• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Mobile robot movable in a plane, which has two bodies (2, 3) connected to each other by means of a passive joint (4) with two degrees of freedom, and by means of two linear actuators (5, 6), each of them formed by a variable length bar connected to both bodies (2, 3) by means of rotation joints (5', 5 ", 6', 6"), the linear actuators (5, 6) being arranged crossed with each other. The mobile robot also has a controller (7) connected to the linear actuators (5, 6) for their control and actuation, and the bodies (2, 3) have temporary adhesion means (8) to the plane of movement of the robot (1) also connected to the controller (7). (Machine-translation by Google Translate, not legally binding)
    公开号:ES2853898A1
    申请号:ES202030222
    申请日:2020-03-17
    公开日:2021-09-17
    发明作者:Vidal Adrián Peidró；López José María Marín；Galdeano Mónica Ballesta；García Oscar Reinoso；Castelló Luis Payá；García Luis Miguel Jiménez
    申请人:Universidad Miguel Hernandez de Elche；
    IPC主号:
    专利说明:

    [0004] Field of the invention
    [0006] The present invention belongs to the technical field of robotics, specifically to mobile robots and devices with autonomous movement, and more specifically to mobile robots that can be moved autonomously by linear actuators in a plane, whether horizontal, vertical or inclined.
    [0008] Background of the invention
    [0010] At present there are numerous types of mobile robots with autonomous movement, of the type that move in horizontal, vertical or horizontal planes. These types of robots are often used to carry out automated tasks, such as inspection, cleaning, maintenance or monitoring of infrastructures.
    [0012] These robots have a chassis and means of movement of various types, such as wheels, rollers, linear actuators, etc. They are usually guided by sensors, and are controlled by wireless means. Depending on the applications, or tasks to be carried out by the robots, they can have additional devices attached to the chassis, such as robotic arms, tools, brushes, etc ...
    [0014] Specifically, sliding frame robots with binary actuators basically consist of a structure, frame or frame that moves through a plane driven by linear actuators driven by a controller, which provide a linear movement between the joining parts. A suitable number of linear actuators arranged in certain positions provide the displacement of the robot.
    [0016] An example of a sliding frame robot with binary actuators is the “Planar Walker” robot, by Chen and Yeo (2003), in the publication “Chen, IM, & Yeo, SH ( 2003).
    [0017] Locomotion of a two-dimensional walking-climbing robot using a closed-loop mechanism: From gait generation to navigation. The International Journal of Robotics Research, 22 ( 1), 21-40 ", which consists of a set of binary linear actuators connected forming closed kinematic chains, so that some points of these chains can be anchored to the ground by means of suction cups, in such a way that, by actuating the binary actuators, the position of the robot changes and allows it to move through the environment. The robot consists of four binary linear actuators, so it achieves certain maneuverability in a very complex way.
    [0019] The document "Pavlov, V., Chavdarov, I., Vatskichev, A., & Nikolov, V. ( sf) Robots Walking by Combined Body-Leg Motion", shows a robot similar in certain aspects to the previous one, in which to the translation of the robot uses two linear actuators.
    [0021] The document “La Rosa, G., Messina, M., Muscato. G, & Sinatra, R. ( 2002). A low-cost lightweight climbing robot for the inspection of vertical surfaces. Mechatronics, 12 ( 1), 71-96 ". The robot proposed by La Rosa et al. (2002) is another robot with a sliding frame, formed by two bodies joined by two joints, one prismatic and the other rotating to turn. Each of the bodies can be fixed to the ground independently of the other, so that this robot can move around its environment by fixing one of the bodies and moving the other with respect to the first, subsequently exchanging the roles of fixed and mobile bodies. This robot can only advance a fixed distance in each movement made by each of the bodies.
    [0023] Another robot similar to the previous ones is the one shown in “Gudi, SS, Bhat, K. ( 2016). Design and development of pneumatic suction based wall climbing robot for multiple applications. International Research Journal of Engineering and Technology ”. This robot is much simpler than the previous ones, since it can only move in a straight line, and without being able to change direction, unlike the previous ones, which, although complex in shape, can change the direction of movement.
    [0025] It is therefore desirable to have a robot movable in a plane, which can achieve high maneuverability in a simple way, avoiding the drawbacks existing in the previous systems of the state of the art.
    [0026] Description of the invention
    [0028] The present invention solves the problems existing in the state of the art by means of a mobile robot movable in a plane, formed by a first body and a second body, both connected to each other by means of a passive joint with two degrees of freedom, and by a first linear actuator and a second linear actuator.
    [0030] Preferably, the passive two-degree-of-freedom joint connecting the first body to the second body is of the pin-in-slot type. Thus, the position of the second body along the slot of the first body is parameterized by the variable y, while the orientation of the second body is parameterized by the angle 0. Therefore, by means of a linear parameter and an angular parameter it is defined the relative position and orientation between the first body and the second body.
    [0032] As for linear actuators, each of them has a variable length bar connected to both bodies by means of rotation joints, as follows: the first linear actuator is connected to the first body by means of a first rotation joint and to the second body by means of a second rotation joint. The second linear actuator is connected to the first body by a third rotation joint and to the second body by a fourth rotation joint. The rotary joints are arranged in the bodies in such a way that the linear actuators are arranged crosswise.
    [0034] This arrangement with the linear actuators crossed with each other allows the robot to adopt eight possible configurations or states with only two binary actuators, that is, twice as many as it could adopt with the actuators arranged without crossing.
    [0036] Variable length rods can be embodied in different known ways, such as hydraulically or electronically actuated cylinders.
    [0038] According to a particular embodiment of the invention, the linear actuators are binary, that is, each one of them has only two extreme positions, one of them they with the bar fully extended (which would be equivalent to position “1”), and the other with the bar fully retracted (which would be equivalent to position “0”).
    [0040] According to an alternative particular embodiment, the linear actuators are continuous, that is, in addition to the extreme positions, they present a continuous movement with different positions of the bar between these extreme positions.
    [0042] The robot additionally has a controller connected to the linear actuators, which controls their movement to provide the robot with the desired movement.
    [0044] The bodies have means of temporary adhesion to the plane of movement of the robot connected to the controller. These means temporarily fix one of the bodies to the plane of movement while the other moves actuated by the actuators. Subsequently, the body that was fixed is released so that it can be operated by the actuators, while the other is fixed to the plane. In this way, the movement of the robot is achieved through a multitude of positions in the plane, with only two linear actuators. According to different particular embodiments of the invention, these temporary adhesion means can be made by magnets, or suction cups, actuated by the controller.
    [0046] Therefore, the invention consists of a mobile robot that, using only two linear actuators, is capable of moving along a plane with great freedom of movement and maneuverability.
    [0048] According to the above, the principle of locomotion of this mobile robot is similar to that of a caterpillar. To advance through a plane, the robot repeatedly performs the following cycle: First it fixes the first body to the plane, and then the first and second linear actuators are extended or retracted to move the second body in the plane, reaching a new position. and orientation, which will depend on how the actuators are extended or retracted. Once the second body has reached the new position and orientation, it is attached to the plane and the first body is released from the plane. By varying the length of the actuators again, it is now achieved that the first body reaches a new position and orientation, thus completing a movement cycle. By repeating this cycle, the advancement of the robot along the plane is achieved.
    [0049] Therefore, the main advantage of the present preparation is to achieve a robot that can reach a large number of different positions, and therefore a high maneuverability along a plane, through a simple configuration using only two linear actuators, which could be binary, providing somewhat reduced mobility, or continuous, providing much greater maneuverability.
    [0051] Brief description of the drawings
    [0053] In order to facilitate the understanding of the invention, an embodiment of the invention will be described below, by way of illustration but not limitation, making reference to a series of figures.
    [0055] Figure 1 is a schematic view of an embodiment of a robot object of the present invention showing its essential elements.
    [0057] Figures 2a-2d schematically show a sequence of movements of the bodies of the robot of Figure 1 by means of the linear actuators, which provide the movement to the robot.
    [0059] Figure 3 shows in a coordinate graph the actuation space of the robot of Figures 1 and 2a-2d, as a function of the values of the binary linear actuators.
    [0061] Figure 4 shows in a coordinate graph, the configuration space of the robot of figures 1, 2a-2d and 3, as a function of the values of the position of one of the bodies along the slot of the other (and ), and the orientation of said body (0).
    [0063] Figure 5 schematically shows the workspace of the robot of figures 1, 2a-2d, 3 and 4, which represents the discrete points to which the robot can have access with binary actuators, starting from an initial position, after three movement cycles, each movement cycle considering the sequence of movements that starts from the first fixed body and the second free body, the second body moves, the second body is fixed and the first body is released, the first body moves, fixes the first body and releases the second body.
    [0064] Figure 6 shows a detailed perspective view of an embodiment of a robot object of the present invention.
    [0066] In these figures, reference is made to a set of elements that are:
    [0067] 1. robot
    [0068] 2. first body
    [0069] 3. second body
    [0070] 4. passive connecting joint of the first body and the second body
    [0071] 5. first linear actuator
    [0072] 5'. first rotational joint connecting the first actuator to the first body 5 ''. second rotational joint connecting the first actuator to the second body
    [0073] 6. second linear actuator
    [0074] 6 '. third rotary joint connecting the second actuator to the first body
    [0075] 6 ''. fourth rotational joint connecting the second actuator to the second body
    [0076] 7. controller
    [0077] 8. means of temporary adhesion of the bodies to the plane of movement 9. pin of the passive articulation
    [0078] 10. passive joint groove
    [0079] r1. straight line that passes through the rotational joints arranged in the first body
    [0080] r2. Line parallel to line r1 that passes through the pin of the second body r3. straight through the rotational joints arranged in the second body
    [0081] and. distance between parallel lines ri and r2, which defines the position of the second body along the groove of the first body
    [0082] 0. angle formed between the lines r2 and r3 that defines the angle formed by the first body and the second body
    [0083] U. state U of the robot dependent on the position and relative orientation of the first body and second body
    [0084] V. state V of the robot dependent on the position and relative orientation of the first body and second body
    [0085] Detailed description of the invention
    [0087] The object of the present invention is a mobile robot movable in a plane.
    [0089] As can be seen in the figures, the mobile robot 1 has a first body 2 and a second body 3, which are connected to each other by a passive joint 4 with two degrees of freedom, and by a first linear actuator 5 and a second linear actuator 6.
    [0091] As for the passive joint 4 with two degrees of freedom, as can be seen in Figures 1 and 2a-2d, it is preferably of the pin-in-slot type. In this case, the first body 2 has a slot 10 along which a pin 9 arranged in the second body 3 can move. This articulation allows the relative linear movement of the first body 2 with respect to the second body 3 or vice versa. , in addition to the rotation of the first body 2 with respect to the second body 3, or vice versa. Thus, the position of the second body 3 along the slot 10 of the first body 2 is parameterized by the variable y, while the orientation of the second body 3 with respect to the first body 2 is parameterized by the angle 0.
    [0093] Each of the linear actuators 5,6 has a variable length rod connected to both bodies 2,3. The first linear actuator 5 is connected to the first body 2 by means of a first rotation joint 5 'and to the second body 3 by a second rotation joint 5' '. The second linear actuator 6 is connected to the first body 2 by a third rotation joint 6 'and to the second body 3 by a fourth rotation joint 6' '. The rotary joints 5 ', 5' ', 6', 6 '' are arranged in the bodies 2,3 in such a way that the linear actuators 5,6 are arranged across each other, as can be clearly seen in the figure 1, which is essential to the invention.
    [0095] Thus, this arrangement with the linear actuators 5,6 crossed with each other allows the robot 1 to adopt eight possible configurations or states with only two binary actuators, that is to say twice as many as it could adopt with the actuators arranged without crossing. Regarding the parameterization of the position of the second body 3 with respect to the first body 2, using the parameters y, 0, as can be seen in the Figure 1, the first body 2 has a first rotation joint 5 'and a third rotation joint 6' (also called the hinge type), and the second body 3 has a second rotation joint 5 '' and a fourth rotation joint. rotation 6 ''. The joints 5 'and 5 "are therefore connected by means of the first linear actuator 5, that is to say, by means of the first linear actuator 5 the distance between the joints 5' and 5" can be controlled. Likewise, the joints 6 'and 6 "are connected by means of the second linear actuator 6, that is to say, by means of the second linear actuator 6 the distance between the joints 6' and 6" can be controlled. Furthermore, as can be seen in figure 1, the second body 3 is articulated to the first body 2 by means of a passive articulation 4 with two degrees of freedom, which is preferably of the pin-in-slot type. In this case, the passive joint 4 is formed by a slot 10 arranged in the first body 2 and by a pin 9 arranged in the second body 3, aligned with the rotation joints 5 ", 6" arranged in the second body. , and movable along slot 10.
    [0097] As can be seen in figure 1, line n passes through the first rotation joint 5 'and through the third rotation joint 6', that is, it passes through the rotation joints arranged in the first body 2. In addition, line r2 is parallel to line n that passes through pin 9 of the second body 3. Likewise, line r3 passes through the second rotation joint 5 "and through the fourth rotation joint 6", that is, it passes through the joints arranged in the second body 3, and by the pin 9 aligned therewith.
    [0099] Therefore, as can be seen in figure 1, the parameter y is the distance between the parallel lines n and r2, while the parameter 0 is the angle formed between the lines r2 and r3
    [0101] According to a particular embodiment of the invention, the linear actuators 5,6 can be binary, that is, each one of them has only two extreme positions, one of them with the bar fully extended (which would be equivalent to position "1" ), and the other with the bar fully retracted (which would be equivalent to position “0”).
    [0103] According to an alternative particular embodiment, the linear actuators 5,6 could be continuous, that is, in addition to the extreme positions of the bars, they present a continuous movement with different positions of the bar between these extreme positions.
    [0105] The robot 1 additionally has a controller 7 connected to the linear actuators 5,6, which controls their movement to provide the robot 1 with the desired movement.
    [0107] Both the first body 2 and the second body 3 have temporary adhesion means 8 to the plane of movement of the robot 1, which are connected to the controller 7. These temporary adhesion means 8 temporarily fix one of the bodies 2,3 to the movement plane while the other body 3,2 moves driven by linear actuators 5,6. Subsequently, the body 2,3 that was fixed is released so that it can be operated by the linear actuators 5,6, while they fix the other 3,2 to the plane. In this way, the movement of the robot 1 is achieved along a multitude of positions in the plane, with only two linear actuators 5,6. According to different particular embodiments of the invention, these temporary adhesion means 8 can be made by magnets, or suction cups, actuated by the controller 7.
    [0109] Next, an example of movement of a robot 1 object of the present invention is described, in which for simplicity, the two linear actuators 5,6 are binary, that is, they only have two positions, one of them in which the The cylinder piston is fully retracted (actuator position “0”) and the other in which the cylinder piston is fully extended (actuator position “1”).
    [0111] According to the above, the robot 1 moves along a multitude of positions in the plane through a succession of movement cycles, where each movement cycle has a sequence of movements that starts from the first fixed body 2 and the second 3 free body, the second body 3 moves, the second body 3 is fixed, the first body 2 is released, the first body 2 is moved, the first body 2 is fixed and the second body 3 is released, and it starts again with a new cycle of movement.
    [0113] Therefore, to advance along a plane, the robot 1 shown in figure 1 repeatedly performs the following cycle: as seen in figure 2a, it first fixes
    [0116] the first body 2 to the plane and then they extend or retract the first and second linear actuators 5,6 to move the second body 3 in the plane, reaching a new position and orientation, as shown in figure 2b , which will depend on how the actuators are extended or retracted 5,6. Once the second body 3 has reached the new position and orientation, it is fixed to the plane and the first body 2 is released from the plane, as seen in figure 2c. By varying the length of the actuators 5,6 again, it is now achieved that the first body 2 reaches a new position and orientation, as seen in figure 2d, thus completing a movement cycle. By repeating this cycle, advancement of robot 1 along the plane is achieved.
    [0118] It could be thought that, by having only two binary linear actuators 5,6, the proposed robot 1 of figure 1 could only reach four different states, corresponding to the four possible combinations that its two binary actuators 5,6 may have, according to these are retracted (actuator position “0”) or extended (actuator position “1”). These four states would be: "00", "01", "10" and "11".
    [0120] Figure 3 shows the actuation space of the mechanism, where each of the axes represents the length of one of the binary actuators 5,6. In this representation the four binary combinations mentioned above are shown.
    [0122] However, in the proposed robot 1, each of the possible combinations of its binary actuators 5,6 corresponds to two possible states U, V of the robot 1, depending on the relative position that the bodies 2,3 maintain with each other. That is, for each of the four previous combinations, there are two possible alternatives or states U, V. Therefore, finally there would be eight positions depending on the position and relative orientation of the bodies 2,3 (defined by the parameters y, 0), reached as a function of the sequence of action of the binary actuators 5,6. That is, depending on the order in which the actuators 5,6 are retracted and / or extended, the robot 1 will end up reaching one configuration or another.
    [0124] Figure 4 shows the configuration space of this mechanism, where one of the axes represents parameter 0 and the other axis represents parameter y. In this representation the eight possible states of robot 1 are shown (two states U, V for each combination of the binary lengths of the binary actuators 5,6 of the figure 3). As previously indicated, each state U or V for each combination of the binary lengths of the binary actuators 5,6 depends on the position and relative orientation of the bodies 2,3 (defined by the parameters and, 0), reached in function of the sequence of action of the binary actuators 5,6. That is, depending on the order in which the actuators 5,6 are retracted and / or extended, the robot 1 will end up reaching one configuration or another.
    [0126] These positions are:
    [0128] “00U” (first actuator retracted, second actuator retracted, state U)
    [0129] “00V” (first actuator retracted, second actuator retracted, state V)
    [0130] “01U” (1st actuator retracted, 2nd actuator extended, state U)
    [0131] “01V” (first actuator retracted, second actuator extended, state V)
    [0132] “10U” (1st actuator extended, 2nd actuator retracted, state U)
    [0133] “10V” (1st actuator extended, 2nd actuator retracted, state V)
    [0134] “11U” (1st actuator extended, 2nd actuator extended, state U)
    [0135] “11V” (1st actuator extended, 2nd actuator extended, state V)
    [0137] Therefore, since each binary combination of the binary actuators 5,6 generates two possible states U, V for robot 1, the state or configuration that it adopts will not be a function solely of its binary actuators 5,6 (that is, of whether they are extended or retracted), but it will also depend on the relative position between the first body 2 and the second body 3, which in turn depends on the sequence of action of the actuators 5,6 that is followed. That is, depending on the order in which the actuators 5,6 are retracted and / or extended, the robot 1 will end up reaching one configuration or another.
    [0139] For example, considering figure 4, assuming that the robot 1 starts from state 11U, where both actuators 5,6 are extended, it is desired to move to a position 10 (first actuator 5 extended, second actuator 6 retracted). Depending on the sequence of action, the final state of robot 1 will be one or the other of the following: •
    [0141] • If the actuation sequence from 11 to 10 is followed directly (path C in figure 3), retracting only the second actuator 6 directly, then the robot 1 will end up in the 10U state shown in figure 4.
    [0142] • Following the actuation sequence from 11 to 01, then 00, and then 10 (path D in figure 3), that is, first retracting the first actuator 5, then the second actuator 6, and finally extending the first actuator 5, the robot 1 will end up in the 10V state shown in Figure 4.
    [0144] In this way, although robot 1 only has two binary linear actuators 5,6, it can reach eight different states (and not just four), and the state it reaches will depend on the specific action sequence that is followed to extend or retract said binary linear actuators 5,6. Following the appropriate sequence, similar to the previous example, robot 1 could make transitions between any two states, out of the eight possible states in figure 4. The key to these transitions is that, when making any closed path in space of actuation of figure 3, a special singular configuration is being wrapped, which is the point * in figure 3, which interchanges two different states that have the same combination of binary variables. This point * is a special uniqueness of this mechanism. It is a point located inside the 01-11-10-00 square in Figure 3. If the lengths of the actuators 5,6 were located on that point, the lines n and r3 would be coincident. If the robot 1 acts in a binary way (actuators 5,6 fully extended or retracted), that point * can never be reached, but it can be circled, producing the alternation of solutions as described. Taking advantage of its eight possible states, robot 1 has enormous freedom of movement to explore the plane despite having only two binary linear actuators 5,6, as illustrated in figure 5, which shows robot 1 scaled on its workspace , formed by the set of positions (point cloud) that the robot could reach (the center of the first body 2) after a sequence of three complete cycles (a complete cycle corresponds to the sequence shown between figures 2a-2d, as explained above). As shown in figure 5, despite having only two binary linear actuators 5,6, the working space of the proposed robot (which is made up of a discrete set of points) is capable of densely populating the plane through which it is located. moves, which denotes great maneuverability.
    [0146] Although the approach has been carried out with binary actuators (to achieve easier control), the linear actuators 5,6 could also be continuous, that is, in addition to the extreme positions of the bars (fully extended and
    [0149] fully retracted), present a continuous movement with different positions of the bar between these extreme positions. This is so because binary performance is a particular case of continuous performance.
    权利要求:
    Claims (5)
    [1]
    1. Mobile robot movable in a plane, characterized in that it comprises
    - a first body (2) and a second body (3), both connected to each other by
    - a passive joint (4) with two degrees of freedom, and therefore
    - a first linear actuator (5) and a second linear actuator (6), each of the linear actuators (5,6) comprising a bar of variable length connected to both bodies (2,3) by means of rotation joints (5 ' , 5 '', 6 ', 6' ') arranged in the first body (2) and the second body (3) in such a way that the linear actuators (5,6) are crossed with each other,
    - a controller (7) connected to the linear actuators (5,6),
    - The bodies (2,3) comprising temporary adhesion means (8) to the movement plane of the robot (1) connected to the controller (7).
    [2]
    A mobile robot movable in a plane, according to claim 1, in which the passive joint (4) with two degrees of freedom is of the pin-in-slot type.
    [3]
    3. Mobile robot movable in a plane, according to any of the preceding claims, in which the linear actuators (5,6) are binary.
    [4]
    4. Mobile robot movable in a plane, according to any of claims 1 to 2, in which the linear actuators (5,6) have intermediate stop positions between their ends.
    [5]
    5. Mobile robot movable in a plane, according to any of the preceding claims, in which the temporary adhesion means (8) comprise elements selected from magnets and suction cups.
    类似技术:
    公开号 | 公开日 | 专利标题
    Li et al.2011|Design and analysis of a biomimetic wire-driven robot arm
    US9550299B2|2017-01-24|Robotic mechanism with two degrees of freedom
    ES2382307T3|2012-06-07|Humanoid robot that implements a spherical joint with coupled actuators
    Hannan et al.2000|Analysis and initial experiments for a novel elephant's trunk robot
    KR20120058872A|2012-06-08|External pipe driving robot
    Suzumori et al.2003|A miniature inspection robot negotiating pipes of widely varying diameter
    RU202579U1|2021-02-25|SPATIAL MECHANISM WITH SIX DEGREES OF FREEDOM
    ES2544007A1|2015-08-26|Transformable humanoid submarine robot |
    ES2853898B2|2022-02-11|MOBILE ROBOT MOVABLE ON A PLANE
    Guan et al.2009|Climbing gaits of a modular biped climbing robot
    US11001319B2|2021-05-11|Mobile robot for locomotion through a 3-D periodic lattice environment
    WO2015016692A1|2015-02-05|Platform robot manipulator
    Soyguder et al.2007|Design and prototype of a six‐legged walking insect robot
    RU2651781C1|2018-04-23|Industrial purpose tripod manipulator
    Soyguder et al.2011|Motion mechanism concept and morphology of a single actuator tetrapod walking spider robot: the ROBOTURK SA‐2 Robot
    Cai et al.2009|A biologically inspired miniature biped climbing robot
    RU182801U1|2018-09-03|MANIPULATOR WITH FIVE DEGREES OF FREEDOM
    RU2679260C1|2019-02-06|Manipulator for submicron displacements
    Laski et al.2014|A delta type closed kinematics chain with pneumatic muscle actuator manipulator
    ES2230953B2|2006-06-16|ROBOT PARALLEL TREPADOR AND SLIDING FOR WORK ON STRUCTURES AND SURFACES.
    RU164757U1|2016-09-10|MANIPULATOR OF PARALLEL STRUCTURE WITH SIX DEGREES OF FREEDOM
    Parada et al.2016|A new meta-module for efficient reconfiguration of hinged-units modular robots
    DE10016038B4|2005-07-21|Mobile to generate motion by utilizing non-holistic constraints
    Janos2016|Mobility of self reconfiguring systems of robots platform
    RU207790U1|2021-11-16|Spatial mechanism with six degrees of freedom
    同族专利:
    公开号 | 公开日
    ES2853898B2|2022-02-11|
    WO2021186093A1|2021-09-23|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US4897015A|1987-05-15|1990-01-30|Ade Corporation|Rotary to linear motion robot arm|
    US6132165A|1998-02-23|2000-10-17|Applied Materials, Inc.|Single drive, dual plane robot|
    KR20160029162A|2014-09-04|2016-03-15|한국생산기술연구원|Walking robot leg mechanism|
    法律状态:
    2021-09-17| BA2A| Patent application published|Ref document number: 2853898 Country of ref document: ES Kind code of ref document: A1 Effective date: 20210917 |
    2022-02-11| FG2A| Definitive protection|Ref document number: 2853898 Country of ref document: ES Kind code of ref document: B2 Effective date: 20220211 |
    优先权:
    申请号 | 申请日 | 专利标题
    ES202030222A|ES2853898B2|2020-03-17|2020-03-17|MOBILE ROBOT MOVABLE ON A PLANE|ES202030222A| ES2853898B2|2020-03-17|2020-03-17|MOBILE ROBOT MOVABLE ON A PLANE|
    PCT/ES2021/070186| WO2021186093A1|2020-03-17|2021-03-16|Mobile robot that can be moved in a plane|
    [返回顶部]