JP5970732B2 - 移動ロボット床掃除機のための駆動配置 - Google Patents
移動ロボット床掃除機のための駆動配置 Download PDFInfo
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- JP5970732B2 JP5970732B2 JP2014205503A JP2014205503A JP5970732B2 JP 5970732 B2 JP5970732 B2 JP 5970732B2 JP 2014205503 A JP2014205503 A JP 2014205503A JP 2014205503 A JP2014205503 A JP 2014205503A JP 5970732 B2 JP5970732 B2 JP 5970732B2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/342—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having a longitudinal, endless element, e.g. belt or chain, for transmitting drive to wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L1/00—Supplying electric power to auxiliary equipment of vehicles
- B60L1/003—Supplying electric power to auxiliary equipment of vehicles to auxiliary motors, e.g. for pumps, compressors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/52—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by DC-motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/32—Auto pilot mode
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/01—Mobile robot
Description
[1]
移動ロボットのための駆動配置であって、
移動ロボットのシャーシ上に装着されるようになった駆動ハウジング、
を含み、かつ
駆動軸に沿って前記駆動ハウジングから延びる駆動シャフトと作動可能に接続された駆動モータと、
ピボット軸の周りに前記駆動ハウジングに回転可能に装着された連結部材と、
前記駆動シャフトによって担持された第1の車輪と、
前記連結部材によって担持された第2の車輪と、
前記第1の車輪から前記第2の車輪まで駆動を伝達するための手段と、
を含む、
ことを特徴とする駆動配置。
前記連結部材の前記ピボット軸は、前記駆動シャフトの前記駆動軸と同軸であることを特徴とする上記[1]に記載の駆動配置。
前記第1の車輪から前記第2の車輪まで駆動を伝達するための前記手段は、可撓性軌道であることを特徴とする上記[1]又は上記[2]に記載の駆動配置。
前記可撓性軌道は、ベルトであることを特徴とする上記[3]に記載の駆動配置。
前記可撓性軌道は、前記第1の車輪の外周面及び前記第2の車輪の表面の周囲で制約されることを特徴とする上記[3]又は上記[4]に記載の駆動配置。
前記第2の車輪の前記表面は、前記可撓性軌道の一部分が床係合面を形成するようなその外周面であることを特徴とする上記[5]に記載の駆動配置。
前記第1の車輪は、その外周面上に前記可撓性軌道の内面上に形成された相補的形態と係合可能である歯状形態を担持することを特徴とする上記[1]から上記[6]のいずれかに記載の駆動配置。
前記第2の車輪は、拡張リム面を形成し、該リム面の直径が、該第2の車輪の前記外周面の直径よりも大きいことを特徴とする上記[7]に記載の駆動配置。
前記拡張リム面は、前記第2の車輪と前記可撓性軌道の隣接部分との結合直径に等しいか又はこれよりも大きい直径を有することを特徴とする上記[8]に記載の駆動配置。
前記第2の車輪の前記リム面は、鋸歯状形態を担持することを特徴とする上記[8]又は上記[9]に記載の駆動配置。
前記第1の車輪及び前記第2の車輪は、該第1の車輪と該第2の車輪の間を延びて床面に対向する前記軌道の部分が隣接する床面と斜角を形成し、それによって傾斜昇降面をもたらすようになっていることを特徴とする上記[1]から上記[10]のいずれかに記載の駆動配置。
前記第2の車輪の直径が、前記第1の車輪の直径よりも大きいことを特徴とする上記[11]に記載の駆動配置。
前記連結部材は、前記第1の車輪、前記第2の車輪、及び前記可撓性軌道によって境界付けられた容積を少なくとも部分的に充填する保護部材を含むことを特徴とする上記[1]から上記[12]のいずれかに記載の駆動配置。
前記第2の車輪を隣接する床面との接触状態に押圧するように配置された付勢要素を更に含むことを特徴とする上記[1]から上記[13]のいずれかに記載の駆動配置。
前記駆動モータは、電気モータであることを特徴とする上記[1]から上記[14]のいずれかに記載の駆動配置。
上記[1]から上記[15]のいずれかに記載の駆動配置を含むシャーシ、
を含むことを特徴とする移動ロボット。
8 外側カバー
10 分離装置
70 ユーザ制御インタフェース
73 アーム
Claims (14)
- 移動ロボット床掃除機のための駆動配置であって、
移動ロボット床掃除機のシャーシ上に装着されるようになった駆動ハウジング、
を含み、かつ
駆動軸に沿って前記駆動ハウジングから延びる駆動シャフトと作動可能に接続された駆動モータと、
ピボット軸の周りに前記駆動ハウジングに回転可能に装着された連結部材と、
前記駆動シャフトによって担持された第1の車輪と、
前記連結部材によって担持された第2の車輪と、
前記第1の車輪から前記第2の車輪まで駆動を伝達するための手段と、
前記第2の車輪と隣接する床面との接触状態が維持されるように、前記第2の車輪を前記床面に向けて押圧するための付勢要素と、
を含み、
前記連結部材は、最大限及び最小限の角度移動量の間に旋回運動範囲を有し、その旋回運動範囲にわたって前記第1の車輪の下端は前記第2の車輪の下端より上方に位置する、
ことを特徴とする駆動配置。 - 前記連結部材の前記ピボット軸は、前記駆動シャフトの前記駆動軸と同軸であることを特徴とする請求項1に記載の駆動配置。
- 前記第1の車輪から前記第2の車輪まで駆動を伝達するための前記手段は、可撓性軌道であることを特徴とする請求項1又は請求項2に記載の駆動配置。
- 前記可撓性軌道は、ベルトであることを特徴とする請求項3に記載の駆動配置。
- 前記第1の車輪は、その外周面上に前記可撓性軌道の内面上に形成された相補的形態と係合可能である歯状形態を担持することを特徴とする請求項3又は請求項4に記載の駆動配置。
- 前記第2の車輪は、拡張リム面を形成し、該リム面の直径が、該第2の車輪の前記外周面の直径よりも大きいことを特徴とする請求項5に記載の駆動配置。
- 前記拡張リム面は、前記第2の車輪と前記可撓性軌道の隣接部分との結合直径に等しいか又はこれよりも大きい直径を有することを特徴とする請求項6に記載の駆動配置。
- 前記第2の車輪の前記リム面は、鋸歯状形態を担持することを特徴とする請求項6又は請求項7に記載の駆動配置。
- 前記第1の車輪及び前記第2の車輪は、該第1の車輪と該第2の車輪の間を延びて床面に対向する前記軌道の部分が隣接する床面と斜角を形成し、それによって傾斜昇降面をもたらすようになっていることを特徴とする請求項3から請求項8のいずれか1項に記載の駆動配置。
- 前記第2の車輪の直径が、前記第1の車輪の直径よりも大きいことを特徴とする請求項9に記載の駆動配置。
- 前記連結部材は、前記第1の車輪、前記第2の車輪、及び前記可撓性軌道によって境界付けられた容積を少なくとも部分的に充填する保護部材を含むことを特徴とする請求項3から請求項10のいずれか1項に記載の駆動配置。
- 前記連結部材は、先行端及び後端を有し、当該連結部材は、前記先行端において前記ピボット軸周りに前記駆動ハウジングに回転可能に装着され、前記第2の車輪は、前記後端により担持されることを特徴とする請求項1から請求項11のいずれか1項に記載の駆動配置。
- 前記駆動モータは、電気モータであることを特徴とする請求項1から請求項12のいずれか1項に記載の駆動配置。
- 請求項1から請求項13のいずれか1項に記載の駆動配置を含むシャーシ、
を含むことを特徴とする移動ロボット床掃除機。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB1115605.6 | 2011-09-09 | ||
GB1115605.6A GB2494444B (en) | 2011-09-09 | 2011-09-09 | Drive arrangement for a mobile robot |
Related Parent Applications (1)
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JP2012213123A Division JP5667611B2 (ja) | 2011-09-09 | 2012-09-07 | 移動ロボットのための駆動配置 |
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JP2014205503A Expired - Fee Related JP5970732B2 (ja) | 2011-09-09 | 2014-10-06 | 移動ロボット床掃除機のための駆動配置 |
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JP2012213123A Expired - Fee Related JP5667611B2 (ja) | 2011-09-09 | 2012-09-07 | 移動ロボットのための駆動配置 |
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US (1) | US20130087393A1 (ja) |
EP (1) | EP2753484B1 (ja) |
JP (2) | JP5667611B2 (ja) |
KR (1) | KR101613106B1 (ja) |
CN (1) | CN102990666B (ja) |
AU (1) | AU2012306142B2 (ja) |
ES (1) | ES2683018T3 (ja) |
GB (1) | GB2494444B (ja) |
WO (1) | WO2013034884A1 (ja) |
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-
2011
- 2011-09-09 GB GB1115605.6A patent/GB2494444B/en not_active Expired - Fee Related
-
2012
- 2012-08-22 WO PCT/GB2012/052059 patent/WO2013034884A1/en active Application Filing
- 2012-08-22 ES ES12751599.7T patent/ES2683018T3/es active Active
- 2012-08-22 EP EP12751599.7A patent/EP2753484B1/en not_active Not-in-force
- 2012-08-22 AU AU2012306142A patent/AU2012306142B2/en not_active Ceased
- 2012-08-22 KR KR1020147008884A patent/KR101613106B1/ko active IP Right Grant
- 2012-09-07 JP JP2012213123A patent/JP5667611B2/ja not_active Expired - Fee Related
- 2012-09-10 US US13/608,656 patent/US20130087393A1/en not_active Abandoned
- 2012-09-10 CN CN201210333342.6A patent/CN102990666B/zh not_active Expired - Fee Related
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2014
- 2014-10-06 JP JP2014205503A patent/JP5970732B2/ja not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
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JP5667611B2 (ja) | 2015-02-12 |
JP2015003269A (ja) | 2015-01-08 |
GB2494444B (en) | 2013-12-25 |
GB2494444A (en) | 2013-03-13 |
EP2753484A1 (en) | 2014-07-16 |
US20130087393A1 (en) | 2013-04-11 |
KR20140059279A (ko) | 2014-05-15 |
AU2012306142A1 (en) | 2014-03-13 |
JP2013059626A (ja) | 2013-04-04 |
ES2683018T3 (es) | 2018-09-24 |
EP2753484B1 (en) | 2018-06-13 |
CN102990666B (zh) | 2016-01-20 |
GB201115605D0 (en) | 2011-10-26 |
AU2012306142B2 (en) | 2015-12-03 |
KR101613106B1 (ko) | 2016-04-18 |
CN102990666A (zh) | 2013-03-27 |
WO2013034884A1 (en) | 2013-03-14 |
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