奥地利专利AT517856A4 robot

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专利摘要:
It is a robot that moves on the model of a worm and is characterized in that the segments, which he has a solid body in the drive elements and possibly other elements are necessary for the function of the robot. The principle can also be applied to machines such as tunnel boring machines.
公开号:AT517856A4
申请号:T256/2016
申请日:2016-05-20
公开日:2017-05-15
发明作者:Manuel Müller Matthias
申请人:Manuel Müller Matthias；
IPC主号:

专利说明:

Patent application
Title: Wormrobot Description: In bionics, technical models are modeled on nature and often new discoveries are made, which then lead to a tremendous advance in technology. A worm robot offers extreme advantages in its locomotion, as it moves slowly, but all the safer, it also offers the possibility that the robot can remain in a vertical position (1) even without energy consumption.
A worm robot in this form can be used as a reconnaissance and reconnaissance robot, but also in other forms, such as a tunnel boring machine. In tunneling, the use of such a robot with a nozzle for chemicals on the front is conceivable to come, for example, through a mountain without a stone hole or similar expenses (similar to fracking), but it can also be a Bohr set on the front of the Wurms are mounted and the resulting by drilling "waste", for example by a conveyor system, are transported through the segments to the other end of the robot. A use in the field of medicine (use in arteries) is unlikely, since usually a flexible worm is needed, but not excluded.
This robot mimics the gait of a natural worm, but slightly modified for better use in engineering (2). On the two ends of the worm can be domes or other structures (drills, nozzles, ...).
In this prototype, disaster area deployment has been made a primary use, and the connections between the segments are hexapods minimized to three ports (rack drives) (Figure 1).
The prototype continues as each second segment contracts, moves, and then expands again (Figure 2). However, it is also possible that instead of every second segment always only one segment or a certain number of segments in one step, all stages of movement through - similar to earthworms continuous shifts of segments happen (earthworm: this process looks like the run of segment rings, while the individual rings are continuously reduced, moved and enlarged - areas are "diluted", moved and again "thickened".)
The robot can also be hiked together to transport or store it. Of course, the same principle also applies to "divergence" (starting to move), only in reverse order. (Fig. 3)
Additions: (1) A worm robot in this form can be anchored in shafts, tubes, and other tunnel systems by extending its diameter or cross section (for non-round modifications) in one position so that it remains in the same position without further energy expenditure can. This offers advantages for the long-term detection / long-term monitoring of an environment, since it is possible to carry out actions with cyclic tasks over a longer period of time (for example: measurement). In addition, this possibility is also given the possibility of loading / refueling the robot / machine. (2) A non-flexible worm robot offers the advantages of stowage of parts such as accumulators, tanks, control units, drives and other components in the segments themselves. Possible applications: 1. Civil protection (military use - as vehicle, reconnaissance robot, ...) 2 Exploration work (archaeological investigations, ...) 3. Expeditionary robots (lunar, Mars robots, ...) 4. Tunnel boring machines (autonomous tunnel boring systems vertical, horizontal and inclined) 5. Pipe and shaft maintenance (maintenance robots, "Kanalfernseh" drone, ...)
Worth to be protected (description): 1) Robots modeled on a worm, which consists of several segments and these have rigid base body from which move when expanding the segment "feet" from the body to the outside, thus the diameter or size of the segment. The feet, which are extended from the basic bodies of the segments can have at the end remote from the robot any contact surface, thus also be only pins that are driven outwards. 2) A robot according to 1, which also has the ability to tilt in all directions and to change the distance between them. The inclination of the segments can be made possible by ball joints, chain transmission or a tri or hexapod between the individual segments. 3) The robot according to FIGS. 1 and 2 should be distinguished by its existing segmental base bodies, in which the drives for the connections between the segments and the extension are seated, in addition, other parts, such as sensors, may be located in the segmented bodies. 4) Robots 1 to 3 digging tunnels and transporting the "garbage" (similar to an earthworm) food through the robot to move it away from the drilling site. 5) Robots 1 and 2 that can perform rolling movements like a real worm, as well as quick curling (for example, in dangerous situations). 6) worm robot 1 and 2 with rigid segment parts as a means of transport. 7) Robots or machines according to 1 and 2, which can be used as a means of transport.

权利要求:
Claims (7)
[1]
1) robot on the model of a worm, this consists of several segments and these have rigid body, from which move in extension of the segment "feet" from the body to the outside, thus changing the diameter or the size of the segment.
[2]
2) A robot according to claim 1, which also has the ability to tilt in all directions and to change the distance between them.
[3]
3) The robot according to claims 1 and 2 should be characterized by its existing segmental base body, in which sit the drives for the connections between the segments and the expansion, also may be in the segment bodies other parts such as sensors.
[4]
4) Robots according to claims 1 to 3, dig the tunnels and transport the "waste" (for example: scree), similar to an earthworm processed food, through the robot to move it away from the drilling site.
[5]
5) Robots according to claims 1 and 2, which can perform rolling movements such as a real worm, as well as the quick Einkringeln (for example in dangerous situations).
[6]
6) Worm robot according to claims 1 and 2 with rigid segment parts as passenger transport means.
[7]
7) robot or machine according to claims 1 and 2, which can be used as a means of transport.

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同族专利:

公开号 | 公开日

AT517856B1|2017-05-15|

EP3458230A1|2019-03-27|

WO2017197418A1|2017-11-23|

引用文献:

公开号 | 申请日 | 公开日 | 申请人 | 专利标题

FR2557055A1|1983-12-27|1985-06-28|Inspectronic|Appliance for transport and positioning in a conduit|

CH669127A5|1986-04-24|1989-02-28|Eric Stucky|Traction device serving as mole running inside pipes - uses radially extended pivoted arms to act against walls of pipe either for locomotive movement or to lock mole|

EP0324644A2|1988-01-15|1989-07-19|Shawn E. Egger|Apparatus for movement through a tubular conduit|

DE3829894A1|1988-09-02|1990-03-08|Condux Maschinenbau Gmbh & Co|Hydraulically actuated feed prop|

DE4302731C1|1993-02-01|1994-07-14|Siemens Ag|Movable means of transport that can move automatically inside a tube|

DE4314995C1|1993-05-06|1994-10-06|Deutsche Aerospace|Device for checking the internal leakage of pipes|

DE10001334A1|2000-01-11|2001-07-19|Jens Bauer|Drive unit for pipeline pig comprises clamps which can slide along cable and are mounted on bellows attached to it, so that unit can be moved along pipe by unequal expansion of bellows|

WO2005084833A1|2004-03-09|2005-09-15|Prototech As|Pipeline pig|

WO2006013070A2|2004-07-29|2006-02-09|Kamal Daas|Device for displacing a part that is connected to said device or for generating movement in said part|

DE202010005845U1|2010-04-19|2010-10-14|Lorenz, Martin|Mechatronic worm-like motion system for tubular elements|CN110639900A|2019-10-16|2020-01-03|河南工程学院|Pipeline inner wall cleaning robot|JPH059309B2|1984-08-27|1993-02-04|Kogyo Gijutsuin|

JP2000246675A|1999-02-26|2000-09-12|Hitachi Zosen Corp|Robot device|

US6512345B2|2001-03-30|2003-01-28|The Regents Of The University Of Michigan|Apparatus for obstacle traversion|

DE102008014420B4|2008-03-14|2011-02-24|Heinrich Sperl|Device for introducing pipes or tools into channels or pipes|

CN103759095B|2014-02-12|2015-10-21|滨州学院|A kind of device freely can walked in pipeline|

CN204005027U|2014-07-29|2014-12-10|电子科技大学|Pipeline robot based on paralleling mechanism|

CN105114759B|2015-09-14|2017-08-01|中国葛洲坝集团机械船舶有限公司|Shuttle mechanism in one kind pipe|GB2564120B|2017-07-03|2022-03-09|United Kingdom Atomic Energy Authority|In-pipe cutting, inspection and welding tool|

CN109764210B|2019-02-01|2021-04-06|桐乡市高德工程技术服务有限公司|Walking method of pipeline robot|

CN110293542A|2019-06-20|2019-10-01|中船重工海为郑州高科技有限公司|A kind of push rod driving Snakelike mechanical arm|

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法律状态:

优先权:

申请号 | 申请日 | 专利标题

ATA256/2016A|AT517856B1|2016-05-20|2016-05-20|robot|ATA256/2016A| AT517856B1|2016-05-20|2016-05-20|robot|

EP17724715.2A| EP3458230A1|2016-05-20|2017-05-09|Worm robot|

PCT/AT2017/000035| WO2017197418A1|2016-05-20|2017-05-09|Worm robot|

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