Limited mobility transporter

• US 5,094,311 A
• Filed: 02/22/1991
• Issued: 03/10/1992
• Est. Priority Date: 02/22/1991
• Status: Expired due to Fees

• Current Assignee: Fanuc Robotics America Incorporated (Fanuc Corporation)
• Original Assignee: Gmfanuc Robotics Corporation
• Inventors: Akeel, Hadi A.
• Primary Examiner(s): Spar, Robert J.
• Assistant Examiner(s): UNDERWOOD, DONALD W
• Application Number:
  US07/659,745
• Time in Patent Office: 382 Days
• Field of Search: 414/749, 414/750, 414/744.1, 414/744.2, 414/744.5, 901/1, 180/8.6, 180/8.1, 180/8.5, 180/119, 114/222, 269/389, 269/900
• US Class Current: 180/119
• CPC Class Codes: B62D 57/032 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid B62D57/024 takes precedence
• CPC Class Codes: B65G 35/00 Mechanical conveyors not otherwise provided for
• CPC Class Codes: Y10S 269/90 Supporting structure having work holder receiving apertures or projections

Abstract

A limited mobility transporter (10) is disclosed having a linkage mechanism (12) with four links (14,16,18,20) pivotally connected at their ends to form a four bar linkage. Engagers (22) are mounted at pivotal connections (A,B,C,D) of the links (14,16,18,20) for selectively engaging a mounting surface (24). An actuator assembly (26) rotates the links (14,16,18,20) about the engaged pivotal connections (A,B,C,D). A programmable controller (28) controls a sequence of movements whereby the transporter (10) is movable about the mounting surface (24) by simultaneous engagement of selected engagers (22) and rotation of the links (14,16,18,20) about the selected engagers (22) in a coplaner fashion to the mounting surface (24). In one embodiment, the engagers (22) comprise a shot pin assembly and the mounting surface (24) includes receptacles for receiving the shot pins. In other embodiments, the engagers (22) are electromagnetic anchors or suction cups. The mounting surface (24) is ferromagnetic or includes ferromagnetic inserts when the electromagnetic anchors (22) are used.

Claims

1. A transporter for movement along a predetermined path along a mounting surface, the transporter comprising:

a linkage mechanism having four links connected at their ends by pivotal connections to form a four bar linkage;

an engager mounted at each pivotal connection operable for selectively engaging two adjacent pivotal connections to the mounting surface; and

an actuator assembly connected to one of said links for rotating said links about said two adjacent pivotal connections in a coplanar fashion to the mounting surface whereby the transporter is movable about the mounting surface by the simultaneous engagement of said selected engagers and rotation of said links whereby releasing said engaged pivotal connections after rotation of said links and engaging another pair of adjacent pivotal connections and rotating said links about said another pair of adjacent pivotal connections provides sequential movement of the work platform relative to the surface.

6. A transporter as in claim 1 wherein said engager comprises an electromagnetic anchor assembly and said mounting surface includes ferromagnetic inserts.

7. A transporter as in claim 1 wherein said engager comprises a suction cup assembly.

8. A transporter as in claim 1 further comprising a programmable controller for controlling said engagers and actuator.

9. A transporter as in claim 1 wherein said actuator assembly comprises an electric motor and mechanical motion transmission means.

10. A transporter as in claim 1 further including a work platform adjustably mountable on said linkage mechanism.

11. A transporter as in claim 10 wherein said engagers are also operable for selectively engaging said work platform on said linkage mechanism thereby coupling said work platform to said linkage mechanism by the engagement.

12. A transporter as in claim 11 wherein said actuator is a linear actuator having ends pivotally connecting opposite pivotal connections of said linkage mechanism.

13. A transporter as in claim 12 wherein said engagers comprise a double-ended shot pin assembly.

14. A transporter as in claim 12 wherein said engagers comprise a double-ended electromechanical anchor assembly.

15. A transporter as in claim 12 wherein said engagers comprise a double-ended suction cup assembly.

16. A transporter as in claim 2 or 10 wherein said work platform includes casters which provides rolling engagement for the transporter relative to the mounting surface.

17. A transporter as in claim 2 or 10 wherein said work platform includes air support blocks having peripheral seals which provide an air cushion between the transporter and mounting surface.

2. A transporter for moving objects along a predetermined path along a mounting surface, the transporter comprising:

a linkage mechanism having four links connected at their ends by pivotal connections to form a four bar linkage;

one of said links defining a work platform for supporting the object to be moved;

an engager mounted at each pivotal connection operable for selectively engaging two adjacent pivotal connections to the mounting surface; and

an actuator assembly connected to one of said links for rotating said links about said two adjacent pivotal connections in a coplanar fashion to the mounting surface whereby the transporter is movable about the mounting surface by the simultaneous engagement of said selected engagers and rotation of said links whereby releasing said engaged pivotal connections after rotation of said links and engaging another pair of adjacent pivotal connections and rotating said links about said another pair of adjacent pivotal connections provides sequential movement of the work platform relative to the surface.

3. A transporters as in claim 2 wherein said engager comprises a shot pin assembly and said mounting surface includes receptacles for receiving said shot pins.

4. A transporter as in claim 3 wherein said shot pin assembly includes a mechanical actuator for extending and retracting said shot pins.

5. A transporter as in claim 3 wherein said shot pin assembly includes a pneumatic actuator for extending and retracting said shot pins.

18. A method of moving objects supported on a work platform relative to a surface comprising:

engaging selected adjacent pivotal connections of a linkage mechanism defining the work platform to the surface; and

rotating said linkage mechanism about said engaged pivotal connections in a coplanar fashion to the surface to move said links and the objects supported on the work platform about the surface;

releasing said engaged pivotal connections after rotating;

engaging another pair of adjacent pivotal connections and rotating said links about said another pair of adjacent pivotal connections to provide sequential movement of the work platform relative to the surface.

19. A method as in claim 18 further comprising connecting four links together at their ends by pivotal connections thereby forming a four bar linkage mechanism.

20. A method as in claim 18 further comprising determining the location of the transporter with respect to the surface, and correcting errors in the location of the transporter by actuating partial rotation of said links about engaged pivotal connections.