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US 11,572,117 B2Granted
Obstacle traversing mobile robot
AssigneeStarship Technologies Oü
InventorsIvo Liivik, Märt Liivik, Tiit Liivik
Life of this patent
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Abstract
Disclosed is a mobile robot adapted to traverse vertical obstacles. The robot comprises a frame and at least one wheel positioned in a front section of the robot, at least two middle wheels and at least two rear wheels. The at least one middle wheel and at least one rear wheel are connected by a tilting lever that is arranged on each of the opposing sides of or to the frame, forming a pair of wheels. Each tilting lever can be turned around a lever bearing located between the respective axial centers of rotation of each pair of wheels.
Claims28
A mobile robot comprising:
- (a) a frame with at least one front wheel, at least two middle wheels and at least two rear wheels,
- (b) wherein at least one middle wheel and at least one rear wheel are connected by a tilting lever that is arranged on each of opposing sides of or to the frame, forming a pair of wheels;
- and
- (c) wherein each tilting lever can be turned around a lever bearing located between respective axial centers of rotation of each pair of wheels,
- wherein the tilting lever is constructed and adapted to apply a downward force to at least one of the at least two middle wheels to facilitate motion of the at least one front wheel over an obstacle.
2 more elements
A method comprising:
- (a) providing a mobile robot comprising a frame with at least one front wheel, at least two middle wheels and at least two rear wheels;
- and
- (b) connecting at least one middle wheel and at least one rear wheel by a tilting lever that is arranged on each of opposing sides of or to the frame, forming a pair of wheels;
- (c) turning the tilting lever around a lever bearing located between respective axial centers of rotation of each pair of wheels when traversing an obstacle;
- and
- (d) applying, via the tilting lever, a downward force to at least one of the at least two middle wheels to facilitate motion of the at least one front wheel over a vertical obstacle.
3 more elements
Dependencies are inferred from the claim text.