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WO2006036067A3 - A controllable articulated element and a robotic snake including a skin structure and fire extinguishing nozzle - Google Patents

A controllable articulated element and a robotic snake including a skin structure and fire extinguishing nozzle Download PDF

Info

Publication number
WO2006036067A3
WO2006036067A3 PCT/NO2005/000356 NO2005000356W WO2006036067A3 WO 2006036067 A3 WO2006036067 A3 WO 2006036067A3 NO 2005000356 W NO2005000356 W NO 2005000356W WO 2006036067 A3 WO2006036067 A3 WO 2006036067A3
Authority
WO
WIPO (PCT)
Prior art keywords
articulated element
robotic snake
fire extinguishing
skin structure
extinguishing nozzle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/NO2005/000356
Other languages
French (fr)
Other versions
WO2006036067A2 (en
Inventor
Oeyvind Stavdahl
Anders Beitnes
Ove Paulsen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sinvent AS
Original Assignee
Sinvent AS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sinvent AS filed Critical Sinvent AS
Publication of WO2006036067A2 publication Critical patent/WO2006036067A2/en
Publication of WO2006036067A3 publication Critical patent/WO2006036067A3/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C31/00—Delivery of fire-extinguishing material
    • A62C31/02—Nozzles specially adapted for fire-extinguishing
    • A62C31/03—Nozzles specially adapted for fire-extinguishing adjustable, e.g. from spray to jet or vice versa
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C31/00—Delivery of fire-extinguishing material
    • A62C31/02—Nozzles specially adapted for fire-extinguishing
    • A62C31/24—Nozzles specially adapted for fire-extinguishing attached to ladders, poles, towers, or other structures with or without rotary heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
    • B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
    • B08B9/027—Cleaning the internal surfaces; Removal of blockages
    • B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
    • B08B9/043—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes
    • B08B9/045—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes the cleaning devices being rotated while moved, e.g. flexible rotating shaft or "snake"
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B25J9/065—Snake robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Manipulator (AREA)
  • Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)

Abstract

The invention concerns an articulated element comprising two opposing end faces (1, 2) for connection to other elements. At least two hydraulic actuators (6, 7) are adapted to articulate the articulated element in at least two dimensions, and at least one control valve (11, 12) is included for each actuator (6, 7). A robotic snake comprising at least two articulated elements, a skin for a robotic snake, a head unit for connection to an articulated element, and a use of the robotic snake for rescue operations or fire fighting purposes is also included.
PCT/NO2005/000356 2004-09-29 2005-09-26 A controllable articulated element and a robotic snake including a skin structure and fire extinguishing nozzle Ceased WO2006036067A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NO20044127 2004-09-29
NO20044127A NO322126B1 (en) 2004-09-29 2004-09-29 Articulated controllable element and a robotic hose comprising a skin structure and a fire extinguishing nozzle

Publications (2)

Publication Number Publication Date
WO2006036067A2 WO2006036067A2 (en) 2006-04-06
WO2006036067A3 true WO2006036067A3 (en) 2006-05-11

Family

ID=35057658

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NO2005/000356 Ceased WO2006036067A2 (en) 2004-09-29 2005-09-26 A controllable articulated element and a robotic snake including a skin structure and fire extinguishing nozzle

Country Status (2)

Country Link
NO (1) NO322126B1 (en)
WO (1) WO2006036067A2 (en)

Families Citing this family (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2268211B1 (en) 2008-04-11 2018-02-14 The Regents of the University of Michigan Minimal access tool
US9869339B2 (en) 2008-04-11 2018-01-16 Flexdex, Inc. End-effector jaw closure transmission systems for remote access tools
US10405936B2 (en) 2008-04-11 2019-09-10 The Regents Of The University Of Michigan Parallel kinematic mechanisms with decoupled rotational motions
US9464642B2 (en) 2010-11-19 2016-10-11 President And Fellows Of Harvard College Soft robotic actuators
EP2764255B1 (en) 2011-10-07 2020-09-09 President and Fellows of Harvard College Systems and methods for actuating soft robotic actuators
KR102084280B1 (en) 2012-03-26 2020-03-03 프레지던트 앤드 펠로우즈 오브 하바드 칼리지 Systems and methods for providing flexible robotic actuators
KR102052236B1 (en) 2013-03-04 2019-12-04 프레지던트 앤드 펠로우즈 오브 하바드 칼리지 Magnetic assembly of soft robots with hard components
WO2014184791A1 (en) * 2013-05-13 2014-11-20 Israel Aerospace Industries Ltd. A robotic supply system
CN103302677A (en) * 2013-06-03 2013-09-18 哈尔滨工程大学 Hydraulically-driven two-freedom degree bionic spinal joint module
AT514914B1 (en) * 2013-09-30 2015-05-15 Lungenschmid Dieter Dr Curving device, in particular robotic arm
CN104440939B (en) * 2014-11-13 2016-01-27 哈尔滨工程大学 Secondary drive joint of small underwater hydraulic manipulator
EP3282952B1 (en) 2015-04-03 2019-12-25 The Regents Of The University Of Michigan Tension management apparatus for cable-driven transmission
CN108712886B (en) 2015-10-02 2021-06-04 弗莱克斯德克斯公司 Handle mechanism providing unlimited roll
BR112018006826A2 (en) 2015-10-05 2018-10-16 Flexdex Inc medical devices that have smoothly articulating multi-cluster joints
US11896255B2 (en) 2015-10-05 2024-02-13 Flexdex, Inc. End-effector jaw closure transmission systems for remote access tools
WO2017147607A1 (en) 2016-02-25 2017-08-31 Flexdex, Inc. Parallel kinematic apparatuses
EP3483522A1 (en) * 2017-11-14 2019-05-15 ETH Zurich Actuator, mechanism comprising the actuator, solar energy harnessing apparatus, arrangement of buildings, and a method for manufacturing the actuator
GB201903049D0 (en) 2019-03-07 2019-04-24 Rolls Royce Plc Sensor
US11950966B2 (en) 2020-06-02 2024-04-09 Flexdex, Inc. Surgical tool and assembly
CN112894782A (en) * 2021-02-23 2021-06-04 中铁工程装备集团有限公司 Snakelike arm connecting structure and snakelike arm robot controlled by series-parallel connection coupling
CN113769308B (en) * 2021-08-24 2023-01-10 浙江一方建筑装饰实业有限公司 Indoor safe fire protection system
CN116492617A (en) * 2023-04-28 2023-07-28 中南林业科技大学 Bionic Forest Fire Robot Snake
CN119367715A (en) * 2024-11-12 2025-01-28 国网安徽省电力有限公司电力科学研究院 A telescopic hard-tube fire-fighting robot

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU1114546A1 (en) * 1983-06-17 1984-09-23 Институт кибернетики АН ГССР Manipulator snout
US4900218A (en) * 1983-04-07 1990-02-13 Sutherland Ivan E Robot arm structure
WO2001017731A1 (en) * 1999-09-09 2001-03-15 Heriot-Watt University Fluid operated actuator for robots
US6774597B1 (en) * 2001-03-30 2004-08-10 The Regents Of The University Of Michigan Apparatus for obstacle traversion

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4900218A (en) * 1983-04-07 1990-02-13 Sutherland Ivan E Robot arm structure
SU1114546A1 (en) * 1983-06-17 1984-09-23 Институт кибернетики АН ГССР Manipulator snout
WO2001017731A1 (en) * 1999-09-09 2001-03-15 Heriot-Watt University Fluid operated actuator for robots
US6774597B1 (en) * 2001-03-30 2004-08-10 The Regents Of The University Of Michigan Apparatus for obstacle traversion

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
DATABASE WPI Week 198514, Derwent World Patents Index; Class P62, AN 1985-085954 *
DORO M. ET AL: "Snake-like mobile micro-robot based on a 3DOF parallel mechanism", 14 October 1999 (1999-10-14), Retrieved from the Internet <URL:http://digitus.itk.ppke..hu/~lomfe/robot%20snake/megvalositasok/Snake-like%20mobile%20micro-robot.doc> *
HIROSE & YONEDA LAB: "Articulated Multi-wheeled Mobile Robot 'Genbu'", HIROSE & YONEDA LAB, DEPT. OF MECHANICAL AND AEROSPACE ENGINEERING, Retrieved from the Internet <URL:http://www.robot.mes.titech.ac.jp/snake/genbu/genbu_e.html.> *
OHNO H. ET AL: "Study on Slime Robot", PROCEEDINGS OF THE 2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2000 *

Also Published As

Publication number Publication date
WO2006036067A2 (en) 2006-04-06
NO20044127D0 (en) 2004-09-29
NO20044127L (en) 2006-03-30
NO322126B1 (en) 2006-08-21

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