FR2557059A1 - SUCTION VEHICLE FOR TRAVELING ON A VERTICAL SURFACE - Google Patents

Abstract

A VEHICLE 10 IS PARTICULARLY DESIGNED TO TRANSPORT EQUIPMENT FOR TREATMENT OF FLAT, CURVED OR DOUBLE CURVE SURFACES. THIS VEHICLE INCLUDES SUCTION CUPS 18 TO KEEP THE VEHICLE SUPPORTED AGAINST A SURFACE WHICH EXTENDS VERTICALLY OR SLOPES DOWN OR FACING DOWN. THIS VEHICLE CONTAINS MOTORIZED TRACKS WITH EACH ITS RESPECTIVE SET OF 18 SUCTION CUPS ARRANGED IN SERIES. FURTHERMORE, THE VEHICLE INCLUDES CONTROL DEVICES WHICH ACTIVATE THE SUCTION CUPS IN THE POSITIONS WHERE THE TRACK MUST COME INTO SUPPORT AGAINST THE SURFACE FORMING THE CIRCULATION BASE AND WHICH PUT THEM INTO ACTIVITY IN THE POSITIONS WHERE THE TRACK MUST LEAVE ITS SUPPORT BASE. CIRCULATION.

Description

l

  SUCTION VEHICLE FOR TRAVELING ON A SURFACE

VERTICAL.

  The present invention relates to vehicles specially designed to carry equipment for treating flat, curved or double-curved surfaces, the vehicles being fitted with suction cups to keep them pressed against a surface which extends vertically or which faces obliquely. down or who does

  face down (walls, ceiling undersides, or the like).

  Preferably these vehicles are remotely controlled so that they can operate like a robot. If necessary, the vehicles can also take drivers or a team for the equipment they are bringing and, in this case, the vehicles can, if desired, be controlled manually. These vehicles

  are regarded as usable in many fields of employment.

  different plies but are considered to find their best possibility of use as robots to circulate on surfaces installed vertically or obliquely or on surfaces that make

  face down. It is particularly suitable to use these vehicles.

  cules in connection with the equipment to be used for surface treatment, that is to say for the treatment of internal and external surfaces of a storage tank or other constructions of a

  building or on ships, drilling rigs and the like

  wheat. A special lens is a vehicle that can be used independently

  especially a scaffolding or other complicated device to carry or support it. It may be particularly appropriate to make this vehicle a means of transporting and supporting a

  processing equipment such as sandblasting, rust removal equipment

  lage and spray. Spray equipment can be used to spray paint or other coating agent onto the

  surface to be treated, i.e. on the basis of circulation itself

  even. Alternatively, the vehicle can be adapted to transport a team for inspection of the surface on which it is necessary to travel or to carry out welding operations or other operations which

require manual effort.

  The vehicles previously known for the uses mentioned above have been handicapped by various disadvantages and 'deficiencies which have resulted in the fact that the vehicle had only limited employment possibilities, this applying in particular to the case o the circulation base is not a flat surface, for example when it has the shape of a fairly strong curve or a double curve. We know for example vehicles which are

  held on a base by magnetism (electromagnetism). The use

  tion of these vehicles is limited to cases of magnetic circulation bases

  tisables. For example, drive wheels and / or wheels are used

  bearing whose rolling surfaces can create a magnetic contact

  tick directly with the base. These vehicles strongly depend on a flat base, having no ledges or other accidents where a rupture of the contact surface could easily occur and, moreover, these vehicles depend on additional safety means to guarantee that the vehicle remains in place on the base

traffic.

  We also know vehicles that are supported

  against a surface to be treated using suction energy.

  The vehicle may for example include a pipe whose air inlet opening is arranged in the form of a small clearance between the pipe and the surface to be treated. In this case, we depend on a constant air current drawn in by this low clearance and which creates a sufficient vacuum.

  in the pipe to apply it against the traffic surface.

  This suction energy can certainly easily keep the vehicle pressed against a vertical surface to provide supports between the wheels of the vehicle and the circulation surface so that this vehicle can be guided in a controlled manner along this circulation surface ; but, on the other hand, this vehicle is not able to carry the weight of the vehicle alone or the weight of the vehicle with the associated equipment. Additional support devices have been proposed, for example in the form of elongated chassis, which transport the vehicle to the lower end of the chassis while the chassis itself is supported from above, for example on the deck of a ship or on a similar base forming a support. These

  additional support devices involve significant complications

  for the use of the vehicle and also result in

high purchase costs.

  Devices are also known which consist of two cooperating frames which can move backwards and forwards with respect to each other. Each chassis has its own set of suction cups which can be attached to the base by vacuum and keep the respective chassis in place on the base, while the other chassis, its suction cups no longer being vacuum, is transferred to a new position where its suction cups are again fixed by vacuum. After which, the chassis mentioned in the first place can, with its suction cups no longer being placed under vacuum, be pulled to take its new position o its suction cups are fixed by placing under vacuum at the new corresponding position. With

  such a device, a rectilinear movement can be carried out along

  of the surface to be treated but, in this case, we depend on a program-

  intermittent movement, that is, something that can be rather complicated and relatively unsuitable as a movement program for the equipment that accompanies it, since during

  this movement can only rely on a single chassis. In pra-

  tick it was necessary to use separate means to move it

  local equipment on the chassis, the two chassis being themselves

  themselves fixed, something which, in turn, requires substantial chassis

  tants and a complicated design.

  Consequently, the invention relates to a vehicle intended to transport the equipment for treating flat, curved or double-curved surfaces, vehicle which comprises suction cups arranged in series on at least one drive track to keep the latter pressed against a surface. basic circulation to be treated and control valves to activate said suction cups at the positions of said surface o said track must form a support and to deactivate the suction cups at positions of said surface o

  said track must leave said support.

  Preferably, the vehicle comprises a pair of

motorized tracks.

  By using a relatively large number, for example twenty-one suction cups on each track, it is possible to securely hold the vehicle simultaneously in several different places along the path of the track movement, for example via of a third of the total number of suction cups, say, seven suction cups while the other suction cups can be in the non-activated position or in the transition position near the suction cups which are in the active position by setting under vacuum. By using a relatively large number of active suction cups, it is possible, even if one or more suction cups should not play their role due to an irregularity of the circulation base or for any other reason, to guarantee a sufficient holding force important via the remaining suction cups, to keep the vehicle securely pressed against the base. At the same time it is possible to ensure that, one after the other, the rearmost suction cup cancels its depressurizing effect, at the same time as a most forward suction cup, brought into place in vacuum position, is effectively activated by vacuum, so that it is possible to move the point of contact of the holding force and therefore at the same time to move the track, thus allowing the vehicle to travel along from the circulation base, in the longitudinal direction of the track ,. safely and controlled. Speed

  can adapt to the working speed of the processing equipment.

  To obtain correct activation of the vacuum effect at the front of the vehicle and the elimination of this vacuum effect at the rear of the vehicle, it is necessary to have control valves which activate and deactivate respectively the suction cups individually, at specific positions of the vehicle, i.e.

  at the specific positions of the vehicle's drive track.

  The control of these valves can be carried out by mechanical, electromagnetic, or other suitable control means which can themselves be controlled by mechanical control means or preferably by control means themselves controlled by a program. '' To guarantee precise contact between the vehicle and the traffic surface in any phase of the vehicle moving forward, it is preferred that the suction cups fitted at the front come into position in abutment against the circulation base roughly in at the same time as the suction cup is activated. In practice, it is of considerable importance that the suction cup, immediately before coming to bear against the circulation base, occupies a position where it can be put temporarily into depression immediately when it comes to bear. From this point of view, it is decisive to use devices which guarantee, in a planned position of contact, a positive contact between the circulation base and the most forward suction cup, activated or capable of being activated. By activating the foremost suction cup while it is being controlled in this positive way, a force can be created which, reliably, causes the vehicle to be pulled against the circulation base at its upper end , when the vehicle undergoes

  the strongest overturning moment and when it can most easily

  Slowly slide to leave its circulation base when moving

the vehicle along this base.

  Other characteristics and advantages of the invention

  will be better understood on reading the description which follows

  several embodiments and with reference to the accompanying drawings in which FIG. I is a schematic representation of a vehicle during its use on a surface which has to be treated, FIG. 2 is a side view of the vehicle of FIG. the enlarged scale, the vacuum lines and the like being omitted for simplicity, FIG. 3 is a perspective view of the vehicle in FIG. 1,

  FIG. 4 is a perspective view, on an enlarged scale

  die giving details of the vehicle of figure 1, and, figure 5 is a view giving details of the

  duct for placing this vehicle under vacuum.

  Referring to Figure 1, it shows, in solid lines, a vehicle 10 constituting a robot which moves the

  along a wall It which extends vertically, in the vertical direction

  wall wedge. In dashed lines, the vehicle is shown in another position corresponding to a movement in the horizontal direction

along the wall.

  On a floor 13, at the lower end of the wall 11, there is a control desk comprising control buttons, measuring instruments, pilot lights and the like and comprising, arranged inside, a stake group

vacuum and other.

  From the control panel 12, electrical conductors 0 leave 14, in the direction of the two drive motors 15 fixed on the respective section loa and lob of the vehicle 10, as well as a main vacuum duct 16 in the direction of two series of suction cups 18 on the vehicle. The series of suction cups are arranged on the sections

  respective ila and lOb of the vehicle.

  The vehicle 10 is designed as a tracked vehicle with two separate tracks which can be driven, separately or both at the same time forward in the direction of driving of the respective drive motor 15 and which adhere to the base. circulation that is to say to the wall 11 by means of their respective series of suction cups S20 18 included in the respective track. It is possible to obtain a certain guidance of the vehicle by use - intermittent of the two

  vehicle drive tracks.

  Figures 2 and 3 further show details of the vehicle drive tracks with their associated suction cups 18. The drive track consists of a link chain

  which passes over a rotating toothed wheel 21 motorized at one end

  mity of the vehicle and on a rotating toothed wheel 22 crazy at the end

  opposite side of the vehicle. On one strand of the drive track which faces the circulation base, are arranged two idler control wheels 23, 24 which are arranged at a suitable distance from their respective neighboring rotating wheels 21, 22. It is made so that the track chain passes, with respect to the circulation base, in a rectilinear path between the control wheels 23, 24 then, from

  of these, obliquely outward over a distance approximately

  equal to the longitudinal dimension of 1L suction cup in the direction

  tion of the rotating wheels 21, 22, so that only the suction cups located between the control wheels 23, 24 are in the active position of depression against the circulation base. Preferably

  said angle is only a few degrees.

  The drive motors 15, which are preferably reversing electric motors, are connected by means of an alternator 25 (FIG. 3) to their rotating wheel.

  respective 21 in their respective vehicle section 10a and 10b.

  A suction cup 18 rigidly connected to the chain link is fixed to the chain of the drive track, by means of its respective chain link, so that the suction cup moves at the same time as the track and according to the same mode of movement as the associated chain link. In other words, it is ensured that the path of the suction cup 18 is established precisely by the path of the chain link. In FIG. 3 it is evident that each suction cup has an elongated shape transverse to the longitudinal direction of the chain 20. Each suction cup protrudes, by a considerable distance, laterally outside the chain 20 on the opposite sides of this chain, while we make sure to have a certain distance between the suction cups in the longitudinal direction of the chain. The intrinsic rigidity of the chain guarantees that each suction cup 18 can only pivot - by a very small angle around the longitudinal axis of the chain relative to the

  neighboring suction cups 18 of the chain 20.

  Each suction cup 18 is fixed to the chain 20 only at its center, so that this suction cup can pivot around the pivot axis of its chain link, substantially with a pivot angle corresponding to that of the chain link associated with neighboring chain links. At the same time a suction cup

  given will not significantly influence the path of the chain.

  With normal chain tension, we are sure to have a precisely defined path for the suction cups around the rotating wheels 21, 22 and the control wheels 23, 24. The positioning of the wheels 23, 24 relative to the rotating wheels 21, 22 is used to establish precise guidance of the suction cups in the region between a rotating wheel and a neighboring control wheel, so as to thereby guarantee favorable support between the suction cup and the circulation base immediately before activating the suction cups by evacuating and deactivating them by removing the vacuum at opposite ends of the vehicle, to move forward or to reverse. - The suction cups are substantially rectangular bearing plates comprising a peripheral lip of corresponding shape made of flexible elastic material. At one end of the support plate, just inside the peripheral lip, is pierced in the support plate a depression opening which communicates, on the external face of the suction cup, with a tap with three tracks 26 with associated tap drawer 27. A passage of the tap communicates with the vacuum opening of the suction cup 18 and its second passage communicates with a vacuum duct 28 via an associated branch duct 29, while its third

  passage communicates with the outside air (atmospheric pressure).

  In one of the external positions of the drawer 27, the first passage is placed in communication with said second passage and, in the second external position of the drawer, the first passage is placed in communication

  with said third passage so that the suction cup can alternately

  be temporarily evacuated and temporarily put

  excluding vacuum. As seen in Figure 4, each valve 26 communicates

  that with the vacuum pipe 28 via a transverse pipe

  branch sal 29, the vacuum duct 28 being designed in an annular closed form passing through two of the passages of a T-shaped union connector. The third passage of the union connector 30 is carried out in a rotating link 31 which is in connection with the outer end of an associated branch duct 16a (and 16b) coming from the main vacuum duct 16, so that the vacuum duct 28, with the associated branch ducts 29, can rotate around the link

  turning 31 in phase with the rotation of the drive track.

  The drive tracks are supported in their respective rigid chassis which determines the distance between the rotating wheels 21, 22 and the position of the control wheels 23, 24 relative to the rotating wheels. As can be seen in FIG. 2, the chassis 32 comprises, in the region between the control wheels 23, 24, an additional guide rail 33, relatively rigid,

  which gives local guide contact with the suction cups 18 via the

  middle of a support ear 34 for each suction cup. This guide rail provides, on one side, guidance for the support ear and, on the opposite side, guidance for the suction cup itself, with moderate clearance for both the support ear and for the suction cup. As can be seen in FIG. 4, the support ear 34 is fixed to the chain itself at a distance equal to a link length of the attachment of the suction cup to the chain. By means of the support ear 34 and the rail

  associated guide 33, a positive controlled movement is guaranteed-

  chain and, at the same time, positively controlled movement

  correspondingly of the suction cups 18 in the region between the control wheels 23, 24, so that the suction cups can move in a precisely determined manner in the region of the control wheels 23, 24 and between these wheels. The guide rail is made to extend in front of the control wheels 23, 24 only to the extent necessary so that in this region, in particular just near the control wheels, the chain and the cupping a corresponding positively controlled displacement. In this way it is guaranteed that the suction cups - almost regardless of the condition of the circulation base - can

  guarantee a precise movement, positively controlled, by approaching

  singing of the circulation bse and moving away from it, to come into controlled contact and as much as possible with this base. It can be seen in FIG. 2 that the guide rail 33 is fixed only at the outer ends, so that the rigidity of this guide rail is greatest at the point where the suction cups occupy their transition position between their active position and their inactive position in terms of depression. In the region between the outer ends a certain bending of the guide rail 33 is allowed, which allows the suction cups and the associated chain to adapt to the possible curves

  of the surface which constitutes the circulation base.

  In Figure 4 we see two opposite guide chambers 35, 36 which protrude inward on the path of movement of the valve slide 27 and which provide mechanical adjustment of this valve slide 27 between its two extreme positions. The guide chambers 35, 36 are shown arranged immediately next to the associated control wheel 24, so that the momentary change in condition of each suction cup passing from vacuum to atmospheric pressure is obtained just near the control wheel 24 Instead of the mechanical control device shown, one could have used, for example, means controlled by an electromagnet or

pneumatic means.

  As indicated, the vehicle is designed in two separate sections 10a and 10b connected to each other by chassis crosspieces 37, 38, 39 which define the distance between the sections and reinforce the sections relative to the 'other. Sections 10a and 10b are fixed to the crossmembers of the chassis 37 - 39 so that they can

  be easily disassembled so that these crossings can be replaced

  its by longer or shorter sleepers on demand, all depending on the condition of the traffic surfaces to be treated and, for example, to be able to accommodate between the two sections of the beads or similar protrusions protruding from the surface that '' it is necessary to treat or for

  ability to carry different types of tools between sections.

  The fact that sections 10a and 10b are easily removable also makes it possible, for shipping the vehicle, to pack it

  in a particularly space-saving way. It is also advantageous

  only the sections, when they are dismantled and do not require

  so that little space can easily be guided for the descents

  dre in tanks or similar spaces through manholes or other narrow passages. However, the vehicle can, once mounted, provide a relatively large support area for vehicles

during his employment.

  It is certainly possible, by intermittently and distinctly maneuvering the tracks of vehicles relative to one another, to obtain a certain correction of the direction of travel of the vehicle, that is to say of being able to '' somehow steer the vehicle on the base. To be able to make more significant changes of direction, it is possible to examine the use of a suction cup 1] placed in the center of the vehicle and which can be moved separately to bring it closer to the circulation base or to move it away which, moreover, is mounted, with the possibility of pivoting, around a

  central axis arranged at right angles to the circulation base.

  After attaching this additional suction cup to the circulation base

  After being placed under vacuum, we must then, by means of

  additional mandes (not shown), remove the vacuum in the suction cups of the tracks. Then, by turning the tracks in opposite directions, you can turn the vehicle around the suction cup

  additional. After turning the vehicle through a pivot angle

  suitably suitable, the suction cups of the tracks can be re-attached to the circulation base by vacuuming and then removing the vacuum

in the additional suction cup.

  It is also possible to examine a design of the vehicle with two sets of tracks, that is to say a first set of tracks with associated suction cups as shown in the drawings.

  and a second set of tracks with corresponding suction cups available

  in the transverse direction of the tracks shown, that is

  ie with an additional track just in front of the tracks shown

  felt on the drawings and an additional track just behind.

  Using pneumatic cylinders or similar controls

  bles, additional sets of tracks, with their chassis, their mo-

  drive tor and other associates, can be moved to bring them closer to the circulation base and to move them away from the vehicle, this in a manner corresponding to that described for the

  additional suction cup mentioned above, the suction cups of the kennels

  the additional ones can then be put under vacuum while the vacuum is removed in the other suction cups of the vehicle. Finally, by means of pneumatic cylinders or by means of springs or other devices, it is possible to push back the tracks whose suction cups are in

  inactive condition at a certain distance outside the circulation base

  lation, which then allows the vehicle to be moved in a direction transverse to the direction of movement of the tracks that have been put into inactive condition. In other words, with both games

  tracks, one can easily act to switch from the circu-

  lation shown in solid lines in Figure I to the circulation model

  shown in dashed lines in Figure 1.

  To make it easier for the vehicle to adjust

  ter to curves or similar obstacles which arise on the traffic base, the chassis 32 may include a connection to the center. The embodiment shown shows a vehicle with two tracks, but one can also examine vehicles with a single track but then preferably a track with two chains arranged one next to the other and at a certain distance from one 'other. Vehicles with more than two tracks can also be examined. Instead of link chains, you can use

  for example bands or, if desired, articulated bands.

  Of course, various modifications can be made by those skilled in the art to the devices or processes which have just been described by way of limiting example without departing from the scope.

of the invention.

Claims (8)

  1. Vehicle specially designed to transport equipment for treating flat, curved or double-curved surfaces and which comprises suction cups to keep said vehicle pressed against surfaces which extend vertically, which are inclined obliquely and facing towards downwards or facing downwards, characterized in that the vehicle (10) comprises at least one motorized track, preferably a pair of tracks, comprising suction cups (18) arranged in series on the track and control valves (26. 27, 35, 36) to activate said suction cups at the positions of the surface of the circulation base to be treated where said track must come to bear and to deactivate the suction cups at positions of said circulation   surface where said track must leave said support.   2. Vehicle according to claim 1, characterized in that the vehicle further comprises devices (23, 24, 33, 34) for ensuring positive contact between at least certain suction cups (18) activated and / or which can be immediately activated and the surface basic traffic.   3. Vehicle according to one of claims I or   2, characterized in that each of the two track chassis (32) supports   one, corresponding, of the two motorized tracks, as well as its   respective drive gear (15) including rotating wheels (21, 22) and support wheels (23, 24) and its respective set of suction cups (18), which can be individually activated and deactivated to form two separate vehicle sections (10a, lob), said vehicle sections being connected, so that they can be easily dismantled,   to each other by means of reinforced crosspieces which carry the team- surface treatment.   4. Vehicle according to claim 3, characterized in that each track comprises a chain with links (20) and a series (17) of suction cups (18) each of which is rigidly connected to its respective link in said chain, the intrinsic rigidity of said chain allowing only a limited pivoting of each suction cup around the axis of the associated link of said link chain and around a   axis located on the track of the tracks.   5. Vehicle according to claim 4, characterized in that the link chain (20) is further reinforced, in the region of the track which comes to bear on the surface of the circulation base by means of a guide rail (33) fixed to its chassis track (32).   6. Vehicle according to claim 5, characterized in that the guide rail (33) passes between the suction cup (1 8) and a support lug (34) fixed to the link chain approximately at a distance of one link from the link to which is attached the associated suction cup.   7. Vehicle according to any one of the claims   4, 5 or 6, characterized in that the link chain (20), in its region of support against the circulation base surface, passes essentially straight between two support wheels (23, 24) then, from there , passes obliquely outward from the surface of the circulation base towards the rotating wheels (21, 22) of the link chain over a distance at least equal to the size of the suction cup in the direction of advancement.   8. Vehicle according to any one of the claims   above, characterized in that the suction cups (8) of each track are connected to a main vacuum duct (16) by means of the respective three-way valves (26) of the control device and of an associated branch duct ( 29) which has a flexible annular vacuum duct (28) which can be subjected to a rolling movement corresponding to that of the track, said vacuum duct being mounted, with the possibility of rotation, by means of a   union fitting (30), at the end of the main vacuum duct (16).