WO1994025329B1 - Transport device - Google Patents
Transport deviceInfo
- Publication number
- WO1994025329B1 WO1994025329B1 PCT/DE1994/000456 DE9400456W WO9425329B1 WO 1994025329 B1 WO1994025329 B1 WO 1994025329B1 DE 9400456 W DE9400456 W DE 9400456W WO 9425329 B1 WO9425329 B1 WO 9425329B1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- transport device
- elements
- actuators
- actuator
- walking
- Prior art date
Links
- 241000252254 Catostomidae Species 0.000 claims 1
- 239000000853 adhesive Substances 0.000 claims 1
- 230000001070 adhesive Effects 0.000 claims 1
- 239000000758 substrate Substances 0.000 claims 1
- 238000006073 displacement reaction Methods 0.000 abstract 1
- 230000001105 regulatory Effects 0.000 abstract 1
Abstract
A new type of transport device (5) which walks in a controlled manner along a ground (14) has several walking elements (9) provided each with a standing or foot element. In order that the standing or foot elements can be lowered onto and lifted from the ground, they can be lowered or lifted in a first axial direction by a lifting element (12). Regulating members (10) arranged between the walking elements (9) generate a linear relative motion between two walking elements (9) within a predetermined travel stroke in an axis of displacement.
Claims
1. Transporteinrichtung für eine gesteuerte, schreitende Bewegung entlang eines Untergrundes (14), mit wenigstens drei Schreitelementen (9), die jeweils ein Stand- oder Fußelement aufweisen, welches zum Anlegen und Abheben an den bzw. von dem Untergrund (14) durch ein Hubelement (12) in einer ersten Achsrichtung absenkbar bzw. abhebbar ist, sowie mit zwischen Schreitelementen (9) wirkenden Stellgliedern (10) zur Erzeugung einer linearen Relativ¬ bewegung innerhalb eines vorgegebenen Bewegungshubes in einer Bewegungsachse zwischen zwei über wenigstens ein Stellglied (10) miteinander verbundenen Schreitelemente, die beidseitig von einer gedachten, die Bewegungsachse rechtwinklig schneidenden Mittelebene angeordnet sind und durch das Stellglied (10) in Richtung dieser Achse aufeinander zu und voneinander weg bewegbar sind, dadurch gekennzeichnet, daß drei Schreitelemente (9) über die Stellglieder (10) einer polygonartigen Anordnung mitein¬ ander verbunden sind.1. Transport device for a controlled, walking movement along a substrate (14), with at least three walking elements (9), each having a stand or foot element, which for applying and lifting to or from the ground (14) by a Lifting element (12) can be lowered or lifted in a first axial direction, as well as between actuators (9) acting actuators (10) for generating a linear relative movement within a predetermined movement stroke in a movement axis between two via at least one actuator (10) with each other connected stride elements which are arranged on both sides of an imaginary, the movement axis perpendicular intersecting center plane and by the actuator (10) in the direction of this axis toward and away from each other are movable, characterized in that three walking elements (9) via the actuators (10) a polygonal arrangement mitein¬ are connected.
2. Transporteinrichtung nach Anspruch 1, dadurch gekenn¬ zeichnet, daß jedes Stellglied (10) die beiden Schreit¬ elemente (9) arm- oder lenkerartig miteinander ver¬ bindet.2. Transport device according to claim 1, characterized gekenn¬ characterized in that each actuator (10) the two Schreit¬ elements (9) arm or like a handle ver¬ binds together.
3. Transporteinrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß das Stellglied (10) zumindest an einem Ende an wenigstens einem Schreitelement (9) über eine mindestens ein Gelenk (11) aufweisende Gelenk¬ anordnung um wenigstens eine Achse schwenkbar angelenkt ist.3. Transport device according to claim 1 or 2, characterized in that the actuator (10) at least at one end to at least one walking element (9) via a at least one hinge (11) having Gelenk¬ arrangement is articulated pivotably about at least one axis.
4. Transporteinrichtung nach Anspruch 3, dadurch gekenn¬ zeichnet, daß das Stellglied (10) über die Gelenkanord¬ nung (11) um wenigstens zwei, vorzugsweise um drei Raumachsen schwenkbar an dem Schreitelement (9) angelenkt ist. 4. Transport device according to claim 3, characterized gekenn¬ characterized in that the actuator (10) via the Gelenkanord¬ voltage (11) is articulated by at least two, preferably three spatial axes pivotally mounted on the walking element (9).
5. Transporteinrichtung nach Anspruch 3 oder 4, dadurch gekennzeichnet, daß das Stellglied (10) an beiden Schreitelementen (9 ) , zwischen denen dieses Stellglied (10) wirkt, über die Gelenkanordnung angelenkt ist.5. Transport device according to claim 3 or 4, characterized in that the actuator (10) on both step elements (9), between which this actuator (10) acts, is hinged on the hinge assembly.
6. Transporteinrichtung nach einem der Ansprüche 1 - 5, dadurch gekennzeichnet, daß in der polygonartigen Anordnung Stellglieder (10) und Schreitelemente (9) einander abwechseln.6. Transport device according to one of claims 1-5, characterized in that in the polygonal arrangement of actuators (10) and step elements (9) alternate with each other.
7. Transporteinrichtung nach Anspruch 6, dadurch gekenn¬ zeichnet, daß die Schreitelemente (9) jeweils den Bereich der Ecken der polygonartigen Anordnung bilden.7. Transport device according to claim 6, characterized gekenn¬ characterized in that the step elements (9) each form the region of the corners of the polygonal arrangement.
8. Transporteinrichtung nach Anspruch 6 oder 7, gekennzeich¬ net durch wenigstens vier Schreitelement (9 ) und wenig¬ stens vier zwischen diesen Schreitelementen (9 ) wirkenden Stellgliedern (10).8. Transport device according to claim 6 or 7, gekennzeich¬ net by at least four walking element (9) and wenig¬ least four acting between these walking elements (9) actuators (10).
9. Transporteinrichtung nach Anspruch 8, dadurch gekenn¬ zeichnet, daß mehr als vier Schreitelemente (9) vorge¬ sehen sind.9. Transport device according to claim 8, characterized gekenn¬ characterized in that more than four walking elements (9) are seen vorge.
10. Transporteinrichtung nach einem der Ansprüche 1 - 9, dadurch gekennzeichnet, daß die Anzahl der Stellglieder10. Transport device according to one of claims 1 - 9, characterized in that the number of actuators
(9 ) gleich der Anzahl der Schreitelemente (9 ) oder einem Vielfachen hiervon ist.(9) equals the number of step elements (9) or a multiple thereof.
11. Transporteinrichtung nach einem der Ansprüche 1 - 10, dadurch gekennzeichnet, daß die Stellglieder (10) und/oder die Hubelemente ( 12) durch eine Steuereinrich¬ tung (7) einzeln oder in Gruppen individuell ansteuerbar sind.11. Transport device according to one of claims 1 - 10, characterized in that the actuators (10) and / or the lifting elements (12) by a Steuereinrich¬ device (7) individually or in groups are individually controlled.
12. Transporteinrichtung nach einem der Ansprüche 1 - 11, dadurch gekennzeichnet, daß an ihr ein Träger (15) vorgesehen ist, der mittels einer Schlittenanordnung in wenigstens einer Raumachse, vorzugsweise in zwei senk- - -12. Transport device according to one of claims 1 - 11, characterized in that a support (15) is provided thereon, which by means of a carriage arrangement in at least one spatial axis, preferably in two vertical axis. - -
recht zueinander verlaufenden Raumachsen (X, Y), konti¬ nuierlich oder in Schritten bewegbar ist, die um ein Vielfaches kleiner sind als der maximale Bewegungshub des wenigstens einen Stellgliedes (10).right to each other extending spatial axes (X, Y), konti¬ continu- ously or in steps is movable, which are smaller by a multiple than the maximum movement stroke of the at least one actuator (10).
13. Transporteinrichtung nach Anspruch 12, dadurch gekenn¬ zeichnet, daß der maximale Bewegungshub des Schlittens gleich oder etwas größer ist als der maximale Bewegungs- hub des wenigstens einen Stellgliedes (10).13. Transport device according to claim 12, characterized gekenn¬ characterized in that the maximum movement stroke of the carriage is equal to or slightly larger than the maximum movement stroke of the at least one actuator (10).
14. Transporteinrichtung nach einem der Anprüche 1 - 13, dadurch gekennzeichnet, daß die Stand- oder Halteelemente von Vakuum-Saugern und/oder Elektromagneten gebildete Hafteinrichtungen sind.14. Transport device according to one of Anprüche 1 - 13, characterized in that the stationary or holding elements of vacuum suckers and / or electromagnets formed adhesive devices.
15. Transporteinrichtung nach einem der Ansprüche 1 - 14, dadurch gekennzeichnet, daß die Hubelemente (12) und/oder die Stellglieder (10) elektrische, pneumatische oder hydraulische Hubelemente oder Stellglieder sind.15. Transport device according to one of claims 1-14, characterized in that the lifting elements (12) and / or the actuators (10) are electrical, pneumatic or hydraulic lifting elements or actuators.
16. Transporteinrichtung nach einem der Ansprüche 1 - 15, gekennzeichnet durch ihre Ausbildung als Teil eines Roboters (4) mit einem Arbeitsgerät, vorzugsweise mit einer Meß- oder Prüfeinrichtung (6).16. Transport device according to one of claims 1-15, characterized by its design as part of a robot (4) with a working device, preferably with a measuring or testing device (6).
17. Transporteinrichtung nach Anspruch 16, gekennzeichnet durch ihre Ausbildung als Hilfsroboter (4' ) zum Halten und Nachführen von Leitungen oder Leitungsbündeln eines Arbeitsgerätes (6) an eine Kontroll- und/oder Steuerein¬ richtung (7). 17. Transport device according to claim 16, characterized by its design as an auxiliary robot (4 ') for holding and tracking lines or bundles of cables of a working device (6) to a control and / or Steuerein¬ direction (7).
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US08/356,367 US5575346A (en) | 1993-04-27 | 1994-04-26 | Transport device |
JP6523739A JPH08500793A (en) | 1993-04-27 | 1994-04-26 | Transfer device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DEP4313719.9 | 1993-04-27 | ||
DE4313719A DE4313719C2 (en) | 1993-04-27 | 1993-04-27 | Transport device |
Publications (2)
Publication Number | Publication Date |
---|---|
WO1994025329A1 WO1994025329A1 (en) | 1994-11-10 |
WO1994025329B1 true WO1994025329B1 (en) | 1994-12-08 |
Family
ID=6486470
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE1994/000456 WO1994025329A1 (en) | 1993-04-27 | 1994-04-26 | Transport device |
Country Status (4)
Country | Link |
---|---|
US (1) | US5575346A (en) |
JP (1) | JPH08500793A (en) |
DE (1) | DE4313719C2 (en) |
WO (1) | WO1994025329A1 (en) |
Families Citing this family (26)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100384194B1 (en) * | 1995-03-22 | 2003-08-21 | 혼다 기켄 고교 가부시키가이샤 | Adsorption wall walking device |
US6267191B1 (en) * | 1999-07-13 | 2001-07-31 | Randall D. Peterson | Self advancing mining sled |
US6695084B2 (en) * | 2001-02-22 | 2004-02-24 | Peter J. Wilk | Personal hovercraft with stairway climbing |
JP2002254398A (en) * | 2001-02-28 | 2002-09-10 | Naoyuki Aoyama | Transferring device |
AU2002335723A1 (en) * | 2001-09-09 | 2003-03-24 | Advanced Robotic Vehicles, Inc. | Surface adhering tool carrying robot |
DE10320570B4 (en) * | 2003-05-07 | 2005-04-21 | Unique Cleaning Systems Gmbh | Self-climbing landing gear for facades, in particular glass facades |
US7168513B2 (en) * | 2004-02-27 | 2007-01-30 | The Regents Of The University Of California | Dynamic legged robot |
ES2279693B1 (en) * | 2005-07-20 | 2008-05-16 | M.Torres Diseños Industriales, S.A.U. | FLEXIBLE ASSEMBLY FOR WORK ON LARGE SURFACES. |
US20070161323A1 (en) * | 2005-12-29 | 2007-07-12 | Marvel Characters, Inc. | Vacuum assisted wall climbing toy |
JP2012061116A (en) * | 2010-09-15 | 2012-03-29 | Urakami Kk | Cleaning device of window glass or the like |
US8640558B2 (en) * | 2011-09-12 | 2014-02-04 | Honeywell International Inc. | System for the automated inspection of structures at height |
US10556631B2 (en) | 2011-12-16 | 2020-02-11 | Entro Industries, Inc. | Low profile roller assembly |
US9533723B2 (en) | 2011-12-16 | 2017-01-03 | Entro Industries, Inc. | Mounting structure with storable transport system |
US8573334B2 (en) | 2011-12-16 | 2013-11-05 | Entro Industries, Inc. | Rotation device for load transporting apparatus |
JP6176560B2 (en) * | 2013-02-20 | 2017-08-09 | 学校法人 中央大学 | Magnetic adsorption mechanism, telescopic unit, and omnidirectional movement mechanism |
WO2014138439A1 (en) * | 2013-03-06 | 2014-09-12 | Massachusetts Institute Of Technology | Discrete motion system |
CN107839778B (en) * | 2016-09-19 | 2021-06-11 | 上海茂塔实业有限公司 | Mechanical foot, high-altitude operation robot and walking method of high-altitude operation robot |
JP6840382B2 (en) * | 2017-02-10 | 2021-03-10 | 学校法人 中央大学 | Wall suction device and wall movement device |
EP3392124B1 (en) * | 2017-04-19 | 2020-02-12 | Zhejiang University | Multifunctional robot system and method |
US10899401B2 (en) | 2017-06-05 | 2021-01-26 | Entro Industries, Inc. | Yaw alignment system |
US10793409B2 (en) | 2017-07-12 | 2020-10-06 | Entro Industries, Inc. | Lifting loads with lifting devices |
US10895882B2 (en) | 2017-08-01 | 2021-01-19 | Entro Industries, Inc. | Controlling load transporting devices |
US10889961B2 (en) | 2017-08-08 | 2021-01-12 | Entro Industries, Inc. | Automatic walking for a load transporting apparatus |
US11180319B2 (en) | 2017-11-22 | 2021-11-23 | Entro Industries, Inc. | Skid system for load transport apparatus |
US11407460B2 (en) | 2018-05-31 | 2022-08-09 | Entro Industries, Inc. | Nonlinear walking apparatus |
CN114670945B (en) * | 2022-03-28 | 2023-08-18 | 中国铁建重工集团股份有限公司 | Wall climbing robot and wall climbing robot walking method |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
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FR2519576B1 (en) * | 1982-01-11 | 1985-11-29 | Int Robotic Engineerin | CLIMBING ROBOT |
JPS60206791A (en) * | 1984-03-30 | 1985-10-18 | Mitsubishi Heavy Ind Ltd | Space scanner |
SU1266941A1 (en) * | 1985-06-20 | 1986-10-30 | Красноярское Производственное Объединение Тяжелых Экскаваторов "Крастяжмаш" | Rail-mounted walking mechanism |
FR2607093B1 (en) * | 1986-11-21 | 1990-12-21 | Commissariat Energie Atomique | MACHINE CAPABLE OF MOVING ON ANY ORIENTATION SURFACE |
FR2625459B1 (en) * | 1987-12-31 | 1990-06-15 | Aerospatiale | AUTONOMOUS ROBOT-TYPE MOBILE FOR TRANSPORTING A CONSTANT SPEED TOOL |
US5161631A (en) * | 1989-11-27 | 1992-11-10 | Uragami Fukashi | Suction device capable of moving along a surface |
US5094311A (en) * | 1991-02-22 | 1992-03-10 | Gmfanuc Robotics Corporation | Limited mobility transporter |
JPH05131382A (en) * | 1991-11-11 | 1993-05-28 | Takeshi Yanagisawa | Walking robot |
JP3365802B2 (en) * | 1992-12-01 | 2003-01-14 | 健 柳沢 | Walking robot |
-
1993
- 1993-04-27 DE DE4313719A patent/DE4313719C2/en not_active Expired - Fee Related
-
1994
- 1994-04-26 WO PCT/DE1994/000456 patent/WO1994025329A1/en active Application Filing
- 1994-04-26 JP JP6523739A patent/JPH08500793A/en active Pending
- 1994-04-26 US US08/356,367 patent/US5575346A/en not_active Expired - Fee Related
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