Self-lifting robotic device movable in desired horizontal directions
View Patent ↗A robotic device movable in a vertical direction and in prescribed horizontal directions along rails arranged in the prescribed horizontal directions in multiple rows provided at various levels with respect to ground. The robotic device has a frame, wheels coupled to the frame and configured for moving the frame along the rails, and support handles for lifting the frame in the vertical direction from first rails arranged in a first row of the rails to second rails arranged in a second row of the rails. The support handles are configured for providing engagement with the second rails to lift the robotic device in the vertical direction, and for turning the frame into a desired horizontal direction by pushing against the second rails on an intersection between the second rails and third rails arranged in the same row as the second rails.
1. A robotic device movable in a vertical direction and in prescribed horizontal directions along rails arranged in the prescribed horizontal directions in multiple rows provided at various levels with respect to ground, the robotic device comprising:
a frame,
wheels coupled to the frame and configured for moving the frame along the rails, and
support handles for lifting the frame in the vertical direction from first rails arranged in a first row of the rails to second rails arranged in a second row of the rails,
the support handles being configured for providing engagement with the second rails to lift the robotic device in the vertical direction, and for turning the frame into a desired horizontal direction by pushing against the second rails on an intersection between the second rails and third rails arranged in the same row as the second rails.
2. The device of claim 1 , wherein the support handles are configured for raising the frame with respect to the second rails when the support handles push against the second rails.
3. The device of claim 2 , further comprising a wheels turning mechanism for turning the wheels with respect to a direction of the second rails when the frame is raised with respect to the second rails.
4. The device of claim 3 , wherein the wheels turning mechanism is configured for turning the wheels by angles determined based on dimensions of the robotic device so as to position the wheels for movement along an auxiliary rail provided at the intersection between the second rails and the third rails.
5. The device of claim 4 , wherein the wheels are placed onto the auxiliary rail when the support handles stop pushing against the second rail.
6. The device of claim 5 , wherein the frame is controlled to move along the auxiliary rail until the wheels reach intersection points where the auxiliary rail meets the third rails.
7. The device of claim 6 , wherein the support handles are configured to push against the third rails when the wheels reach the intersection points where the auxiliary rail meets the third rails.
8. The device of claim 7 , wherein the support handles are configured for raising the frame with respect to the third rails when the support handles push against the third rails.
9. The device of claim 8 , wherein the wheels turning mechanism is configured for turning the wheels with respect to the auxiliary rail to position the wheels for movement along the third rails.
10. The device of claim 1 , wherein the support handles are provided on a platform movable in the third direction and configured for transferring the frame in the third direction when the support handles are engaged with the second rails.
11. The device of claim 10 , wherein each of the support handles includes an L-shaped pin attached to the movable platform.
12. A method of operating a robotic device having a frame with wheels, and support handles, the method comprising the steps of:
rotating the wheels for moving the frame on first rails in a first horizontal direction,
engaging the support handles with second rails arranged in the first horizontal direction above the first rails,
moving the frame in a vertical direction using the support handles engaged with the second rails so as to place the wheels on the second rails,
rotating the wheels for moving the frame on the second rails to an intersection between the second rails and third rails arranged in a second horizontal direction,
operating the support handles to push against the second rails so as to raise the frame above the second rails, and
turning the wheels to move the frame onto the third rails.
13. The method of claim 12 , further comprising the step of turning the wheels with respect to a direction of the second rails when the frame is raised with respect to the second rails.
14. The method of claim 13 , wherein the wheels are turned by angles determined based on dimensions of the robotic device to position the wheels for movement along an auxiliary rail provided at the intersection between the second rails and the third rails.
15. The method of claim 14 , further comprising the step of placing the wheels onto the auxiliary rail when the support handles stop pushing against the second rail.
16. The method of claim 15 , further comprising the step of controlling the frame to move along the auxiliary rail until the wheels reach intersection points where the auxiliary rail meets the third rails.
17. The method of claim 16 , further comprising the step of pushing against the third rails using the support handles when the wheels reach the intersection points where the auxiliary rail meets the third rails.
18. The method of claim 17 , wherein the frame is raised with respect to the third rails when the support handles push against the third rails.
19. The method of claim 18 , further comprising the step of turning the wheels with respect to the auxiliary rail to position the wheels for movement along the third rails.