaning robot can include a body, a drive wheel, and a plurality of skids. The drive wheel can be connected to the body and can be engageable with a floor surface of an environment. The drive wheel can be operable to move the mobile cleaning robot about an environment. The skids can be separate skids that can be connected to the body and can be engageable with the floor surface to support, together with the drive wheel, the mobile cleaning robot with respect to the floor surface.

    FLOATING BUMPER IN AUTONOMOUS CLEANING ROBOT
    3.
    发明申请
    FLOATING BUMPER IN AUTONOMOUS CLEANING ROBOT 审中-公开

    公开(公告)号：WO2021101597A1

    公开(公告)日：2021-05-27

    申请号：PCT/US2020/043687

    申请日：2020-07-27

    Applicant: IROBOT CORPORATION

    Inventor： OHM, Timothy R. ,  AMARAL, Erik ,  DESCHENES, Andrew

    IPC: A47L9/28

    Abstract: An autonomous mobile cleaning robot can include a robot body, a bumper, and a coupling. The robot body can include a displacement sensor. The bumper can be moveably coupled to the body. The coupling can include a displacement limiter associated with the displacement sensor. The displacement limiter can inhibit or limit sensing by the displacement sensor of displacement of the bumper from the robot body caused by forces below a threshold horizontal force value.

    MANEUVERING ROBOTIC VEHICLES HAVING A POSITIONABLE SENSOR HEAD
    4.
    发明申请
    MANEUVERING ROBOTIC VEHICLES HAVING A POSITIONABLE SENSOR HEAD 审中-公开
    具有可定位传感器头的机动车

    公开(公告)号：WO2008097376A2

    公开(公告)日：2008-08-14

    申请号：PCT/US2007/080541

    申请日：2007-10-05

    Applicant: IROBOT CORPORATION ,  OHM, Timothy R. ,  BASSETT, Michael

    Inventor： OHM, Timothy R. ,  BASSETT, Michael

    CPC classification number: B62D55/075 ,  B25J5/005 ,  B62D37/04 ,  B62D55/02 ,  B62D55/065 ,  B62D57/024 ,  Y10S180/907 ,  Y10S901/01

    Abstract: A robot (100,800,1100,1200,1400,1600,2200,2300,2400,2500,2600,3300) includes a chassis (140,301,310,501,801,1601,3202) supporting a skid steered drive (110,1610,2202,2204,3310) and a set of driven flippers (130,302,502,602,802,1602). Each flipper is pivotable about a first pivot axis (15,315) common with a drive axis (15) near the chassis's leading end (104A,302A). The robot includes a neck (305,805,1605,2210) pivotable about a second pivot axis (317) substantially at the chassis's leading end (140A,301A) and a sensor head (303,803,1603,2206) pivotally coupled to the neck (305,805,1605,2210). The chassis, flippers, neck and head: (i) have a combined center of gravity (combined-CG,364,CG1,CG50) disposed in a forward-rearward sense between distal and pivot ends (130A,130B,302A,302B) of the flippers (130,302,502,602,802,1602) when the flippers are in a stowed position with their distal ends (130A,302A) between leading and trailing ends (140A,140B,301A,301B) of the chassis, and (ii) are each independently movable between a first position and a second position to reposition the combined center of gravity for negotiating an obstacle.

    Abstract translation: 机器人（100,800,1100,1200,1400,1600,2200,2300,2400,2500,2600,3300）包括支撑滑动转向驱动器（110,1610,2202,2204,3310）的底盘（140,301,310,501,801,1601,3202） ）和一组驱动的脚蹼（130,302,502,602,802,1602）。 每个挡板可围绕与底盘的前端（104A，302A）相邻的驱动轴线（15）共同的第一枢转轴线（15,315）枢转。 机器人包括一个颈部（305,805,1605,2210），该颈部可绕基本上位于底盘的前端（140A，301A）的第二枢转轴线（317）枢转并且枢转地联接到颈部的传感器头（303,803,1603,2206）（305,805 ，1605,2210）。 底盘，脚蹼，颈部和头部：（i）在远端和枢轴端（130A，130B，302A，302B）之间具有以向前 - 向后的方式设置的组合重心（组合的CG，364，CG1，CG50） （130A，302A）位于底盘的前端和后端（140A，140B，301A，301B）之间，并且（ii）各自独立地位于所述脚蹼（130,302,502,602,802,1602）中，并且 在第一位置和第二位置之间移动以重新定位组合重心以协商障碍物。

    ROBOTIC ARM AND WRIST MECHANISMS
    7.
    发明申请
    ROBOTIC ARM AND WRIST MECHANISMS 审中-公开
    机动武器和手持机械

    公开(公告)号：WO2016123083A1

    公开(公告)日：2016-08-04

    申请号：PCT/US2016/014879

    申请日：2016-01-26

    Applicant: IROBOT CORPORATION

    Inventor： CLAFFEE, Mark R. ,  OHM, Timothy R. ,  AMARAL, Erik ,  MOZEIKA, Annan M.

    IPC: B25J18/04 ,  B25J17/00 ,  B25J9/10

    CPC classification number: F16H25/20 ,  B25J17/0266 ,  F16H35/18 ,  F16H2025/2062

    Abstract: A robot includes a support, a movable member coupled to the support to permit gimbal rotation about a pitch axis and a yaw axis, and first and second linear actuators connected to each of the support and the movable member and operable to rotate the movable member about the pitch axis and the yaw axis. The first linear actuator is pivotally attached to the movable member at a first pivot point. The second linear actuator is pivotally attached to the movable member at a second pivot point. The first and second pivot points are each angularly offset from the pitch axis and the yaw axis by about 45 degrees and are located on the same side of the pitch axis.

    Abstract translation: 机器人包括支撑件，联接到支撑件的可移动构件以允许围绕俯仰轴线和偏转轴线的万向节旋转，以及连接到每个支撑件和可动构件并且可操作以使可移动构件绕其周围旋转的第一和第二线性致动器 俯仰轴和偏航轴。 第一线性致动器在第一枢转点枢转地附接到可动构件。 第二线性致动器在第二枢转点枢转地附接到可动构件。 第一枢转点和第二枢转点各自与俯仰轴线和偏转轴线成角度偏移约45度并位于俯仰轴线的同一侧。

    CLEANING ROLLERS FOR CLEANING ROBOTS
    9.
    发明申请
    CLEANING ROLLERS FOR CLEANING ROBOTS 审中-公开

    公开(公告)号：WO2020176160A1

    公开(公告)日：2020-09-03

    申请号：PCT/US2020/012336

    申请日：2020-01-06

    Applicant: IROBOT CORPORATION

    Inventor： BURBANK, Eric ,  OHM, Timothy R. ,  AMARAL, Eric

    IPC: A46B13/02 ,  A46B15/00 ,  A46B3/04 ,  A47L11/18 ,  A47L11/282 ,  A47L11/24

    Abstract: A cleaning roller mountable to a cleaning robot is featured. The cleaning roller includes an elongate member extending along a longitudinal axis of the cleaning roller, and a vane extending outward from the elongate member. The vane includes a first vane portion attached to the elongate member, and a second vane portion attached to the first vane portion. The first vane portion extends from the elongate member at a location intersecting a radial axis of the cleaning roller. The first vane portion extends along a first axis angled relative to the radial axis and away from the radial axis in a tangential direction. The second vane portion extends along a second axis angled relative to the first axis. A first angle between the first axis and the radial axis is greater than a second angle between the second axis and the radial axis.

    CLEANING BIN FOR CLEANING ROBOT
    10.
    发明申请
    CLEANING BIN FOR CLEANING ROBOT 审中-公开

    公开(公告)号：WO2018118072A1

    公开(公告)日：2018-06-28

    申请号：PCT/US2016/068386

    申请日：2016-12-22

    Applicant: IROBOT CORPORATION

    Inventor： AMARAL, Erik ,  OHM, Timothy R. ,  MORETTO, Nicholas

    IPC: A47L9/16 ,  A47L9/12 ,  A47L11/24

    Abstract: A cleaning bin mountable to an autonomous cleaning robot operable to receive debris from a floor surface includes a debris compartment to receive a first portion of debris separated from the airflow and a particulate compartment to receive a second portion of debris separated from the airflow. The cleaning bin also includes a debris separation cone having an inner conduit defining an upper opening and lower opening. The upper opening receives the airflow from the air channel. The inner conduit tapers from the upper opening to the lower opening such that the airflow forms a cyclone within the inner conduit.

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