Transportation apparatus and method for carrying a payload in a desired plane independent of 3D tilting of said apparatus

摘要

A transportation apparatus includes a payload receiving unit, a transportation body, and a compensation system arranged there between providing adjustment of a desired spatial relationship of a payload surface of the compensation unit. The compensation system has at least one of a first compensation unit and a second compensation unit for adjustment of the spatial relationship. The compensation units adjust the spatial relationship in different directions. Thus the compensation system maintains a desired orientation of the payload surface independent of changes of orientation of the transportation surface. Further, the compensation system substantially maintains a common point of gravity of the transportation apparatus including the payload by displacing the center of gravity of the payload receiving unit and the payload substantially opposite to a displacement of a center of gravity of the transportation apparatus. At least one of the compensation units are extendable from at least one end thereof during operation.

主权项

1. A method of sustaining an orientation of payload surface (250) of a payload receiving unit (30) of transportation apparatus (1), independent of changes of orientation of a transportation surface (150) of a transportation body (10) of said transportation apparatus (1) in motion, said method comprising:
real-time adjustment of a desired spatial relationship between said payload surface (250) and said transportation surface (150) by a compensation system (20) attached to said payload receiving unit (30) and said transportation body (10), wherein said real-time adjustment comprises adjustment of said spatial relationship with at least a first compensation unit (210) and a second compensation unit (230) of said compensation system (20), and adjustment of said spatial relationship in a first direction by said first compensation unit (210) along a rail, and adjustment of said spatial relationship in a second direction different from said first direction by said second compensation unit (230) along a second rail, and maintaining a common point of gravity of said transportation apparatus (1) including a payload by displacing a center of gravity of said payload receiving unit (30) and said payload with said compensation system (20) opposite to a displacement of a center of gravity of said transportation apparatus (1), and moving said payload surface along a first and second curvature independently in a translatory motion with said first and second compensation units.