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1. 发明授权

EP1595720B1 MAGNETIC WHEEL FOR VEHICLES 有权
标题翻译：磁轮车辆
公开(公告)号：EP1595720B1
公开(公告)日：2008-01-02
申请号：EP04711621.5
申请日：2004-02-17
申请人： APPLUS NORCONTROL, S.L. (Sociedad Unipersonal)
发明人： REBOREDO LOSADA, Oscar , VARELA REY, Manuel
IPC分类号： B60B19/00
CPC分类号： B60B3/048 , B60B19/006 , B60B2360/50 , B60B2900/551 , B60Y2200/47 , Y10S180/901
摘要： The invention relates to a magnetic wheel which has been specially designed for vehicles that have to travel on ferromagnetic surfaces such as, for example, the iron or steel walls of large stores. The inventive wheel combines a hollow rim (1-1') and a casing (4) which is made from an elastomer material or similar, which define a cylindrical chamber (8). Moreover, a magnetic ring (9) is disposed in the aforementioned chamber and takes the form of a permanent magnet of sufficient power. The invention is characterised in that the diameter of the magnetic ring (9) is considerably smaller than that of the chamber (8), such that the ring can perform a planetary movement therein while retaining a permanent tangential position in relation to the casing (4) at the point at which it is always in contact with the ferromagnetic surface on which the vehicle is moving, thereby ensuring maximum adhesion at said point. As a result, it is possible to improve the wheel's surfacing-holding power, make the wheel lighter and increase the safety of same by dispensing with the need for an electrical power source. In addition, the inventive wheel can clear obstacles encountered on the surface.

2. 发明公开

EP1595720A1 MAGNETIC WHEEL FOR VEHICLES 有权
标题翻译： MAGNETRADFÜRFAHRZEUGE
公开(公告)号：EP1595720A1
公开(公告)日：2005-11-16
申请号：EP04711621.5
申请日：2004-02-17
申请人： Applus Calidad y Medioambiente, S.L.
发明人： REBOREDO LOSADA, Oscar , VARELA REY, Manuel
IPC分类号： B60B19/00
CPC分类号： B60B3/048 , B60B19/006 , B60B2360/50 , B60B2900/551 , B60Y2200/47 , Y10S180/901
摘要： Specially conceived for vehicles which have to be displaced over ferromagnetic surfaces, like the iron or steel walls of large tanks for example, it is incorporated by the combination of a hollow rim (1-1') and a tyre (4) of an elastomer or similar material, which define a cylindrical chamber (8) inside which a magnetic annulus (9) runs, materialized in a permanent magnet of adequate strength, with the particularity that said magnetic annulus (9) has a substantially smaller diameter than that of the cited chamber (8), so that it is capable of carrying out a planetary motion inside the same, maintaining a permanently tangential condition with the tyre (4) at the point in which the latter is in contact at all times with the ferromagnetic surface over which the vehicle is displaced, achieving maximum adherence at said point. In this way it is managed to improve the grip of the wheel on said surface, overcome possible obstacles of the same, lighten the wheel and increase safety through not requiring an electricity supply.
摘要翻译：特别针对必须在铁磁表面上移位的车辆，例如大罐的铁壁或钢壁，通过中空轮辋（1-1'）和弹性体的轮胎（4）的组合而被加入或类似的材料，其限定了在其中磁性环（9）延伸的圆柱形腔室（8），其具有足够强度的永磁体，特别是所述磁性环（9）的直径基本上小于使得其能够在其内部执行行星运动，在轮胎（4）始终与铁磁表面接触的时刻保持与轮胎（4）的永久切向状态车辆被移动，在所述点达到最大程度的遵守。以这种方式，可以改善车轮在所述表面上的抓地力，克服可能的障碍物，减轻车轮并通过不需要电力来增加安全性。

3. 发明公开

EP0430161A2 Device capable of moving along a surface 失效
标题翻译： Vorrichtung，死了一个einerFlächeentlang bewegen kann。
公开(公告)号：EP0430161A2
公开(公告)日：1991-06-05
申请号：EP90122640.7
申请日：1990-11-27
申请人： Urakami, Fukashi
发明人： Urakami, Fukashi
IPC分类号： B62D57/024 , B24C3/06
CPC分类号： B62D57/024 , B24C3/06 , Y10S180/901
摘要： A device capable of moving along a surface (34) comprising at least two moving units (2A, 2B), wherein the units (2A, 2B) are linked to each other by a coupling means (66) capable of being stretched and contructed, each of the units has a state setting means (46) for selectively setting each of the units (2A, 2B) in a movable state along the surface (34) and in a surface-engaging state on the surface (34), and when one unit is set in a movable state and the other unit is set in a surface-engaging state and the coupling means (66) is stretched or contracted, said one unit is moved along the surface.
摘要翻译：一种能够沿着包括至少两个移动单元（2A，2B）的表面（34）移动的装置，其中所述单元（2A，2B）通过能够被拉伸和构造的联接装置（66）彼此连接，每个单元具有状态设置装置，用于选择性地将表面（34）上的每个单元（2A，2B）设置在可移动状态，并且在表面（34）上处于表面接合状态，并且当一个单元被设置在可移动状态，另一个单元被设置在表面接合状态，并且联接装置（66）被拉伸或收缩，所述一个单元沿着表面移动。

4. 发明授权

EP0389243B1 Robot devices 失效
标题翻译：机器人设备。
公开(公告)号：EP0389243B1
公开(公告)日：1994-11-30
申请号：EP90302979.1
申请日：1990-03-20
申请人： PORTSMOUTH TECHNOLOGY CONSULTANTS LIMITED , UNIVERSITY OF PORTSMOUTH ENTERPRISE LIMITED
发明人： Collie, Arthur Alexander
IPC分类号： B62D57/024
CPC分类号： B62D57/024 , Y10S180/901

5. 发明公开

EP0389243A3 Robot devices 失效
标题翻译：机器人设备
公开(公告)号：EP0389243A3
公开(公告)日：1991-11-27
申请号：EP90302979.1
申请日：1990-03-20
申请人： PORTSMOUTH TECHNOLOGY CONSULTANTS LIMITED , UNIVERSITY OF PORTSMOUTH ENTERPRISE LIMITED
发明人： Collie, Arthur Alexander
IPC分类号： B62D57/024
CPC分类号： B62D57/024 , Y10S180/901
摘要： A robot device, preferably in the form of a walking robot 1 comprises a chassis 3 and a plurality of articulated legs 7, each leg 7 comprising an upper leg 10 rotatively and pivotally mounted on the chassis 3 and extending generally upwards therefrom, a lower leg 11 pivotally coupled to the upper leg 10 and a gripper foot 9 mounted on the lower leg 11, the gripper foot 9 being generally lower than the chassis 3, control of the articulated leg 7 being derived from three double acting pneumatic actuating cylinders 17, 18 and 19 each connected between the chassis 3 and the leg 7, position sensors 24, 25 and 26 being provided for determining the position of the leg and differential pressure sensors 42 (Fig. 3B) being provided for sensing the force applied to the leg, processor control means 30 (Fig. 3A) being provided for each leg 7 for effecting movement of the leg 7 in dependence upon the outputs of the position sensors 24, 25 and 26 and the differential pressure sensors 42. Preferably, the process control means 30 of each leg will be controlled by a remotely positioned personal computer 32 (Fig. 3A) which controls the walking movement of the walking robot 1 (Figs. 1A and 2A).

6. 发明公开

EP0389243A2 Robot devices 失效
标题翻译：机器人-Vorrichtungen。
公开(公告)号：EP0389243A2
公开(公告)日：1990-09-26
申请号：EP90302979.1
申请日：1990-03-20
申请人： PORTSMOUTH TECHNOLOGY CONSULTANTS LIMITED , UNIVERSITY OF PORTSMOUTH ENTERPRISE LIMITED
发明人： Collie, Arthur Alexander
IPC分类号： B62D57/024
CPC分类号： B62D57/024 , Y10S180/901
摘要： A robot device, preferably in the form of a walking robot 1 comprises a chassis 3 and a plurality of articulated legs 7, each leg 7 comprising an upper leg 10 rotatively and pivotally mounted on the chassis 3 and extending generally upwards therefrom, a lower leg 11 pivotally coupled to the upper leg 10 and a gripper foot 9 mounted on the lower leg 11, the gripper foot 9 being generally lower than the chassis 3, control of the articulated leg 7 being derived from three double acting pneumatic actuating cylinders 17, 18 and 19 each connected between the chassis 3 and the leg 7, position sensors 24, 25 and 26 being provided for determining the position of the leg and differential pressure sensors 42 (Fig. 3B) being provided for sensing the force applied to the leg, processor control means 30 (Fig. 3A) being provided for each leg 7 for effecting movement of the leg 7 in dependence upon the outputs of the position sensors 24, 25 and 26 and the differential pressure sensors 42. Preferably, the process control means 30 of each leg will be controlled by a remotely positioned personal computer 32 (Fig. 3A) which controls the walking movement of the walking robot 1 (Figs. 1A and 2A).
摘要翻译：优选地以行走机器人1的形式的机器人装置包括底架3和多个铰接支腿7，每个支腿7包括可旋转地且可枢转地安装在底盘3上并从其上大致向上延伸的上腿10， 11枢转地联接到上腿10和安装在小腿11上的夹爪9，夹爪9通常低于底盘3，铰接腿7的控制源自三个双作用气动致动缸17,18 和19，每个连接在底盘3和腿7之间，位置传感器24,25和26被设置用于确定腿部和差压传感器42的位置（图3B），其被设置用于感测施加到腿部的力，为每个支腿7提供处理器控制装置30（图3A），用于根据位置传感器24,25和26以及差压传感器42的输出实现支腿7的移动。优选地，每个腿的过程控制装置30将由远程定位的个人计算机32（图1）控制。控制步行机器人1（图1A和2A）的步行运动的图3A）。

7. 发明公开

EP0084012A1 Robot à pattes grimpeur 有权转让
标题翻译：机器人攀爬成员。
公开(公告)号：EP0084012A1
公开(公告)日：1983-07-20
申请号：EP83400054.9
申请日：1983-01-10
申请人： INTERNATIONAL ROBOTIC ENGINEERING INC.
发明人： Kroczynski, Patrice Alain
IPC分类号： B25J5/00 , B62D57/02
CPC分类号： B62D57/024 , B25J5/00 , Y10S180/901
摘要： Appareil autonome capable de se déplacer le long d'une surface non horizontale et comportant un premier équipage et un second équipage (48) relié au premier par des moyens permettant d'obtenir un déplacement relatif par translation et par rotation dans un plan parallèle à la surface, et des premiers et seconds moyens de maintien (2) portés respectivement par le premier et le second équipage et capables de fixer l'appareil sur la surface de façon amovible, dans lequelles moyens de maintien portés par au moins l'un des équipages sont reliés à cet équipage par l'intermédiaire de moyens capables de déplacer ledit équipage par rapport auxdits moyens de maintien dans une direction perpendiculaire à la surface. De préférence, lesdits moyens de maintien (2) du premier équipage sont formés de plusieurs dispositifs d'adhérence formant un polygone et disposés extérieurement au centre des moyens de maintien du second équipage, et ledit appareil comporte en outre un outil de traitement ou d'inspection (60), monté de façon à pouvoir exécuter un mouvement pivotant par rapport audit premier équipage.

8. 发明授权

EP2003043B1 Antriebseinheit für ein Inspektionsfahrzeug sowie Inspektionsfahrzeug mit einer solchen Antriebseinheit 有权转让
标题翻译：驱动单元，其用于具有这种驱动单元的车辆检查和检验车辆
公开(公告)号：EP2003043B1
公开(公告)日：2009-09-09
申请号：EP08104264.0
申请日：2008-06-05
申请人： Alstom Technology Ltd
发明人： Moser, Roland , Mark, Bernhard , Kaufmann, Reto , Erni, Josef
IPC分类号： B62D55/065 , B62D55/14
CPC分类号： B62D55/265 , B62D55/108 , B62D55/125 , B62D55/14 , Y10S180/901

9. 发明公开

EP1564552A1 DEVICE MOVABLE ALONG BODY SURFACE 审中-公开
标题翻译： ENTLANG EINERKÖRPEROBERFLÄCHEBEWEGLICHE EINRICHTUNG
公开(公告)号：EP1564552A1
公开(公告)日：2005-08-17
申请号：EP03811524.2
申请日：2003-11-17
申请人： Urakami, Fukashi
发明人： Urakami, Fukashi
IPC分类号： G01N29/28 , B08B3/12
CPC分类号： B08B3/104 , B08B3/12 , Y10S180/901 , Y10T74/22
摘要： This invention provides a device capable of covering the surface of an object situated in a gas with a region filled with a liquid and of moving such region, capable of sucking and collecting such liquid from the surface of the object wetted by the liquid and of drying such surface, and is capable of allowing such region to adhere to and crawl along the surface of the subject, while conducting ultrasonic flaw detection or ultrasonic cleaning of the surface of the object.
This invention provides a device comprising a stereoshaped first region having an annular surface A and a stereoshaped second region having an annular surface B wherein the surface A is the boundary surface between the surface of an object and the first region and the surface B is the boundary surface between the surface of an object and the second region, the portion defining the outer boundary of the surface A is provided with an outer seal member, the portion defining the inner boundary of the surface A is provided with an inner seal member, the first region is connected to a gas suction means, the second region is connected to a liquid supply means, the first region is located on the downstream side of the gas surrounding the device, the first region is located on the downstream side of the second region, and the liquid flowing out of the second region reaches the first region and is subsequently transported by suction to the suction means.
摘要翻译：本发明提供一种能够覆盖位于气体中的物体的表面的装置，其中填充有液体的区域并且移动该区域，能够从被液体润湿的物体的表面吸收和收集这种液体并干燥并且能够允许这样的区域在对象的表面进行超声波探伤或超声波清洗的同时沿着被检体的表面附着和爬行。本发明提供了一种装置，其包括具有环形表面A的立体形状的第一区域和具有环形表面B的立体形第二区域，其中表面A是物体表面与第一区域之间的边界表面， B是物体表面与第二区域之间的边界面，限定表面A的外边界的部分设置有外密封件，限定表面A的内边界的部分设置有内密封件第一区域连接到气体抽吸装置，第二区域连接到液体供应装置，第一区域位于围绕装置的气体的下游侧，第一区域位于下游侧第二区域和从第二区域流出的液体到达第一区域并随后通过抽吸传送到抽吸装置。

10. 发明授权

EP0710188B1 ROBOTIC APPARATUS 失效
标题翻译：机器人设备
公开(公告)号：EP0710188B1
公开(公告)日：2001-10-24
申请号：EP94918033.5
申请日：1994-05-18
申请人： ARVI Inc
发明人： ARVI Inc
IPC分类号： B60B39/00 , B62D55/265 , B62D57/024 , B63B59/10 , B64F5/00
CPC分类号： B62D57/00 , B62D55/265 , B64F5/30 , B64F5/60 , Y10S180/901
摘要： A robot for performing a working operation on a surface. The robot comprises a frame (4) which supports a pair of parallel tracks (18). An endless link chain (20) is mounted for travel on each track and each chain is driven by an independent motor (24) mounted on the frame. Each track is provided with at least two recesses (47-50) with each recess having an open side facing the respective chain. A series of vacuum cups (39) are mounted on each chain and are adapted to engage the surface to be traversed. Series of ports connect recesses of each track and groups of vacuum cups on each chain. A source of vacuum is connected to the recesses and acts through the ports to the respective vacuum cups to enable the vacuum cups to grip the surface. The robot is employed with a laser tracking system (85) in the non-destructive inspection of an aircraft.

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