초록 ▼

Self-contained apparatus able to move along a non-horizontal surface and comprising a first train and a second train (48) connected to the first train by devices allowing to obtain a relative displacement by translation and rotation in a plane parallel to the surface, and first and second holding de

Self-contained apparatus able to move along a non-horizontal surface and comprising a first train and a second train (48) connected to the first train by devices allowing to obtain a relative displacement by translation and rotation in a plane parallel to the surface, and first and second holding devices (2) carried respectively by the first and the second trains and able to fix removably the apparatus on the surface, wherein the holding devices carried by at least one of the trains are connected to the train through devices capable of displacing said train with respect to the holding devices in a direction perpendicular to the surface. Preferably, the holding devices (2) of the first train are comprised of a plurality of adherence devices forming a polygon and arranged outside the center of the holding devices of the second train, and the apparatus further comprises a processing or inspection tool (60) mounted so as to pivot with respect to the first train.

대표청구항 ▼

A mobile robot capable of moving and working along a non-planar surface, comprising a first support means and a second support means, means for operably connecting said second means to said first means for translation and rotation relative thereto; first and second gripping means mounted on said fir

A mobile robot capable of moving and working along a non-planar surface, comprising a first support means and a second support means, means for operably connecting said second means to said first means for translation and rotation relative thereto; first and second gripping means mounted on said first and said second support means, respectively, said first gripping means comprising spaced devices forming a polygon which are arranged externally to the center of a second polygon defined by said second gripping means; means capable of displacing one of said first and said second means in a direction generally perpendicular to the surface; and an articulated arm means extending beyond the first support means and operably mounted on said second support means so as to be movable therewith, said articulated means comprising third selectively movable gripping means and means for holding a tool for working the surface, said second gripping means and said third gripping means cooperating to increase stability and adherence during movement of the robot along the surface.