Motor vehicles – Special driving device – Stepper
Patent
1994-12-23
1996-11-19
Hurley, Kevin T.
Motor vehicles
Special driving device
Stepper
901 1, B62D 5702
Patent
active
055753469
DESCRIPTION:
BRIEF SUMMARY
There is a known transport means for implements capable of being moved on a substrate with a striding motion (European Patent EP 0,084,012).
This known transport means consists of two rigid frame parts or polygons on each of which several foot or retaining elements comprising suction cups are provided. One of the said two polygons forms an outer polygon, and one of the two forms an inner polygon. The inner polygon is located within the outside dimensions of the outer polygon, and is thus guided on the outer polygon displaceably in an axial direction. For the striding motion, the polygons are moved successively in time relative to each other, namely in axial direction of the said guidance.
One disadvantage of the known transport means is that the outer polygon is of relatively large dimensions in order to attain the requisite length of stride. For this reason, it is not possible, or at least extremely difficult, to move the known transport means in a confined space and/or to execute a change of direction. In the known case, this is possible only by swinging the polygons about an axis extending perpendicular to the substrate.
The object of the invention is to specify a transport means affording, with minimal outlay, a high mobility even in a confined space, and small dimensions.
According to the invention, at least three striding elements and at least three servo elements are provided, each acting upon or connecting two striding elements, so that a polygon-like arrangement results over all, its sides formed by the servo elements, which by their travel effect a shortening or lengthening of the side in question and which at least in part are each articulately connected to the striding elements.
The transport means according to the invention is for example part of a system comprising a plurality of transport means, which are then to travel as a group, controlled by a common control means.
In its preferred application, the transport means according to the invention is a component of an operating, measuring or monitoring apparatus, in particular for service in dangerous environments, for example within the radiation zone of nuclear installations, for example nuclear reactors. In this application also, preferably a plurality of transport means are provided, controlled and moved as a group by a common control means, at least one transport means being part of a robot comprising the operating, measuring or testing apparatus, and additional transport means being components of auxiliary robots serving for holding and handling lines, bundles of lines, auxiliary apparatus etc.
Modifications of the invention are the subject of the subsidiary claims.
The invention will be illustrated in more detail in the following in terms of embodiments by way of example, with reference to the figures:
FIG. 1, in schematic representation and in side view, shows a pressure cylinder of a nuclear powerplant, together with a measuring means arranged in the radiation zone for inspection of said pressure cylinders, with several transport means according to the invention;
FIG. 2, in simplified, enlarged representation and in top view, shows a transport means according to the invention;
FIG. 3 shows a side view of the transport means of FIG. 2;
FIG. 4, in a representation similar to FIG. 2, shows another embodiment of the transport means according to the invention.
In the figures, 1 is a pressure cylinder, made of steel, of the reactor of a nuclear powerplant.
For reasons of safety, it is required that this pressure cylinder 1, the lines 2 leading to the pressure cylinder and the corresponding connection flanges 3 etc. be continually examined for possible changes, especially for cracks in the material. This is problematical in the sense that this inspection must be carried out in the radiation zone.
For this inspection, a robot 4 is provided, consisting essentially of a transport means 5 and an ultrasonic inspection means 6 provided on said transport means, whereby the pressure cylinder 1, the lines 2, flanges 3 etc. are to be inspected for the
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patent: 4674949 (1987-06-01), Kroczynski
patent: 4940382 (1990-07-01), Castelain et al.
patent: 5094311 (1992-03-01), Akeel
patent: 5161631 (1992-11-01), Urakami
patent: 5351626 (1994-10-01), Yanagisawa
patent: 5351773 (1994-10-01), Yanagisawa
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