Edward M King

US Patent:

49939122, Feb 19, 1991

Filed:

Dec 22, 1989

Appl. No.:

7/453315

Inventors:

Edward G. King - Baltimore MD
Hilmer H. Shackelord - Finksburg MD
Leo M. Kahl - Baltimore MD

Assignee:

Chamberlain MRC, division of Duchossois Industries, Inc. - Elmhurst IL

International Classification:

B25J 500

US Classification:

414729

Abstract:

A stair climbing robot and method of operation is described. The robot includes a chassis having powered opposed front wheels and two pairs of rear wheels each pair being rotatably mounted on a beam at opposite ends thereof, and each beam being rotatably mounted on the chassis. A drive motor is provided for driving each pair of wheels in the same direction at a predetermined rotational velocity and a drive means is provided for simultaneously rotating the beams at a predetermined rotational velocity and in a predetermined direction. The method of operation to climb stairs includes the steps of activating the rotation of the beams in a forward direction while causing each pair of rear wheels to rotate in an opposite direction at the same rotational velocity. In this way, forward movement is achieved by action of the front wheels and the rotating beams and the rotational velocity of the rear wheels relative to the terrain will be zero.