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ES2067633T3 - Dispositivo capaz de moverse a lo largo de una superficie. - Google Patents

Dispositivo capaz de moverse a lo largo de una superficie.

Info

Publication number
ES2067633T3
ES2067633T3 ES90122640T ES90122640T ES2067633T3 ES 2067633 T3 ES2067633 T3 ES 2067633T3 ES 90122640 T ES90122640 T ES 90122640T ES 90122640 T ES90122640 T ES 90122640T ES 2067633 T3 ES2067633 T3 ES 2067633T3
Authority
ES
Spain
Prior art keywords
state
move along
unit
units
commitment
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.)
Expired - Lifetime
Application number
ES90122640T
Other languages
English (en)
Inventor
Fukashi Urakami
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
Application granted granted Critical
Publication of ES2067633T3 publication Critical patent/ES2067633T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C3/00—Abrasive blasting machines or devices; Plants
    • B24C3/02—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other
    • B24C3/06—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable
    • 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
    • Y10S180/00—Motor vehicles
    • Y10S180/901—Devices for traversing vertical surfaces

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)
  • Details Of Measuring And Other Instruments (AREA)
  • Braking Arrangements (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)

Abstract

ES UN DISPOSITIVO CAPAZ DE MOVERSE A LO LARGO DE UNA SUPERFICIE (34) QUE COMPRENDE AL MENOS DOS UNIDADES MOVILES (2A, 2B), DONDE DICHAS UNIDADES ESTAN UNIDAS UNA A OTRA POR UNOS MEDIOS DE ACOPLAMIENTO (66) CAPACES DE ESTIRARSE Y CONSTRUIRSE, CADA UNIDAD ESTA PROVISTA DE UNOS MEDIOS DE FIJACION DEL ESTADO (46) PARA FIJAR SELECTIVAMENTE CADA UNA DE LAS UNIDADES (2A, 2B) EN UN ESTADO DE MOVILIDAD A LO LARGO DE LA SUPERFICIE (34), Y EN UN ESTADO DE COMPROMISO DE SUPERFICIE CON LA SUPERFICIE (34) Y CUANDO UNA DE LAS UNIDADES ESTE FIJADA EN UN ESTADO MOVIL Y LA OTRA EN UN ESTADO DE COMPROMISO DE SUPERFICIE Y LOS MEDIOS DE ACOPLAMIENTO (66) ESTEN ESTIRADOS O CONTRAIDOS, DICHA UNIDAD SE MOVERA A LO LARGO DE LA SUPERFICIE.
ES90122640T 1989-11-27 1990-11-27 Dispositivo capaz de moverse a lo largo de una superficie. Expired - Lifetime ES2067633T3 (es)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP30689389 1989-11-27
JP804290 1990-01-17
JP2022190 1990-01-30

Publications (1)

Publication Number Publication Date
ES2067633T3 true ES2067633T3 (es) 1995-04-01

Family

ID=27277850

Family Applications (1)

Application Number Title Priority Date Filing Date
ES90122640T Expired - Lifetime ES2067633T3 (es) 1989-11-27 1990-11-27 Dispositivo capaz de moverse a lo largo de una superficie.

Country Status (7)

Country Link
US (1) US5161631A (es)
EP (1) EP0430161B1 (es)
KR (1) KR100187913B1 (es)
AU (1) AU640713B2 (es)
CA (1) CA2030491C (es)
DE (1) DE69016753T2 (es)
ES (1) ES2067633T3 (es)

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FI87171C (fi) * 1990-08-14 1992-12-10 Plustech Oy Svaengarm
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GB2268457B (en) * 1992-06-29 1995-09-27 Portsmouth Tech Consult Robot devices
DE4313719C2 (de) * 1993-04-27 2000-05-31 Hans Yberle Transportvorrichtung
WO1994025328A1 (fr) * 1993-05-04 1994-11-10 Uragami Fukashi Appareil pouvant se fixer sur une surface par effet d'aspiration et pouvant egalement se deplacer le long de cette surface
GB9313270D0 (en) * 1993-06-28 1993-08-11 Portsmouth Tech Consult Robot devices
GB2292355A (en) * 1994-08-06 1996-02-21 Thomas Leith Taig A machine for moving over vertical and horizontal surfaces
DE4429501A1 (de) * 1994-08-19 1996-02-22 Yberle Hans Dipl Ing Fh Mobiles Transport- und Handhabungssystem sowie Verfahren zur Steuerung der Bewegung eines solchen Systems oder zur Bestimmung der Position wenigstens einer Transporteinrichtung eines solchen Systems
KR100384194B1 (ko) * 1995-03-22 2003-08-21 혼다 기켄 고교 가부시키가이샤 흡착식 벽면보행장치
US5890553A (en) * 1996-08-01 1999-04-06 California Institute Of Technology Multifunction automated crawling system
US6267191B1 (en) * 1999-07-13 2001-07-31 Randall D. Peterson Self advancing mining sled
US6276478B1 (en) * 2000-02-16 2001-08-21 Kathleen Garrubba Hopkins Adherent robot
KR100486702B1 (ko) * 2000-07-25 2005-05-03 삼성전자주식회사 마이크로 로봇
US6742617B2 (en) * 2000-09-25 2004-06-01 Skywalker Robotics, Inc. Apparatus and method for traversing compound curved and other surfaces
AU2002335723A1 (en) 2001-09-09 2003-03-24 Advanced Robotic Vehicles, Inc. Surface adhering tool carrying robot
US7168513B2 (en) * 2004-02-27 2007-01-30 The Regents Of The University Of California Dynamic legged robot
JP4543278B2 (ja) * 2004-05-01 2010-09-15 ウラカミ合同会社 物体表面に沿って移動可能な装置
CN101249850B (zh) * 2008-03-27 2010-04-07 上海交通大学 单电机控制的垂直双向直线轨迹导引爬壁机构
EP2345574B1 (en) * 2010-01-14 2012-10-31 Osvaldo Falesiedi Impulse traction method and device
CN102167101B (zh) * 2010-12-27 2012-09-05 华东理工大学 多盘非接触吸附式爬墙机器人
JP5903715B2 (ja) * 2011-01-17 2016-04-13 ウラカミ合同会社 回転する２式の負圧吸着シールを備えた走行装置
CN102167102B (zh) * 2011-04-08 2013-05-29 上海电机学院 吸盘式气动爬壁机器人
US8807257B1 (en) * 2012-09-14 2014-08-19 The Boeing Company Method for forming a vacuum adhesion
US10065280B2 (en) * 2012-10-30 2018-09-04 The Boeing Company Multifunction legs for autonomous crawling assembly equipment
US9475527B2 (en) 2012-10-30 2016-10-25 The Boeing Company Autonomous crawling assembly system
US9327376B2 (en) * 2012-10-30 2016-05-03 The Boeing Company Dual function movement component for automated assembly systems
CN103303385B (zh) * 2013-07-03 2015-08-05 北京交通大学 步长可变的四边形滚动机器人
CA2853847C (en) * 2013-08-01 2018-07-17 The Boeing Company Multifunction legs for autonomous crawling assembly equipment
CN104644049A (zh) * 2013-11-20 2015-05-27 苏州科沃斯商用机器人有限公司 防翻吸盘以及使用防翻吸盘的吸附式自移动装置
CN104648506B (zh) * 2013-11-20 2017-09-19 科沃斯商用机器人有限公司 控制分体吸盘式机器人躲避行走表面缺陷的方法
US9504367B2 (en) * 2013-11-20 2016-11-29 Samsung Electronics Co., Ltd. Cleaning robot and method for controlling the same
CN104648509B (zh) * 2013-11-20 2017-03-29 科沃斯商用机器人有限公司 带吸盘的分体式机器人
CN103847935B (zh) * 2014-02-24 2017-02-08 浙江海洋学院 水下船体表面行走机器
US9586636B1 (en) * 2014-10-28 2017-03-07 The United States Of America As Represented By The Secretary Of The Navy Multi-segmented magnetic robot
TWI580387B (zh) * 2015-05-27 2017-05-01 趙志謀 機器人
CN105151148B (zh) * 2015-08-20 2018-02-09 杨义华 匍匐前进助力器
ITUB20155199A1 (it) * 2015-10-21 2017-04-21 Fondazione St Italiano Tecnologia Dispositivo di variazione attiva della rigidezza, particolarmente per piede di robot antropomorfo.
JP6547230B2 (ja) * 2016-04-03 2019-07-24 ウラカミ合同会社 負圧吸着自走ロボット装置
JPWO2018131329A1 (ja) * 2017-01-13 2019-11-07 パナソニックＩｐマネジメント株式会社 壁面吸着走行装置
CN108608438B (zh) * 2018-05-18 2020-05-26 安徽商贸职业技术学院 一种无轨移动振打机器人
CN110001811B (zh) * 2019-03-11 2024-07-26 广东水利电力职业技术学院（广东省水利电力技工学校） 一种爬墙机器人
CN110450134B (zh) * 2019-07-02 2021-01-08 清华大学 绳控转向仿蠕虫爬行机器人装置
CN110587577B (zh) * 2019-08-22 2023-01-24 南京理工大学 一种具有吸附能力的气动软体机器人
CN113733832B (zh) * 2021-09-26 2025-03-25 西北工业大学 一种实现爬壁机器人飞行的气动力吸附装置

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FR2437341A1 (fr) * 1978-09-29 1980-04-25 Commissariat Energie Atomique Vehicule apte a se deplacer avec adherence sur une surface quelconque
DE2905793C2 (de) * 1979-02-15 1983-10-27 Fried. Krupp Gmbh, 4300 Essen Schreitwerk
FR2519576B1 (fr) * 1982-01-11 1985-11-29 Int Robotic Engineerin Robot a pattes grimpeur
FR2529131B1 (fr) * 1982-06-23 1985-11-22 Int Robotic Engineerin Robot capable de se deplacer sur parois inclinees ou verticales
WO1984004733A1 (en) * 1983-05-20 1984-12-06 John Cameron Robertson Remotely-operable vehicles for use in the cleaning and inspection of marine contact surfaces
JPS6085085A (ja) * 1983-10-14 1985-05-14 Kubota Ltd 管内自走装置
US4688289A (en) * 1985-02-25 1987-08-25 Uragami Fukashi Device capable of adhering to a wall surface by suction and treating it
US4809383A (en) * 1985-02-25 1989-03-07 Uragami Fukashi Device capable of adhering to a wall surface by suction and treating it
US4719659A (en) * 1985-12-28 1988-01-19 Uragami Fukashi Rotary travelling surface treatment device
US4926957A (en) * 1987-04-01 1990-05-22 Uragami Fukashi Device capable of suction-adhering to a wall surface and moving therealong
US4934475A (en) * 1987-04-04 1990-06-19 Uragami Fukashi Device capable of suction-adhering to a wall surface and moving therealong
JPS649763A (en) * 1987-07-02 1989-01-13 Minolta Camera Kk Printer
JPS6436586A (en) * 1987-07-31 1989-02-07 Yokohama Rubber Co Ltd Wall surface walking machine
JPS6436588A (en) * 1987-07-31 1989-02-07 Yokohama Rubber Co Ltd Walking machine for wall surface washing
JP2677796B2 (ja) * 1987-08-07 1997-11-17 古河電気工業株式会社 バレル部付端子の圧着方法
FR2625459B1 (fr) * 1987-12-31 1990-06-15 Aerospatiale Mobile autonome du type robot pour le transport d'un outil a vitesse constante
US4919223A (en) * 1988-01-15 1990-04-24 Shawn E. Egger Apparatus for remotely controlled movement through tubular conduit
US4997052A (en) * 1989-03-23 1991-03-05 Uragami Fukashi Device for moving along a wall surface while suction-adhering thereto

Also Published As

Publication number Publication date
AU6700890A (en) 1991-05-30
DE69016753T2 (de) 1995-06-08
EP0430161A2 (en) 1991-06-05
DE69016753D1 (de) 1995-03-23
US5161631A (en) 1992-11-10
CA2030491C (en) 1995-10-03
KR100187913B1 (ko) 1999-06-01
EP0430161A3 (en) 1991-12-04
AU640713B2 (en) 1993-09-02
KR910009539A (ko) 1991-06-28
CA2030491A1 (en) 1991-05-28
EP0430161B1 (en) 1995-02-08

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