| 摘要 |
<p>The invention concerns a transport arrangement (1) for running/movement on uneven surfaces, comprising a frame (5) which on two opposite sides is provided with at least three, preferably four or more, successively arranged actuator legs (2), said actuator legs (2) comprising an upper end (3) and a lower end (4), to which upper end (3) there is fastened an upper frame (6), and to which lower end (4) there is fastened a movement device (7) for bringing about the forwards and backwards movement of the transport arrangement. Each actuator leg (2) comprises a control means (8) and a turning means (9), where the control means (8) brings about a displacement of the movement device (7) which is vertical in relation to the upper frame (6), and the turning means (9) brings about a movement of the movement device (7) which is circular in relation to the running surface. Activation of the three-dimensional movement of the movement device (7) is brought about with registration means (10). The invention also concerns a method of controlling a transport arrangement (1). The transport arrangement achieved hereby is one which is able to identify a given obstacle and exercise the necessary action, and where during the movement of the transport arrangement its frame(s) remain immovable.</p> |
