JPH06293095A - Panel structure - Google Patents
Panel structureInfo
- Publication number
- JPH06293095A JPH06293095A JP8284193A JP8284193A JPH06293095A JP H06293095 A JPH06293095 A JP H06293095A JP 8284193 A JP8284193 A JP 8284193A JP 8284193 A JP8284193 A JP 8284193A JP H06293095 A JPH06293095 A JP H06293095A
- Authority
- JP
- Japan
- Prior art keywords
- panel
- core
- panel structure
- joined
- joining
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Laminated Bodies (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、鉄道車両を含む船等の
輸送手段、建築等に用いられるパネル構造に係り、特に
パネル強度向上に好適なパネル構造に関するものであ
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a panel structure used for transportation means such as ships including railway cars, construction, etc., and more particularly to a panel structure suitable for improving panel strength.
【０００２】[0002]
【従来の技術】従来より知られているハニカムパネルの
製造方法としては、例えば実公平２−３３９８０号、特
公平２−４２５８５号等が知られている。これらの製造
方法においては、アルミニウム箔、クラフト紙、プラス
チック等のシート状のコア素材を積層し、ろう材または
接着剤等の固着剤によって一定間隔をおいた位置で該コ
ア素材を千鳥状に固着して、これを積層方向に展張して
ハニカムコアを形成し、このハニカムコアの表裏面に面
板を固着することによって平板状のハニカムパネルを製
造している。2. Description of the Related Art As a conventionally known method of manufacturing a honeycomb panel, for example, Japanese Utility Model Publication No. 2-33980 and Japanese Patent Publication No. 2-42585 are known. In these manufacturing methods, sheet-shaped core materials such as aluminum foil, kraft paper, and plastic are laminated, and the core materials are fixed in a zigzag manner at positions spaced by a fixing agent such as a brazing material or an adhesive. Then, this is expanded in the stacking direction to form a honeycomb core, and face plates are fixed to the front and back surfaces of this honeycomb core to manufacture a flat honeycomb panel.
【０００３】一方、軽合金製のろう付ハニカムを用いた
パネル構造としては、特開平３−９０４６８号が知られ
ている。On the other hand, JP-A-3-90468 is known as a panel structure using a brazing honeycomb made of a light alloy.
【０００４】[0004]
【発明が解決しようとする課題】近年、鉄道車両の高速
化の要求が高まっている。鉄道車両の高速化にともな
い、軌道破壊や走行時における騒音の増大や動力費の増
加等の問題が生じる。これらの問題を解決するために
は、鉄道車両の走行速度に応じた軽量化が必要である。
従来、鉄製構体および軽合金製構体においては、外板部
材および骨部材の薄肉化による軽量化が図られている
が、部材の強度および剛性の面から軽量化の限界があ
る。また、外板部材に軽合金製のハニカムパネルを用
い、骨部材との溶接構造を採用したものがあるが、車体
断面の曲率の変化する箇所やパネルの接合部において局
部的に応力が集中し、補強部材を必要とするため軽量化
の妨げになることがあった。In recent years, there has been an increasing demand for high speed railway vehicles. As the speed of railway vehicles increases, problems such as track breakage, increased noise during running, and increased power costs occur. In order to solve these problems, it is necessary to reduce the weight according to the running speed of the railway vehicle.
Conventionally, in the iron structure and the light alloy structure, weight reduction has been achieved by thinning the outer plate member and the bone member, but there is a limit to weight reduction in terms of strength and rigidity of the member. In addition, there is a structure in which a honeycomb panel made of a light alloy is used for the outer plate member and a welding structure with a bone member is adopted. However, the need for a reinforcing member sometimes hinders weight reduction.
【０００５】鉄道車両が高速でトンネル内を走行する
際、車内外圧力差が急激に変化することが知られてい
る。特に、車両同志がトンネル内ですれ違う場合には、
大きな圧力変動が短時間に発生する。２００ｋｍ／ｈ以
上の高速で走行する車両は、このような圧力変動に対し
て、構体の剛性を図ると共に、軽量化を図ることは相反
する関係にあり、実現性に困難であった。It is known that when a railway vehicle travels in a tunnel at a high speed, the pressure difference between the inside and outside of the vehicle changes rapidly. Especially when vehicles are passing each other in the tunnel,
Large pressure fluctuations occur in a short time. For a vehicle traveling at a high speed of 200 km / h or more, it is difficult to realize the rigidity of the structure and the weight reduction against such a pressure fluctuation, which is a contradictory relationship.
【０００６】また、ハニカムパネルを各種構造部材とし
て用いる場合には、構成される構造物のデザイン或いは
強度確保の観点から該ハニカムパネル自体が曲面状に形
成されていることが要求されるが、力の流れを考えた形
状になっていないのが現状であった。Further, when the honeycomb panel is used as various structural members, it is required that the honeycomb panel itself is formed in a curved shape from the viewpoint of designing the structure or securing strength. The current situation is that the shape does not take into consideration the flow of.
【０００７】また、パネル同士を接合した場合、相手パ
ネルに力を伝達する結合部材がパネル自体をなす他の結
合部材等に対して適確、かつ、十分に接合されてないと
表材２枚のみしか力を伝達しないこととなる。さらに、
ハニカムコアの接合部分の剥離或いはハニカムコア自体
の座屈などが発生することが予想される。このことも、
剛性および強度確保の点から好ましくない。Further, when the panels are joined together, the joining member for transmitting the force to the mating panel must be properly joined to the other joining members forming the panel itself, etc. Only the power will be transmitted. further,
It is expected that peeling of the bonded portion of the honeycomb core or buckling of the honeycomb core itself will occur. This also
It is not preferable in terms of securing rigidity and strength.
【０００８】本発明の第一の目的は、結合部材同士の接
合部を完全に一体化して強度低下を防止し得るパネル構
造を提供することにある。A first object of the present invention is to provide a panel structure capable of preventing the deterioration of strength by completely integrating the joints between the connecting members.
【０００９】[0009]
【課題を解決するための手段】上記第１の目的を達成す
るために、本発明は交差して配置される結合部材の二方
向のうち主である一方向が曲線状をなし、他方向が直線
状をなしたものにおいて、それらの接合端を溶接等によ
り一体化し、接合面の表面を平滑に仕上て、表材との接
合を容易にした構成を特徴とするものである。SUMMARY OF THE INVENTION In order to achieve the first object, the present invention has one of two directions of connecting members which are arranged intersecting each other having a curved shape and the other direction having a curved shape. In the linear shape, the joining ends thereof are integrated by welding or the like, the surface of the joining surface is finished smooth, and the joining with the surface material is facilitated.
【００１０】また、前記第２の目的を達成するために、
本発明は交差する二方向部材間にクラッド材を入れ、部
材と芯材間にもクラッド材を入れて接合することを特徴
としたものである。In order to achieve the second object,
The present invention is characterized in that a clad material is inserted between intersecting bidirectional members, and a clad material is also inserted between the member and the core material for joining.
【００１１】[0011]
【作用】本発明のパネル構造においては、部材間の構成
部材に変形或いは接合部の剥離等が生じることがなく、
強度の均一な構造が得られる。In the panel structure of the present invention, the constituent members between the members are not deformed or the joint is peeled off.
A structure with uniform strength is obtained.
【００１２】また、成形型の上に表材、複数の芯材およ
び表材を、各表材の二次曲面が部材間に薄いクラッド材
を入れ加圧接合するだけで製作できることから、煩雑な
作業もなく容易に製作することができる。さらに、表
材、複数のコア素材および表材は、それぞれ独立した状
態で相互に位置決めされるので、各コア素材よりなるハ
ニカムコアの厚さが曲面を成した状態で一定になること
から、標準化が図れる。Further, since a surface material, a plurality of core materials, and a surface material can be produced on the molding die only by inserting a thin clad material between the members with the quadric surface of each surface material and performing pressure bonding, it is complicated. It can be easily manufactured without any work. Further, since the surface material, the plurality of core materials, and the surface material are mutually positioned independently of each other, the thickness of the honeycomb core made of each core material becomes constant in a curved state, which is standardized. Can be achieved.
【００１３】[0013]
【実施例】本発明の一実施例を図１〜５により説明す
る。この実施例は、ろう付アルミハニカムの例である。
図２は本発明によって得られた鉄道車両へのパネル構造
採用の一実施例を示し、図１は図２に示した車両のパネ
ル構造図であり、図３は図２におけるパネル構造の平面
図である。同図において、１は鉄道車両の構体であり、
側構体２、台枠３、屋根構体４および妻構体５から構成
されている。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to FIGS. This example is an example of a brazed aluminum honeycomb.
FIG. 2 shows an embodiment of a panel structure adopted in a railway vehicle obtained by the present invention, FIG. 1 is a panel structure diagram of the vehicle shown in FIG. 2, and FIG. 3 is a plan view of the panel structure in FIG. Is. In the figure, 1 is the structure of the railway vehicle,
It is composed of a side structure 2, an underframe 3, a roof structure 4, and a gable structure 5.
【００１４】パネル１１は直交する二方向のうち一方向
が直線状であって他方向が曲線状に形成されている。二
次曲面に形成された二枚の表材１２、１３と、その間に
配置される芯材であるハニカムコア１４およびパネル同
志を接合する為の接合部材１５ａ，１５ｂとから構成さ
れる。前記ハニカムコア１４は、薄い板状素材のハニカ
ムを二分割した台形状に予め成形し、複数の該コア素材
によって構成される。前記複数のコア素材１４は、連続
した台形部の頂部を背中合わせにするように互いに配置
される。この状態で、該コア素材は前記表材１３の曲面
内側に載せられ、上に表材１２を載せてろう付される。The panel 11 is formed so that one of two orthogonal directions is linear and the other is curved. It is composed of two surface materials 12 and 13 formed on a quadric surface, a honeycomb core 14 as a core material arranged between them, and bonding members 15a and 15b for bonding the panels together. The honeycomb core 14 is formed by preliminarily molding a thin plate-shaped honeycomb into a trapezoidal shape that is divided into two, and is configured by a plurality of core materials. The plurality of core materials 14 are arranged so that the tops of continuous trapezoids are back to back. In this state, the core material is placed on the inside of the curved surface of the surface material 13, and the surface material 12 is placed thereon and brazed.
【００１５】前記パネル１１をアルミニウム合金で構成
する場合、前記表材１２，１３としてはその板厚が１．
０前後〜数ｍｍ程度、ハニカムコア１４としては０．２
〜数ｍｍ程度のものを用いる。なお、前記実施例の場
合、表材１３よりも表材１２の板厚を厚くしている。When the panel 11 is made of an aluminum alloy, the surface materials 12, 13 have a plate thickness of 1.
Around 0 to several mm, 0.2 for the honeycomb core 14.
The thing of about several mm is used. In the case of the above-described embodiment, the surface material 12 is thicker than the surface material 13.
【００１６】このような構成において、その製作方法を
前記表材１２，１３およびハニカムコア１４がアルミ合
金製であって、接合剤としてアルミニウム合金製ろう材
を用いた例について説明する。まず、表材１２および１
３は、それぞれ所定の曲率半径Ｒ0、Ｒ1の二次曲面にロ
ール等により成形される。但し、表材自体の板厚が薄く
曲線半径が比較的大きい場合等の条件によっては、該表
材が自身で撓むので事前の前記成形を行なわなくても良
い。しかし、予め成形しておくほうが製作精度および作
業性の点では有利である。前記表材１２、１３のパネル
内面側すなわちハニカムコア１４と接する片面には、ろ
う材がロール圧延にて圧着されている。ハニカムコア１
４をなすコア素材は薄板を切断し、かつ、ハニカムをな
す台形状に順次折り曲げ加工される。又、結合材１５
ａ、１５ｂは初めから正規のパネル完成時の寸法にて溶
接部１６を形成することにより接合し、表材１２，１３
と当る溶接面は平滑に仕上られる。このようにして各構
成材料は製作され、これらを型材等に入れて、ろう付接
合しパネルを製作する。In such a structure, the manufacturing method will be described with reference to an example in which the surface materials 12 and 13 and the honeycomb core 14 are made of an aluminum alloy and an aluminum alloy brazing material is used as a bonding agent. First, the surface materials 12 and 1
3 is formed by a roll or the like into a quadric surface having predetermined radii of curvature R 0 and R 1 . However, depending on conditions such as the case where the surface material itself is thin and the curve radius is relatively large, the surface material is bent by itself, and thus the above-mentioned forming may not be performed. However, it is more advantageous to mold in advance in terms of manufacturing accuracy and workability. A brazing material is pressure-bonded by roll rolling to the panel inner surface side of the surface materials 12 and 13, that is, one surface in contact with the honeycomb core 14. Honeycomb core 1
The core material forming No. 4 is obtained by cutting a thin plate and sequentially bending it into a trapezoidal shape forming a honeycomb. Also, the binding material 15
a and 15b are joined by forming a welded portion 16 from the beginning with the dimensions at the time of completing the regular panel,
The weld surface that hits is finished smoothly. In this way, the respective constituent materials are manufactured, and these are put in a mold material or the like and brazed and bonded to manufacture a panel.
【００１７】結合部材１５ａ，１５ｂで枠を最初からパ
ネル完成時の正規寸法に製作しておくことにより、前記
表材１２，１３およびハニカムコア１４は、それぞれ独
立した状態で位置決めされるため、それぞれに無用な外
力が作用することがなく、個々の変形がない状態あるい
は最小限の状態で相互に接合される。したがって、ハニ
カムパネル１１として完成した状態で、外力を受けた際
に各構成部材がそれぞれ力を負担することになり、局部
的に応力が集中することがなく強度を均一化することが
できる。このことは、パネル全体の強度向上につなが
る。また、結合部材１５ａ、１５ｂで枠が作成されるた
め、ハニカムコア１４に変形を生じさせることなく容易
に接合させることができる。パネル完成時の最終寸法に
て前記結合部材１５ａ，１５ｂが接合されているため、
ハニカムコア１４を含めたパネル構成部材が完成時の最
終的な位置に位置決めされるため、相互の位置関係に無
理がなく、パネルとして精度のよいものを製作すること
ができる。また、表材１２，１３のそれぞれの表面に生
じる歪みを最小限に抑えることができる。By manufacturing the frame with the joining members 15a and 15b to the normal size when the panel is completed from the beginning, the surface materials 12 and 13 and the honeycomb core 14 are positioned independently of each other. No unnecessary external force is applied to them, and they are joined together without any individual deformation or in a minimal state. Therefore, when the honeycomb panel 11 is completed, each component bears a force when receiving an external force, and the strength can be made uniform without locally concentrating the stress. This leads to an increase in the strength of the entire panel. Further, since the frame is formed by the joining members 15a and 15b, the honeycomb core 14 can be easily joined without causing deformation. Since the joining members 15a and 15b are joined at the final dimensions when the panel is completed,
Since the panel constituent member including the honeycomb core 14 is positioned at the final position at the time of completion, it is possible to manufacture a panel with high accuracy without any undue positional relationship with each other. Further, it is possible to minimize the strain generated on the surfaces of the surface materials 12 and 13.
【００１８】さらに、表材１２，複数のコア素材および
表材１３は、それぞれ独立した状態で相互に位置決めさ
れるので、各コア素材よりなるハニカムコア１４の厚さ
が曲面を成した状態で一定になることから、パネル厚さ
を高い精度で均一化でき、標準化が図れるとともに各種
作業の機械化も容易となる。Further, since the surface material 12, the plurality of core materials and the surface material 13 are independently positioned with respect to each other, the thickness of the honeycomb core 14 made of each core material is constant in a curved state. Therefore, the panel thickness can be made uniform with high accuracy, standardization can be achieved, and mechanization of various operations can be facilitated.
【００１９】次に、本発明の他の実施例を図５により説
明する。同図において、前記一実施例と同一符号は同一
部材を示すものである。１７は結合部材１５ａ，１５ｂ
間に設置された継材である。該継材１０は結合部材１５
ａ，１５ｂおよびハニカムコア１４に対してろう付によ
り接合される。すなわち、継材１７はその両表面にろう
材をクラッドしたもので結合部材１５ａと結合部材１５
ｂとの間に配置することにより、実質的に両者を接合す
るものである。また、継材１７は結合部材１５ａ，１５
ｂとハニカムコア１４とを接合するものである。Next, another embodiment of the present invention will be described with reference to FIG. In the figure, the same reference numerals as those used in the first embodiment denote the same members. Reference numeral 17 is a connecting member 15a, 15b
It is a splice material installed in between. The joint material 10 is a connecting member 15.
It is joined to the a and 15b and the honeycomb core 14 by brazing. That is, the joint material 17 is obtained by clad a brazing material on both surfaces of the joint material 15 a and the joint member 15.
By arranging it between b and b, they are substantially joined together. Further, the joint material 17 is composed of the connecting members 15a, 15
b is joined to the honeycomb core 14.
【００２０】このような構成によれば、パネル１１は全
体にろう付されることにより、全体の剛性向上にもな
り、各部材の板厚を薄くすることも出来て軽量化にもつ
ながる。 前記各実施例においては、コア素材をハニカ
ムすなわち六角形を二分割した台形状に形成した例につ
いて説明したが、本発明はこれに限定されるものではな
く、コア素材を四角形等の他の連続形状に形成しても同
様な効果を達成することができる。また、前記実施例に
おいては、パネルに一つの二次曲面を形成した例につい
て説明したが、前記二次曲面をその曲面を順次逆方向に
連続形成して波形断面をなすパネルを形成することもで
きる。According to this structure, the panel 11 is brazed to the entire body, so that the rigidity of the entire panel is improved, the plate thickness of each member can be reduced, and the weight can be reduced. In each of the above-described embodiments, an example in which the core material is formed in a honeycomb shape, that is, a trapezoidal shape in which a hexagon is divided into two is described, but the present invention is not limited to this, and the core material is another continuous shape such as a quadrangle. The same effect can be achieved by forming the shape. Further, in the above-mentioned embodiment, an example in which one quadric surface is formed on the panel has been described, but it is also possible to form the quadric surface by sequentially forming the curved surfaces in the opposite direction to form a panel having a corrugated cross section. it can.
【００２１】[0021]
【発明の効果】本発明によれば、部材同志を強固に枠組
されたことにより、パネルの信頼性が向上され、常に強
度の均一なパネルを提供することができる。According to the present invention, since the members are firmly framed, the reliability of the panel is improved, and it is possible to provide a panel having a uniform strength at all times.
【００２２】また、本発明によれば、クラッド材である
継材をコア素材および結合材間に入れてろう付接合する
ことにより、煩雑な作業を必要とせず容易にパネルを製
作することができる。Further, according to the present invention, by joining a brazing material which is a clad material between the core material and the bonding material and brazing and joining, a panel can be easily manufactured without requiring complicated work. .
【図１】本発明によるパネル構造の一実施例を示す部分
断面斜視図である。FIG. 1 is a partial cross-sectional perspective view showing an embodiment of a panel structure according to the present invention.
【図２】図１に示したパネルを用いて構成される鉄道車
両の車体を示す斜視図である。FIG. 2 is a perspective view showing a vehicle body of a railway vehicle configured by using the panel shown in FIG.
【図３】図１に示したパネルの全体構造を示す正面図で
ある。FIG. 3 is a front view showing the overall structure of the panel shown in FIG.
【図４】図３にしめしたパネルの側面図である。FIG. 4 is a side view of the panel shown in FIG.
【図５】本発明によるパネル構造の他の実施例を示す部
分断面斜視図である。FIG. 5 is a partial cross-sectional perspective view showing another embodiment of the panel structure according to the present invention.
１…構体、２…側構体、３…台枠、４…屋根構体、５…
妻構体、１１…パネル、１２，１３…表材、１４…ハニ
カムコア、１５ａ，１５ｂ…結合部材、１６…溶接部、
１７…継材。1 ... Body structure, 2 ... Side structure, 3 ... Underframe, 4 ... Roof structure, 5 ...
Wife structure, 11 ... Panel, 12, 13 ... Surface material, 14 ... Honeycomb core, 15a, 15b ... Coupling member, 16 ... Welded portion,
17 ... Joint material.
フロントページの続き (72)発明者 武市 通文 茨城県土浦市神立町502番地 株式会社日 立製作所機械研究所内Continuation of the front page (72) Inventor Takeshi Tomon, 502 Jinritsucho, Tsuchiura, Ibaraki Prefecture Inside the Hiritsu Manufacturing Co., Ltd.
Claims (3)
とから成り、前記芯材の両面に表材を配置し、該芯材お
よび表材の外周部に結合部材を配置して、これをろう付
によって接合してなるパネル構造において、前記外周部
に配置される結合部材同志を溶接にて接合するととも
に、表材とろう付される面の前記溶接部の表面を平滑に
形成して、前記表材間に配置して接合したことを特徴と
するパネル構造。1. A light alloy surface material, a core material, a frame material and a connecting member, wherein the surface material is arranged on both sides of the core material, and the connecting member is arranged on the outer periphery of the core material and the surface material. Then, in a panel structure formed by joining them by brazing, the joining members arranged on the outer peripheral portion are joined by welding, and the surface of the welded portion of the surface to be brazed is smoothed. The panel structure is characterized in that it is formed into a sheet and is arranged between the surface materials and joined.
芯材を片側のみにろう材をクラッドしたものとし、各芯
材をそのろう材クラット面が交互になるように配置した
ことを特徴とするパネル構造。2. The panel structure according to claim 1, wherein the core material is clad with a brazing material only on one side, and the core materials are arranged so that the brazing material craters are alternately arranged. Panel structure
結合部材に接合される部材と該結合部材との間に、両表
面にろう材をクラットした両面クラット材を配置して接
合することを特徴とするパネル構造。3. The panel structure according to claim 1, wherein a double-sided clat material having brazing material cladded on both surfaces is arranged between the member to be joined to the joining member and the joining member. Characteristic panel structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5082841A JP2551316B2 (en) | 1993-04-09 | 1993-04-09 | panel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5082841A JP2551316B2 (en) | 1993-04-09 | 1993-04-09 | panel |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP21846094A Division JPH07195594A (en) | 1994-09-13 | 1994-09-13 | Panel structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH06293095A true JPH06293095A (en) | 1994-10-21 |
| JP2551316B2 JP2551316B2 (en) | 1996-11-06 |
Family
ID=13785621
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5082841A Expired - Fee Related JP2551316B2 (en) | 1993-04-09 | 1993-04-09 | panel |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2551316B2 (en) |
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| US20100018955A1 (en) * | 2008-07-24 | 2010-01-28 | Commissariat A L'energie Atomique | Device for recording graphical data on a medium |
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| US9320398B2 (en) | 2005-12-02 | 2016-04-26 | Irobot Corporation | Autonomous coverage robots |
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| JPS6230096U (en) * | 1985-08-09 | 1987-02-23 | ||
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| JPH0538539A (en) * | 1991-01-14 | 1993-02-19 | Hitachi Ltd | Honeycomb panel and production thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5467514U (en) * | 1977-10-17 | 1979-05-14 | ||
| JPS55142855A (en) * | 1979-04-19 | 1980-11-07 | Nat Jutaku Kenzai | Panel frame |
| JPS6230096U (en) * | 1985-08-09 | 1987-02-23 | ||
| JPH0516801A (en) * | 1990-09-07 | 1993-01-26 | Hitachi Ltd | Rolling stock and its manufacture |
| JPH0538539A (en) * | 1991-01-14 | 1993-02-19 | Hitachi Ltd | Honeycomb panel and production thereof |
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| US9622635B2 (en) | 2001-01-24 | 2017-04-18 | Irobot Corporation | Autonomous floor-cleaning robot |
| US8396592B2 (en) | 2001-06-12 | 2013-03-12 | Irobot Corporation | Method and system for multi-mode coverage for an autonomous robot |
| US9949608B2 (en) | 2002-09-13 | 2018-04-24 | Irobot Corporation | Navigational control system for a robotic device |
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| US8390251B2 (en) | 2004-01-21 | 2013-03-05 | Irobot Corporation | Autonomous robot auto-docking and energy management systems and methods |
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| US8253368B2 (en) | 2004-01-28 | 2012-08-28 | Irobot Corporation | Debris sensor for cleaning apparatus |
| US8378613B2 (en) | 2004-01-28 | 2013-02-19 | Irobot Corporation | Debris sensor for cleaning apparatus |
| US8382906B2 (en) | 2005-02-18 | 2013-02-26 | Irobot Corporation | Autonomous surface cleaning robot for wet cleaning |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP2551316B2 (en) | 1996-11-06 |
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