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EP1796997A2 - Dispositif pour deplacer une piece reliee au dispositif ou pour lui faire faire un mouvement - Google Patents

Dispositif pour deplacer une piece reliee au dispositif ou pour lui faire faire un mouvement

Info

Publication number
EP1796997A2
EP1796997A2 EP05764470A EP05764470A EP1796997A2 EP 1796997 A2 EP1796997 A2 EP 1796997A2 EP 05764470 A EP05764470 A EP 05764470A EP 05764470 A EP05764470 A EP 05764470A EP 1796997 A2 EP1796997 A2 EP 1796997A2
Authority
EP
European Patent Office
Prior art keywords
locomotion
levers
crane
elements
distance
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.)
Withdrawn
Application number
EP05764470A
Other languages
German (de)
English (en)
Inventor
Kamal Daas
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of EP1796997A2 publication Critical patent/EP1796997A2/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • F16L55/34—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained the pig or mole being moved step by step

Definitions

  • the invention relates to a device for locomotion or for generating a movement of a device associated with the part.
  • Devices for locomotion generally have wheels, chains, etc. as a means of transportation.
  • devices for generating a movement of a part or a relative movement between two parts for example Kol ⁇ benzylinderüen are known which are used, inter alia, in construction machines and cause, for example, the movement of an excavator arm or a tel ⁇ skopauslegers.
  • This object is achieved by a device having the features of claim 1. Thereafter, first and second means of locomotion are provided, wherein the distance of the first locomotion means to one another and the distance of the two locomotion means from each other can be increased and reduced. Finally, means are provided by which the distance of the first means of locomotion to the second means of locomotion is increased and decreased.
  • the device can, for example, make contact with the walls of a shaft or pipe ... solve this contact.
  • the contact serves to support the device on walls or any other surface which serves to generate a movement of the device itself, a part connected to the device or the relative movement between two parts. Due to the means by which the distance of the first means of locomotion to the second movement means can be increased and reduced, a movement of the device relative to a surface or a relative movement between two parts is generated.
  • the first and the second means of locomotion can each have two swiveling levers whose angle can be changed relative to one another. If the distance between the locomotion means to each other is increased, the angle enclosed by the levers is increased, so that a spread occurs and the device can be supported accordingly.
  • the levers or other means of movement can, as required, have foot areas by means of which a relative movement to the surface on which the foot areas are supported remains undetected, or foot areas which permit such a relative movement.
  • locomotion means carried out with levers
  • any other means of locomotion whose distance from each other can be changed.
  • the means of transportation at their Have circumference inflatable areas so that the distance between the Fortbewe ⁇ supply means to each other, ie the distance between the inflated edge areas zuein ⁇ other, changeable.
  • a piston-cylinder unit can be provided which is connected to the levers in such a way that the angle enclosed by the levers depends on the piston position. If the piston is pushed out of the cylinder, the angle between the levers is increased. It is possible to provide a cylinder in which a piston runs, wherein the piston with a lever and the cylinder with the other lever is in communication. It is also conceivable to provide a double-acting device having two cylinders or a common cylinder space, in which run two pistons whose piston rods communicate with the levers.
  • two further mutually ver ⁇ pivotable levers are provided per means of locomotion, which are directly or indirectly pivotally connected to the levers of the means of locomotion and whose Schwenk ⁇ axes are ver ⁇ pushed relative to the pivot axes of the lever of the means of locomotion.
  • the other levers Preferably, the other levers have a common pivot axis. If the pivot axis or the pivot axes of these levers is displaced relative to the pivot axes of the levers of the means of locomotion, the angle enclosed by the levers of the means of locomotion is increased or reduced, so that a spreading takes place which is used to fix the means of locomotion relative to one or more leads to multiple surfaces.
  • the means by which the distance of the first means of locomotion to the second means of locomotion or the distance of the first and / or the second progressing means can be increased and decreased in size means can be operated pneumatically, hydraulically or mechanically. There are no restrictions with regard to the operation of these means.
  • first and / or the second means of locomotion are respectively arranged on a piston rod of a piston, which is movably arranged in a cylinder space of the device. It can be provided that the first and the second means of locomotion are arranged on each piston rod of a piston, wherein the pistons run in a common or in separate cylinder chambers.
  • the pistons subdivide the cylinder chambers into respective first and second sections, each of which is provided with a connection which can be connected to a return line or a pressure-carrying line of a pneumatic or a hydraulic supply the pressurization of the first section to push out the Kolben ⁇ rod and the pressurization of the second section to a Einschie ⁇ ben the piston rod leads. If one or both piston rods are pushed out, this leads to an increase in the distance between the first and the second means of locomotion. If one or both piston rods are pulled in, the distance between the first locomotion means and the second locomotion means is correspondingly reduced.
  • a control device which pressurizes the first section of a first cylinder chamber when the distance of the associated first locomotion means is large, de ⁇ ren piston runs in the first cylinder chamber, and the second section of the first cylinder chamber Pressure applied when the distance of the associated first means of transport to each other is small compared.
  • a control device can be provided which pressurizes the first section of a second cylinder space when the distance of the associated second transportation means from one another is small and the second section from the second one Cylinder space pressurized when the distance of the associated sau ⁇ th means of transport to each other is large compared.
  • the first and second cylinder space for example, lie directly against one another or are arranged separately from one another and take on piston which can be pushed out in opposite directions.
  • the distance between the second moving means is then increased in relation to one another such that they are braced with the surface and the tension of the first locomotion means is reduced by reducing the distance between the first locomotion means.
  • the pressure is applied to the second sections of the cylinder chambers, so that the piston rods are retracted. This process is repeated, so that as a whole a movement of the device or the movement of the device relative to a surface or a relative movement between two relatively movable components is achieved.
  • first and / or the second means of locomotion are each arranged on a rod which is pivotally connected in its end region with a lever which is pivotally mounted on a rotatable disc in two directions.
  • the rotation of the disc leads to a movement of the levers arranged pivotably on them and via this to a linear movement of the rods connected to this lever.
  • both the first and the second means of transportation are each arranged on a rod which is pivotally connected in its end region with a lever, wherein the levers are preferably arranged diametrically gegenü ⁇ berented on the disc, so that a rotational movement of the disc leads to a insertion or Ausschub Gay both rods.
  • the rods are retracted and the distance of the first means of locomotion to the second locomotion means is reduced. If the disk is rotated in the opposite direction, the rods are pushed out and thus the distance between the first moving means and the second moving means is increased.
  • the procedure described above is preferably to be adhered to, whereby the first or second locomotion means are mutually tensioned alternately so that as a whole an advancing movement is possible.
  • the invention further relates to a device for locomotion, in particular for locomotion in the water with at least two mutually zubewegbare, vor ⁇ preferably mutually pivotable displacement means having means of transport and with means by which the enclosed between the Verdrän ⁇ elements or plates angle is reduced, so that due the displacement of the medium received between the elements takes place.
  • the device may be designed according to one of claims 1 to 12.
  • a single or multiple cranked shaft is provided on which a lever mechanism is angeord ⁇ net, on which there is at least one arrangement of at least two mutually pivotable displacement sections and that means are provided by the angle between the Displacement elements is variable depending on the position of the lever mechanism.
  • the means by which the angle between the displacement elements is variable as a function of the position of the lever mechanism can be formed by levers. those which have a pivotable stationary bearing and are also pivotally connected to the displacement elements in connection.
  • the displacement elements may be formed, for example, as plates.
  • the present invention further relates to a watercraft with drive means comprising a device according to one of claims 13 to 17.
  • the present invention further relates to a crane with at least two telescoping elements, wherein the crane comprises a device according to one of claims 1 to 12, by means of which the elements are telescoped and / or telescoped.
  • the devices can have ejecting means for ejecting one or more telescoping elements.
  • the ejection means can be formed by two levers whose angle to each other by means of a lever associated with the piston-cylinder unit is variable.
  • the elements may be, for example, the shots of a crane operator. These can be straight or curved.
  • the device can be arranged in a stationary manner or movably with the telescopic elements. It is conceivable that the device is moved after Auste- leskopieren a shot in this shot and then pushes out the next shot. For this purpose, provision should preferably be made for the levers forming the ejection means to be brought together, so that the devices can be moved into the subsequent shot.
  • the device can be releasably or non-detachably connected only with a single shot, and the ejection of this shot entails an ejection movement of the subsequent inner shots.
  • the telescopic elements of the crane can not only be arranged in the region of the Ausle ⁇ gers, but also be used to align the crane. It is conceivable, for example, for the crane to be pivotally or linearly displaceable and to communicate with a curved or straight guide, which is displaceable relative to likewise curved or straight supports, the relative movement between guide and supports being controlled by a curtain ⁇ tion is achieved according to one of claims 1 to 12. It is conceivable, for example, that the supports are included in the guide. It is also possible that the supports take the lead.
  • the invention further relates to an elevator with drive means, wherein the drive means comprise a device according to one of claims 1 to 12.
  • the elevator can be moved by a device according to one of claims 1 to 12 An ⁇ .
  • the first and second means of locomotion are moved to a position in which the distance of the first means of travel to each other and the distance of the second means of travel is increased to each other, so that a tension takes place, which holds the elevator in a certain position ,
  • the invention further relates to a means of locomotion having a contractible and expandable envelope as well as drive means surrounded by the envelope and connected thereto in the form of one or more devices according to one of claims 1 to 12.
  • the wrapping may be, for example to act at least partially elastic material. It is also conceivable that the envelope at least partially has the structure of a concertina, so that a contraction and expansion is possible.
  • the means of locomotion moves similar to a worm and can also be used for the movement in impassable terrain.
  • the invention further relates to a conveyor belt or means of transport with a circulating belt or belt with an upper run and a lower run, wherein at least one device according to one of claims 1 to 12 is provided, by which the upper run and / or the lower run is driven.
  • the invention relates to a rotary drive for driving one of two relatively rotatable elements, wherein the rotary drive comprises a device according to one of claims 1 to 12.
  • FIG. 1 shows a schematic representation of the device according to the invention in a telescopic boom of a crane
  • FIG. 2a shows a schematic representation of the device according to the invention for locomotion in a tube
  • FIG. 2b shows a schematic representation of the device according to the invention with a further drive concept
  • FIG. 3 is a schematic representation of a telescopic crane with a curved boom and a curved guide for aligning the crane and a detailed representation of a section of the boom with the device according to the invention
  • FIG. 4 shows a schematic representation of the device according to the invention for locomotion in a curved channel (option I) and a sche ⁇ matic representation of the device according to the invention as Drehan ⁇ drive (option II) and a sectional view along section line A-A,
  • FIG. 5 shows a schematic representation of the use of the device for driving an elevator
  • FIG. 6 shows a schematic illustration of a telescopic boom, a crane with stationarily arranged inventive device (top) and a schematic representation of the entire telescopic boom with several devices according to the invention (bottom)
  • FIG. 7 shows a schematic representation of the device according to the invention for moving a wagon train in a tube
  • FIG. 8 shows a schematic representation of the device according to the invention for moving two carriage trains in two directions
  • FIG. 9 shows a schematic representation of the device according to the invention as a drive device in the water
  • FIG. 10 shows a schematic representation of a ship propulsion with cranked shaft and multiple arrangement of the device according to the invention (top) and a schematic representation of a ship with such a drive (bottom),
  • FIG. 11 shows a schematic representation of a means of locomotion with the device according to the invention as drive means and
  • Figure 12 is a schematic representation of a conveyor belt, the upper and lower strand is driven by a device according to the invention.
  • Figure 1 shows a schematic representation of the device 10 according to the invention, with a body part, the two separate cylinder chambers 48, 49 has.
  • the piston 44 which is connected to the piston rod 40 runs.
  • the piston 46 which is connected to the piston rod 42, runs in the cylinder chamber 49.
  • the piston rods 40, 42 are pivotable in the end regions facing away from the pistons 44, 46 with two levers 20, 22 in each case. bond, each having a common pivot axis.
  • the levers 20, 22 communicate with each other with a double-acting piston-cylinder unit 24, 26 in connection, via the actuation of the angle between the levers 20, 22 is variable.
  • the levers are preferably pivotally connected to legs in connection, by means of which the levers 20, 22 on a surface, in the present exemplary embodiment according to FIG. 1, on the inside of a shot of a crane boom support it.
  • a further shot can be telescoped in and out of the shot of the jib in which the device is located.
  • the levers 102 With the common pivot axis of the levers 22 shown on the left, the levers 102 are in Verbin ⁇ tion, the angle to each other via the piston-cylinder unit 104 is variable.
  • the end regions of these levers 102 are fixedly or loosely connected to the end edge of the next following shot and transmit the feed movement caused by the device 10 according to the invention to this telescoping boom shot.
  • the function of the device shown in Figure 1 is as follows. Zu ⁇ next, the angle between the levers 20 is increased over the piston-cylinder unit 24 until the foot portions abut against the inner wall of the shot. The piston-cylinder unit 26 is simultaneously adjusted such that the angle of the levers 22 is reduced, so that a relative movement between theticianberei ⁇ chen the lever 22 and the inner wall of the telescopic section is possible. Then, the first section of the cylinder chamber 48 located to the left of the piston 44 is pressurized, as a result of which the cylinder chambers 48, 49 and the piston rod 42, the levers 22 and 102 move to the left relative to the fixed levers 20.
  • the first section of the cylinder chamber 49 which is to the right of the piston 46, is pressurized, whereby the piston rod 42 is pushed out, which leads to a further movement of the levers 22, the lever 102 and thus also of the telescopic section to be pushed out.
  • the piston-cylinder unit 26 is pressurized, so that the angle between the levers 22 increases and these are braced on their foot sections on the inside of the telescopic section.
  • a reduction of the angle of the lever 20 so that they are movable relative to the inner wall of the telescopic section.
  • the piston rods 40, 42 are retracted simultaneously or sequentially by pressurizing the respective second portions of the cylinder chambers 48, 49.
  • the second sections of the cylinder chambers 48, 44 are located to the right of the piston 44 and to the left of the piston 46.
  • the insertion movement of the Kol ⁇ benstangen 40, 42 causes the cylinder chambers 48, 49 with piston rod 40 and the levers 20 clamped to the Lever 22 are introduced, so that the device is shortened overall and moved toward the lever 22.
  • the above-described process of tensioning the levers 20 and the ejection movement of the piston rods 40, 42 takes place again, so that the device according to FIG. 1 moves further to the left.
  • the levers 102 may be fixed or detachable with the shot to be pushed out.
  • the device according to the invention can in principle also be used in the opposite direction for drawing in the shots.
  • Figure 2a shows a device in which the angle between the levers 20 and 22 is not changed by piston-cylinder units, but by the lever mechanisms 30, 32.
  • the levers 30 and 32 each form a toggle.
  • the common pivot axis of the levers 30, 32 is displaceable relative to the common pivot axis of the levers 20, 22 in the direction of movement of the device 10, so that, depending on axial position of the common pivot axis of the lever 30, 32 a spread or a combination of the levers 20, 22 takes place.
  • the further movement mechanism corresponds to that explained with reference to FIG.
  • Figure 2b shows such a configuration with a disc 60 which is rotatable in two directions, as indicated by the double arrow.
  • the levers 54, 56 are rotatably arranged, whose pivot points are selected on the disc 60 diametrically gege ⁇ lying.
  • the levers 54, 56 are in their other end regions with linearly movable rods 50, 52 in connection, in which the Fortbewe ⁇ are supply means in the form of the levers 20, 22.
  • the enlargement and reduction of the distance of the first locomotion means or levers 20 from one another and the second locomotion means or levers 22 from each other is accomplished by the further lever mechanisms 30, 32, as has been described with reference to FIG. 2a.
  • the disk 60 If the disk 60 is rotated in a clockwise direction, the rods 50, 52 are pulled in. If the disk 60 is rotated in the opposite direction, the rods 50, 52 are ejected. In order to move the apparatus according to the arrow direction in FIG. 2b, the disk 60 moves counterclockwise as soon as the levers 20 are braced and a movement in Uhr Straer ⁇ sense, as soon as the levers 22 are braced. In this way, the device can be moved in the arrow direction according to FIG. 2b.
  • FIG. 3 a left-hand view, shows a schematic view of the crane 100 with the telescopically-capable shots 110, 112. A detailed representation is shown in FIG. 3, right.
  • the device 10 according to the invention In the end region of the inner weft 110 to be pushed out there is the device 10 according to the invention, which can be fixedly or detachably connected to this end region. Through the movement of the device 10, the inner weft 110 can be pushed out or pulled in, it does not matter whether the wefts are straight or curved according to FIG.
  • the crane 100 has a guide 120, which is connected to the lower crane section.
  • Curved supports 130 also engage in the curved guide 120 on both sides, relative to which the guide 120 can be moved.
  • the input and Ausschubterrorism of the supports 130 from the guide 120 is be ⁇ works by means of the device 10 according to the invention, so that the inclination of the pivotally mounted in the lower region crane 100 is variable. This is indicated schematically in FIG. A device 10 is located in each of the end regions of the supports. A linear movement of the crane 100 is also conceivable by means of the device 10.
  • the crane 100 may also be rotatable about its longitudinal axis, as shown by the curved arrow below the boom in FIG. Details of such a rotary drive are explained in FIG.
  • FIG. 4 shows two options for using the device 10 according to the invention.
  • Option I shows the device according to the invention whose locomotion means are also designed as levers which extend between both walls so that two crossed levers and thus four contact points to the surfaces result , Between each two levers is a Kolbenzy ⁇ linderü, by means of which the angle between the levers is variable in order to realize the already described to Figure 1 locomotion mechanism.
  • the device 10 can run, for example, in a closed profile according to Thomasli ⁇ never AA, the top is partially open.
  • the device 10 can be used, for example, for inspection purposes.
  • the foot areas, which are located in the end portions of the lever are designed such that a relative movement between these and the respective Ober ⁇ surfaces in the clamped state of the lever is prevented.
  • the foot regions which are in contact with a surface in such a way that a relative movement between them and the respective adjoining surface is possible, which can be realized, for example, in that they are designed with rollers or rollers.
  • FIG. 4, option II Such a design is shown in FIG. 4, option II.
  • the body of the device 10 is fixedly arranged on the inner circular component about which the outer circular component is to be moved. This is achieved by movement of the device in the manner described with reference to Figure 1, wherein the outer circle shown is moved relative to the device and relative to the inner circle.
  • a rotary drive can be realized, as it can be used spielmik in a crane according to Figure 3 or in any other An ⁇ applications.
  • the foot regions of the levers which are connected to the outer component prevent a relative movement between the foot part and the surface, a relative movement between the e.g. Rolling or rolling having foot parts and the surface of the inner component possible.
  • FIG. 5 shows a schematic view of a building with an elevator and a shaft for moving the device 10 according to the invention.
  • the device 10 By connecting the device 10 to the body of the elevator, it can be used as the drive means for the elevator.
  • the arrangement of ropes or corre sponding winches and drives is not required.
  • the Vorrich ⁇ device 10 can be brought into a position in which the means of locomotion are braced, so that the elevator is stopped.
  • FIG. 6 shows a further area of application of the device according to the invention in an application in which two tubes are used, for example. B. the shots of a Teleskopausle ⁇ gers are to be moved relative to each other.
  • the device 10 is arranged stationary and displaces the respective inner tube relative to the respective outer tube.
  • the movement corresponds to that described for Figure 1.
  • the inner tube can be moved in the other direction.
  • FIG. 7 shows a further application of the device 10 according to the invention.
  • it serves as a conveyor for pulling a wagon train through a tube.
  • a device for driving the locomotion mechanism of the device 10. This may be, for example, a pneumatic, hydraulic or mechanical drive.
  • the device according to the invention can also be used, for example, for inspections of hard-to-reach areas, e.g. of shafts, channels and the like ein ⁇ set.
  • FIG. 8 shows the device, each with crossed levers, for use as a tensioning machine for a wagon train, which can be moved in two different directions depending on the sequence of movements.
  • FIG. 9 shows a further exemplary embodiment of the invention.
  • the Aus ⁇ leadership of the drive corresponds to the embodiment shown in Figure 2b and is used in this case for locomotion in the water or in the air.
  • the rods 50, 52 are connected to two plates 70, 72 whose angle can be changed relative to one another, as indicated by the dashed lines in FIG Figure 9 is indicated.
  • By reducing the angle between the plates 70, 72 air or water is displaced between the plates 70, 72 and a thrust movement is achieved.
  • a pneumatic or a hydraulic drive spielvati according to Figure 1 or Figure 2 or any other drive conceivable.
  • lever mechanism 82 which is arranged in its Endbe ⁇ rich crank pin of the multi-cranked shaft 80, as shown in Figure 10, above.
  • the lever mechanism 82 has a region rotatably mounted on the crank pin and a linearly displaceable region pivotally connected thereto, on which the plate 70 is arranged.
  • levers 90, 92 are provided, which are pivoted on the one hand pivotally fixed to a body of the drive and on the other hand pivoted at the free ends of Plat ⁇ 70, as shown in Figure 10, top in the right drive unit dar ⁇ .
  • FIG. 10 shows the arrangement of such a drive as a drive means for a watercraft 500.
  • FIG. 11 shows a locomotion means 300 with a contractible and expandable envelope 310, which has the structure of an accordion.
  • a plurality of drive means in the form of the devices 10 are angeord ⁇ net. These can be designed, for example, according to FIGS. 1, 2.
  • the means of locomotion 300 correspond to Moving away the movement of a worm, whereby also the locomotion by rough terrain is possible.
  • FIG. 12 shows the use of the device according to the invention in a conveyor belt 400 which has a belt 410 revolving around two deflection rollers.
  • the tape has an upper run 420 and a lower run 430 running in the opposite direction.
  • fixed plates are arranged on which several of the devices 10 are located in a stationary manner.
  • the running means designed as a lever are compared with the fixed plates z.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Actuator (AREA)
  • Transmission Devices (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif pour déplacer une pièce reliée au dispositif ou pour lui faire faire un mouvement, ce dispositif comportant des premiers et des deuxièmes moyens de déplacement. L'intervalle des premiers moyens de déplacement entre eux et l'intervalle des deuxièmes moyens de déplacement entre eux peuvent être augmentés ou diminués. Le dispositif comprend également des moyens qui permettent d'augmenter ou de diminuer la distance entre les premiers moyens de déplacement et les deuxièmes moyens de déplacement.
EP05764470A 2004-07-29 2005-07-29 Dispositif pour deplacer une piece reliee au dispositif ou pour lui faire faire un mouvement Withdrawn EP1796997A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200410036748 DE102004036748A1 (de) 2004-07-29 2004-07-29 Vorrichtung zur Fortbewegung oder zur Erzeugung einer Bewegung eines mit der Vorrichtung in Verbindung stehenden Teils
PCT/EP2005/008257 WO2006013070A2 (fr) 2004-07-29 2005-07-29 Dispositif pour deplacer une piece reliee au dispositif ou pour lui faire faire un mouvement

Publications (1)

Publication Number Publication Date
EP1796997A2 true EP1796997A2 (fr) 2007-06-20

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EP05764470A Withdrawn EP1796997A2 (fr) 2004-07-29 2005-07-29 Dispositif pour deplacer une piece reliee au dispositif ou pour lui faire faire un mouvement

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EP (1) EP1796997A2 (fr)
DE (2) DE102004036748A1 (fr)
WO (1) WO2006013070A2 (fr)

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CN105240647A (zh) * 2015-11-11 2016-01-13 无锡清杨机械制造有限公司 一种基于液压驱动的穿行钢管装置
AT517856B1 (de) * 2016-05-20 2017-05-15 Manuel Müller Matthias Roboter
CN109250623B (zh) * 2018-08-28 2023-12-22 中国水利水电夹江水工机械有限公司 一种双自锁步进式自行行走机构及控制方法
CN112253894B (zh) * 2020-09-18 2022-05-20 南京安透可智能系统有限公司 一种智能化的管道机器人下井装置

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Title
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WO2006013070A2 (fr) 2006-02-09
DE202005022079U1 (de) 2013-02-18
DE102004036748A1 (de) 2006-03-23

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