Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1998-04-10
1999-09-28
Ro, Bentsu
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
15 491, 901 1, A47L 102
Patent
active
059594241
ABSTRACT:
Proposed is a device for moving a robot or vehicle on surfaces, particula of a glass construction, which has a support frame provided with wheels, which forms a component part of the robot or vehicle, at least one wheel being in the form of a raisable drive wheel. The drive wheel is made of a material with a high coefficient of friction in the direction of travel, while the other wheels are made of a material with a low coefficient of friction. Furthermore, at least two rope drums, spaced apart, accommodating retaining ropes, and with a drum drive, are provided to hold the support frame. Attached on the support frame are a device for determining the lateral deviation and rotation of the support frame with respect to the linear forward movement and an device for correcting the rotation. A control device controls or regulates the correction device, in dependence on the magnitude of the lateral deviation and rotation. The invention further relates to a robot with the drive device.
REFERENCES:
patent: 3641607 (1972-02-01), Lemelson
patent: 5263223 (1993-11-01), Fiegel et al.
patent: 5465446 (1995-11-01), Chang
patent: 5715557 (1998-02-01), Hsu
Elkmann Norbert
Kubbe Ingo
Scharfe Holger
Schmucker Ulrich
Schoop Christian
Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung
Ro Bentsu
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