IL281841B2

IL281841B2 - A caterpillar apparatus for moving along a surface

Info

Publication number: IL281841B2
Application number: IL281841A
Authority: IL
Inventors: Cohen Assaf
Original assignee: Cohen Assaf
Priority date: 2021-03-25
Filing date: 2021-03-25
Publication date: 2023-04-01
Also published as: IL281841B; IL281841A

Description

281841/3 A CATERPILLAR APPARATUS FOR MOVING ALONG A SURFACE TECHNOLOGICAL FIELD The presently disclosed subject matter relates, in general, to a caterpillar apparatus for moving along a surface, and more particularly to a caterpillar apparatus having vacuum grippers for moving along an inclined/vertical and/or slippery surface.

BACKGROUND A caterpillar apparatus of the above kind can be used for a plurality of applications, of which most popular and challenging is cleaning the exteriors, e.g., walls and window panels, of high-rise buildings.

Most of the conventional methods used for cleaning the exteriors of a high-rise building include window washers rappelling down the building and manually cleaning the exteriors thereof.

These methods put in risk the lives of window washers, and more so where there is probability of strong unexpected gusts of wind. Such conventional methods, especially due to the risks involved and the related cautions required, are time consuming, and thereby costly.

Some other devices and methods used for this purpose include window cleaning platforms, also known as suspended gondolas or scaffolds, enabling the window washers to walk therealong and to be secured thereto, or semi/fully automatic systems such as robots and drones.

WO 2019/165859 discloses a cleaning robot comprising a pair of caterpillar tracks arranged opposite to one another, having a plurality of caterpillar track suction cups arranged on the outer surface of the caterpillar tracks, and a negative pressure assembly in communication with the caterpillar track suction cups. The output connector and the caterpillar track suction pads of the cleaning robot rotate synchronously, avoiding the situation of the connecting tubes connecting the caterpillar track suction cups and the negative pressure assembly becoming intertwined. 02771311\249-01 281841/3 CN 102631173 discloses a miniature robot capable of walking along and cleaning vertical surfaces such as a glass wall and a ceramic outer wall. The robot walks through a track provided with a sucker connected with a vacuum pump.

US 9688326 discloses a drive unit for driving a robot along an inclined surface.

An endless tread engages a pair of wheels to define a planar bottom surface of the endless tread, and a vacuum motor pulls air through holes in the endless tread when the holes are aligned with a vacuum opening.

CN205094341 discloses a wall cleaning robot using vacuum adsorption tracks.

Acknowledgement of the above references herein is not to be inferred as meaning that these are in any way relevant to the patentability of the presently disclosed subject matter.

GENERAL DESCRIPTION According to an aspect of the presently disclosed subject matter, there is provided a caterpillar assembly for moving along a surface, the assembly having a longitudinal reference plane comprising a longitudinal axis and a central reference plane perpendicular to the longitudinal reference plane and comprising the longitudinal axis and a central axis perpendicular to the longitudinal axis, the assembly having at least one surface gripping face, at least a portion of which is parallel to the central reference plane and which is configured, when in operation, to face said surface, the assembly comprising: a moving system; and a plurality of vacuum grippers each having a gripping face, the vacuum grippers being arranged so that at each moment, gripping faces of at least two vacuum grippers define said surface gripping face of the assembly and are configured for being attached to said surface when vacuum is applied to these grippers, each gripper being mounted to the moving system so as to be moved from one side to the other side of the central reference plane along the longitudinal reference plane; 02771311\249-01 281841/3 each vacuum gripper is provided with an individual vacuum pump configured for selectively creating vacuum within the gripper.

Optionally, each of the vacuum grippers of the caterpillar assembly can be configured for maintaining the vacuum after termination of operation of the vacuum pump, during the time when the gripping face of the vacuum gripper is attached to the surface, whereby the gripper can be configured to have the following operational modes: a suction mode when the vacuum is created by the vacuum pump and a vacuum mode when the vacuum is maintained after the termination of operation of the vacuum pump.

Optionally, each vacuum gripper can comprise a pump manipulator configured to initiate the operation of the vacuum pump once the vacuum gripper reaches a predetermined starting position.

Optionally, each vacuum gripper can comprise a vacuum releaser configured to release the vacuum maintained in the vacuum gripper once the vacuum gripper reaches a predetermined finishing position.

Optionally, the caterpillar assembly can further comprise at least one starting position indicator configured for signaling to the pump manipulator of each gripper when the gripper reaches the predetermined starting position.

Optionally, the caterpillar assembly can further comprise at least one finishing position indicator configured for signaling to the vacuum releaser of each gripper when the gripper reaches the predetermined finishing position.

The moving system can comprise one or more moving mechanisms operable to move the vacuum grippers or to move a component/components of the moving system to which the vacuum grippers are fixedly connected, so as to bring each gripper from one side to the other side of the central reference plane along the longitudinal reference plane.

For example, the moving system can comprise a movable track drivable by at least one driving mechanism, and each gripper can be fixedly connected to the movable track at locations spaced apart therealong. For example, the moving mechanism can comprise at least one gear configured for movingly engaging the movable track and a driving mechanism, e.g. motor, configured for moving the at least one gear, so as to move the vacuum grippers. 02771311\249-01 281841/3 The movable track can be in the form of a continuous conveyor flexible strap or in the form of a succession of discrete elements connected or not connected to each other, each of which at least one vacuum grippers can be mounted to the discrete elements. The discrete elements can be connected therebetween by a plurality of pivot axles.

Optionally, the moving system can comprise a stationary track and wherein each gripper is configured for slidingly engaging the stationary track. Optionally, the stationary track and each gripper can further comprise gears configured for movingly engaging each other securely moving each vacuum gripper along the stationary track.

Optionally, each gripper can further comprise a driving mechanism, e.g. motor configured for moving the gears of gripper along the stationary track.

Optionally, the caterpillar assembly can constitute a part of a caterpillar apparatus comprising at least two caterpillar assemblies and a plane of symmetry, optionally parallel to the longitudinal planes of the two assemblies, such that at least one caterpillar assembly is positioned on each one of the two sides of the plane of symmetry. Optionally, the caterpillar apparatus can comprise at least two caterpillar assemblies as defined hereinabove.

Optionally, the caterpillar assemblies can comprise an equal number of the vacuum grippers which can be arranged such that at each moment the gripping faces of the same number of grippers of the two assemblies define the surface gripping faces of the two assemblies, and constitute a surface gripping face of the apparatus.

Optionally, the apparatus can comprise a base to which the moving system is securely mounted, at least a part of the moving system being rigid to form a structural support for the vacuum grippers.

Optionally, each vacuum gripper can be provided with a mounting portion by which the gripper can be mounted to the moving system and an adjusting device which can be configured for enabling adjustment of the distance between the vacuum gripper, its gripping face or gripping portion and the moving system.

Optionally, the adjusting device can be configured for orienting the vacuum gripper at an adjustable angle with respect to the central reference plane.

Optionally, the individual vacuum pump is two or more individual vacuum pumps configured for selectively creating vacuum within the gripper. 02771311\249-01 281841/3 Optionally, the caterpillar apparatus can further comprise a controller configured to control the movement of each one of the vacuum grippers. Optionally, the controller can be configured to control the movement of the moving system.

Optionally, each vacuum gripper can further comprise at least one sensor configured to provide indication of at least the operational mode of the vacuum gripper and, optionally, its malfunction.

Optionally, the caterpillar apparatus can further comprise a pivoting assembly comprising at least one vacuum gripper, and configured to secure the caterpillar apparatus to the surface and pivot the caterpillar apparatus along a central plane of the apparatus perpendicular to the plane of symmetry, at least when the moving systems are inoperative.

Optionally, the controller can further be configured to control the securement and releasement of the caterpillar apparatus to and from said surface via the at least one vacuum gripper of the pivoting assembly. Optionally, the controller can further be configured to control the pivoting of the caterpillar apparatus via said pivoting assembly.

According to another aspect of the presently disclosed subject matter, there is provided a caterpillar assembly for moving along a surface, the caterpillar assembly having a longitudinal reference plane comprising a longitudinal axis and a central reference plane perpendicular to the longitudinal reference plane and comprising the longitudinal axis and a central axis perpendicular to the longitudinal axis, the assembly having at least one surface gripping face, at least a portion of which is parallel to the central reference plane and which is configured, when in operation, to face said surface, the caterpillar assembly comprising: an endless stationary track and an endless movable track extending adjacent to the stationary track; and a plurality of vacuum grippers each having a gripping face, the vacuum grippers being arranged so that at each moment, gripping faces of at least two vacuum grippers define said surface gripping face of the assembly and are configured for being attached to said surface when vacuum is applied to these grippers, each gripper being permanently connected to the movable track at locations spaced apart therealong and slidably engaging the stationary track so as to slide therealong when moved by the movable 02771311\249-01 281841/3 track from one side to the other side of the central reference plane along the longitudinal reference plane.

Optionally, the caterpillar assembly can further comprise a vacuum system configured for selectively applying vacuum to the vacuum grippers so that, at each time, vacuum can be simultaneously maintained within each of the at least two vacuum grippers whose gripping faces define the surface gripping face. Optionally, each vacuum gripper can be provided with an individual vacuum pump configured for selectively creating vacuum within the gripper.

Optionally, each of the vacuum grippers of the caterpillar assembly can be configured for maintaining the vacuum after termination of operation of the vacuum pump, during the time when the gripping face of the vacuum gripper needs to be attached to the surface, whereby the gripper is configured to have at least the following operational modes: a suction mode when the vacuum is created by the vacuum pump, and a vacuum mode when the vacuum is maintained after the termination of operation of the vacuum pump.

Optionally, each vacuum gripper can comprise a pump manipulator configured to initiate the operation of the pump once the vacuum gripper reaches a predetermined starting position.

Optionally, each vacuum gripper can comprise a vacuum releaser configured to release the vacuum maintained in the gripper once the vacuum gripper reaches a predetermined finishing position.

Optionally, the caterpillar assembly can constitute a part of a caterpillar apparatus comprising at least two caterpillar assemblies, the apparatus comprising a plane of symmetry, optionally parallel to the longitudinal planes of the two assemblies, such that at least one caterpillar assembly is positioned on each one of the two sides of the plane of 02771311\249-01 281841/3 symmetry. Optionally, the caterpillar apparatus can comprise at least two caterpillar assemblies as defined hereinabove.

Optionally, the caterpillar assembly can further comprise a base to which the stationary track is securely mounted, the track being rigid to form a structural support for the vacuum grippers.

Optionally, each vacuum gripper can be provided with a mounting portion by which the gripper is mounted to the stationary track and an adjusting device which is configured for enabling adjustment of the distance between the vacuum gripper, its gripping face or gripping portion and the stationary track.

Optionally the individual vacuum pump is two or more individual vacuum pumps configured for selectively creating vacuum within the gripper.

Optionally, a caterpillar apparatus can comprise at least two caterpillar assemblies, each as defined hereinabove.

Optionally, the caterpillar apparatus can further comprise a controller configured at least to control the movement of the movable tracks of the caterpillar assemblies.

Optionally, the caterpillar apparatus can further comprise a pivoting assembly comprising at least one vacuum gripper, and configured to secure the caterpillar apparatus to the surface and pivot the caterpillar apparatus along a central plane of the apparatus perpendicular to the plane of symmetry, at least when the movable tracks are inoperative.

Optionally, the controller can further be configured to control the securement and releasement of the caterpillar apparatus to and from the surface via the at least one vacuum 02771311\249-01 281841/3 gripper of the pivoting assembly. Optionally, the controller can further be configured to control the pivoting of the caterpillar apparatus via the pivoting assembly.

The moving system of any caterpillar assembly according to the presently disclosed subject matter can comprise one or more moving mechanisms operable to move the vacuum grippers at least indirectly, so as to bring each gripper from one side to the other side of the central reference plane along the longitudinal reference plane.

For example, the moving system can comprise a movable track drivable by at least one driving mechanism, and each gripper can be fixedly connected to the movable track.

For example, the driving mechanism can comprise at least one gear configured for 6-10-2021 movingly engaging the movable track and a driving mechanism, e.g. motor, configured for moving the at least one gear, so as to move the vacuum grippers.

The movable track can be in the form of a continuous conveyor flexible strap or in the form of a succession of discrete track elements pivotably mounted relative to adjacent track elements, to each of which at least one vacuum grippers can be mounted to the discrete elements. The discrete elements can be connected therebetween by a plurality of pivot axles.

Optionally, the moving system can comprise a stationary track and the at least one attachment element is configured for slidingly engaging the stationary track.

According to another aspect of the presently disclosed subject matter, there is provided a vacuum gripper unit for use in a movable assembly having a moving system, for gripping attachment of the assembly to a surface, the vacuum gripper comprising: a gripping portion with a gripping face configured to be attached to the surface when vacuum is applied thereto, and a mounting portion opposite to the gripping portion; the mounting portion configured for being mounted to the moving system via at least one attachment element; and an adjusting device connected at one end thereof to the gripping portion of the vacuum gripper and at another end thereof to the mounting portion and configured for adjusting a distance between the gripping portion and the mounting portion. 02771311\249-01 281841/3 According to another aspect of the presently disclosed subject matter, there is provided a vacuum gripper unit for use in a movable assembly having a moving system, for gripping attachment of the assembly to a surface, the vacuum gripper comprising: a gripping portion with a gripping face configured to be attached to the surface when vacuum is applied thereto, and a mounting portion opposite to the gripping portion; the mounting portion configured for being mounted to the moving system via at least one attachment element; said vacuum gripper is provided with at least one individual vacuum pump configured for selectively creating vacuum within the gripper.

According to still further aspect of the presently disclosed subject matter, there is provided a vacuum gripper unit for use in a caterpillar assembly, the assembly comprising a plurality of vacuum grippers for gripping attachment of the assembly to a surface and a moving system for moving the grippers to successively bring them into contact with said surface, the moving system comprising an endless movable track constituted a plurality of discrete track elements, each associated with a vacuum gripper, and a plurality of pivot axles via which the track elements are pivotally connected to each other, the vacuum gripper having a central axis and comprising: 6-10-2021 a gripping portion with a gripping face oriented perpendicular to the central axis of the gripper and attachable to said surface when vacuum is applied to the gripping face; a mounting portion spaced from the gripping face along the central axis of the gripper and comprising an attachment extension oriented transversely to the central axis and having two attachment ends on two sides of the central axis, the attachment ends being each pivotally connectable to a pivot axle, enabling the attachment extension to constitute the discrete track element of the movable track when the caterpillar assembly is assembled.

Optionally, the attachment extension can have two attachment extension portions extending in opposite directions from the central axis of the gripper, each having a proximal end adjacent the central axis and a distal end spaced from the central axis and pivotally connectable to a pivot axle. 02771311\249-01 281841/3 Optionally, the vacuum gripper of any of the above aspects can further comprise an individual vacuum pump configured for selectively creating vacuum within the gripper.

Optionally, the adjusting device can be configured for enabling an orientation of the gripping portion at an adjustable angle with respect to the moving system.

Optionally, the vacuum gripper unit of any of the above aspects can further comprise at least one sensor configured to sense if the gripping portion touches a surface.

Optionally, the vacuum gripper unit of any of the above aspects can further comprise a controller configured to adjust the distance of the adjusting device based on indication received from the at least one sensor.

Optionally, the adjusting device can be a spring, a piston, a telescopic rod, a hydraulic mechanism, other distance adjustable element or any combination thereof.

Optionally, the at least one mounting portion can further comprise gears configured for movingly engaging corresponding gears of the stationary track so as to enable the movement of the vacuum gripper unit.

Optionally, the vacuum gripper unit can further comprise a driving mechanism, e.g. a motor configured for moving the gears of the vacuum gripper along the stationary track.

Optionally, the at least one attachment element can further comprise a detachably attachable mechanism configured for enabling attachment or detachment of the vacuum gripper unit to or from the moving system.

Further aspects of the presently disclosed subject matter are described below with reference to the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS In order to better understand the subject matter that is disclosed herein and to exemplify how it may be carried out in practice, embodiments will now be described, by way of non-limiting examples only, with reference to the accompanying drawings, in which: Figs. 1A and 1B are respective perspective and side schematic views of a caterpillar assembly according to one example of the presently disclosed subject matter; 02771311\249-01 281841/3 Fig. 1C is a perspective view of a caterpillar assembly, in accordance with another example of the presently disclosed subject matter; Fig. 1D is a perspective schematic view of a modified caterpillar assembly of Figs. 1A and 1B, according to another example of the presently disclosed subject matter, with a number of vacuum grippers removed; Fig. 1E is a perspective view of a caterpillar assembly, in accordance with another example of the presently disclosed subject matter; Fig. 1F is a perspective schematic view of a modified caterpillar assembly of Figs. 1A and 1B, according to another example of the presently disclosed subject matter, with an additional track; Fig. 1G is a perspective view of a caterpillar assembly, in accordance with another example of the presently disclosed subject matter; Fig. 1H is a perspective schematic view of a modified caterpillar assembly of Fig. 1F, according to another example of the presently disclosed subject matter, with a number of vacuum grippers removed; Fig. 1I is a perspective view of a caterpillar assembly, in accordance with another example of the presently disclosed subject matter; Fig. 2A is a front schematic view of a vacuum gripper according to an example of the presently disclosed subject matter, which can be used in a caterpillar assembly according to the presently disclosed subject matter; Fig. 2B is a perspective view of a vacuum gripper according to another example of the presently disclosed subject matter, which can be used in a caterpillar assembly according to the presently disclosed subject matter; Fig. 2C is a perspective view of a vacuum gripper of Fig. 2B with its outer cover removed; Fig. 3A is a perspective schematic view of a caterpillar apparatus according to an example of the presently disclosed subject matter, having two caterpillar assemblies according to the presently disclosed subject matter; Fig. 3B is a perspective top view of a caterpillar apparatus according to another example of the presently disclosed subject matter, having two caterpillar assemblies according to the presently disclosed subject matter; 02771311\249-01 281841/3 Fig. 3C is a cross sectional view of the caterpillar apparatus of Fig. 3B; Fig. 3D is a perspective view of a pivoting system which can be used in a caterpillar apparatus according to the presently disclosed subject matter; Fig. 4A is a schematic side view of a caterpillar assembly, according to another example of the presently disclosed subject matter; Fig. 4B is an enlarged view of a portion of a moveable track of the caterpillar 6-10-2021 assembly of Fig. 4A; and Fig. 5 is a schematic side view of a vacuum gripper according to an example of the presently disclosed subject matter, which can be used in a caterpillar assembly according to the presently disclosed subject matter.

DETAILED DESCRIPTION OF EMBODIMENTS A caterpillar apparatus according to the presently disclosed subject matter, can be configured for moving along on an exterior surface of a building or the like, having any orientation (inclined, vertical, horizontal), and any surface texture/quality (slippery or non-slippery) allowing a vacuum gripper to be attached thereto.

The caterpillar apparatus, according to the presently disclosed subject matter, can be used as a movable base platform for mounting thereto equipment for numerous applications. For example, by mounting a cleaning device to the caterpillar apparatus, the apparatus can be used for cleaning windows of a skyscraper, by mounting a cargo unit thereto the apparatus can be used for delivery purposes, or by mounting a rescue pod thereto the apparatus can even be used as a rescue device for rescuing people from high story buildings, e.g., in case of a fire, the apparatus along with the rescue pod may rescue people from the building by using the exterior of the building as an escape route.

In general, the caterpillar apparatus can comprise at least one caterpillar assembly with an array of vacuum grippers which are movable, by means of a moving system, so as to bring each of the grippers successively into a gripping position in which the gripper can be attached, when vacuum is applied thereto, to a surface along which the apparatus is to be moved, thereby enabling the advancement of the caterpillar apparatus along the surface. The caterpillar assembly can have any number of grippers and they can be 02771311\249-01 281841/3 arranged therein in any manner so that there are always at least two vacuum grippers in their gripping position.

Each vacuum gripper has a gripping face, at which the vacuum gripper is configured to be attached to a surface when vacuum is applied thereto, and a mounting portion at which the gripper is mounted to the caterpillar assembly. The caterpillar assembly thus has a surface gripping face constituted by the gripping faces of those vacuum grippers which are in the gripping position. Thus, the length of the surface gripping face of the caterpillar assembly along the direction of movement of the apparatus, depends on the number of vacuum grippers that are simultaneously in their gripping position.

To allow the successive movement of the vacuum grippers along the moving direction, the moving system of the caterpillar assembly can comprise at least one continuous/endless, i.e., closed loop, track, to which the grippers are mounted at their mounting portions. The track can be movable by at least one driving mechanism, in which case the vacuum grippers are fixedly mounted thereto so as to be movable therewith successively into their gripping positions. Alternatively, the track can be stationary, in which case the vacuum grippers are slidably mounted to the track and the assembly comprises other means for moving each vacuum gripper along the stationary track. One example of such other means is an additional, movable track parallel to the stationary track, drivable by at least one driving mechanism. The track(s) of the caterpillar assembly can have any shape. One of these shapes is an oblong shape, e.g. a rectangular or oval shape, or shape similar to a rectangle in that it has two parallel long sides and similar to oval in that it has two short curved sides, e.g., in the form of semicircles, continuously merging with the long sides.

The moving system of the caterpillar assembly can comprise, in addition to the movable track or as an alternative thereto, individual driving means associated with each of the vacuum grippers, for moving each of the grippers along the stationary track.

In case the moving system comprises the endless movable track, it can further comprise at least one gear, configured for movingly engaging the movable track operable by a driving mechanism, to move the track and thereby the vacuum grippers fixed thereto, so as to bring each gripper from one side to the other side of the central reference plane 02771311\249-01 281841/3 along the longitudinal reference plane. In case the caterpillar assembly comprises only one track, which is the stationary track, the moving system can comprise individual driving means for each vacuum gripper, which e.g. can comprise gears operable by driving mechanisms/motors, and the stationary track can have respective gears, or a zigzag surface to cooperate with the gears of the vacuum grippers. The gears of those vacuum grippers whose gripping faces are attached to the surface, along which the apparatus is to be moved, when rotated would cause the stationary track to be linearly displaced relative to those grippers in the direction of movement. Simultaneously, other vacuum grippers (not attached to the surface), with the operation of their gears, move along the stationary track to arrive at the gripping position.

In any case, the system of the caterpillar assembly that is responsible for moving the vacuum grippers (hereinafter ‘the moving system’) along the movement direction has to be such as to allow bringing the grippers successively into their gripping positions while making sure that there are always at least two vacuum grippers that are in such position, i.e. that there are always at least two vacuum grippers whose gripping faces define the surface gripping face of the apparatus.

The moving system of the caterpillar assembly can comprise or be associated with a rigid structure to form a structural support for the continuous track and the vacuum grippers.

To increase the overall safety during operation of the caterpillar apparatus, it is configured to ensure that vacuum is supplied simultaneously at least to two of those vacuum grippers that are in their gripping position, to make sure that gripping faces of these grippers are simultaneously attached to the surface along which the apparatus is to be moved. Thus, even though the use of one vacuum gripper may be sufficient for securing the apparatus to the surface, the at least one additional vacuum gripper can act as a backup for the former vacuum gripper, preventing the apparatus from being detached from the surface.

The caterpillar assembly can comprise a vacuum system configured to apply vacuum to selected grippers. The system can comprise a plurality of individual vacuum pumps each associated with a single vacuum gripper and configured for selectively creating vacuum therewithin. By having each vacuum gripper equipped with such 02771311\249-01 281841/3 individual vacuum pump, the overall safety of the apparatus is increased, e.g., by preventing it from detachment from the surface or slipping if a malfunction occurs in the vacuum pump of any other vacuum gripper. Since each vacuum gripper creates its own vacuum without being dependent on a common vacuum pump or the function of the other grippers, the overall safety of the apparatus is increased.

To further increase the overall safety and efficiency of the apparatus, each vacuum gripper can be equipped with two or more individual vacuum pumps configured for selectively creating vacuum within the gripper, thereby ensuring that each vacuum pump has a backup pump.

Reference is now made to Figs. 1A and 1B schematically illustrating a caterpillar assembly 100 which can function as a single-line caterpillar apparatus according to an example of the presently disclosed subject matter, or can constitute a part of a two-line or multiple-line apparatus having two or more such assemblies, respectively.

The caterpillar assembly 100 according to the presently disclosed subject matter has a longitudinal reference plane LP comprising a longitudinal axis LA parallel to the direction along which the assembly is expected to move, and a central reference plane CP perpendicular to the longitudinal reference plane LP and comprising the longitudinal axis LA and a central axis CA perpendicular to the longitudinal axis LA.

In the caterpillar assembly 100 shown in Figs. 1A and 1B, the longitudinal plane and axis are designated as LP and LA respectively, the central plane and axis are designated as CP and CA, respectively, and the direction of movement of the assembly is designated as MD.

As seen in Figs. 1A and 1B, the caterpillar assembly 100 comprises a moving system with an endless/continuous/closed loop track 120, a plurality/array of vacuum grippers 130, more particularly, 130a, 130b, 130c, 130d, 130e, 130f, 130g, 130h, 130i, 130j, 130k, and 130l, connected thereto, and a rigid structure 110 securely holding the track 120 and configured for attachment thereto a base platform (not shown) constituting a part of the caterpillar apparatus and/or an exterior equipment for the transportation of which the caterpillar apparatus is to be used.

The endless track 120 of the caterpillar assembly 100 comprises a distal section 122 disposed further than the central plane CP from the surface along which the caterpillar 02771311\249-01 281841/3 apparatus is to be moved, a proximal section 124 disposed closer to that surface than the central plane CP, a front section 126 disposed on one side of the longitudinal plane LP, and a rear section 128 disposed on an opposite side of the longitudinal plane, behind the front section with respect to the direction MD. The distal and proximal sections of the track can extend substantially parallel to the longitudinal axis LA of the assembly, whilst the side sections can be curved with respect to the axis LA, or be vertical thereto, and be essentially shorter than the distal and proximal sections. The common areas of each of the side sections and the distal/proximal sections can be smooth, i.e., such that a tangent thereto is perpendicular to the central plane of the assembly.

The moving system of the caterpillar assembly according to the presently disclosed subject matter can thus be configured to move the vacuum grippers 130 from the distal 122 to the proximal 124 section of the track 120 via the front section 126 of the track 120 and from the proximal 124 to the distal 122 sections via the rear section 128 of the track 120.

The track 120 can constitute a part of a moving system 160 of the assembly 100, in which case it can be movable about the central axis CA, and the vacuum grippers can be fixedly mounted thereto. Alternatively, the track 120 can be stationary, and the moving system of the assembly can comprise any other suitable means for slidingly moving the vacuum grippers along the stationary track 120.

During their operation, the vacuum grippers 130 can support the assembly 100 through the stationary track 120 connecting therebetween, as the grippers 130 cling on the surface on which the assembly 100 is moving.

In the caterpillar assembly 100, the track 120 is in the form of a continuous conveyor belt having an oblong shape with elongated distal section 122 (disposed above the central plane CP in Figs. 1A and 1B), elongated proximal section 124 (disposed below the central plane CP in Figs. 1A and 1B), front section 126 and rear section 128 continuously merging with each of their adjacent others. More particularly, the distal and proximal sections 122 and 124 have respective front ends 122A and 124A at which the front section 126 merges with the distal and proximal sections, and respective rear ends 122B and 124B at which the rear section 128 merges with the distal and proximal sections. 02771311\249-01 281841/3 Thus, the vacuum grippers 130 are movable, in the counterclockwise direction with respect to the axis CA between the different sections in that order – front-proximal- rear-distal. The direction of movement of the grippers along the distal section 122 is opposite to the expected direction of movement MD of the entire apparatus. It should be noted that the apparatus 100 can move in the opposite direction to the direction of movement MD, e.g., when the vacuum grippers 130 are moved in a clockwise direction (not illustrated).

Each of the grippers 130 has a proximal end 132 at which the gripper is mounted to the track 120 and a distal end 134 comprising a gripping face 135 of the gripper 130, which is configured to be brought into contact with a surface on which the apparatus 100 is to be moved. When the vacuum gripper 130 crosses the front end 124A of the proximal section 124 of the track during the above described movement, its gripping face is generally oriented parallel to the central plane CP of the assembly.

The gripping faces 135 of the grippers 130 disposed in their gripping positions at the proximal section of track 120 constitute a surface gripping face 165 of the caterpillar assembly 100, which in the described example, lies in a single plane parallel to the central plane CP and referred to hereinafter as a grip plane GP of the caterpillar assembly.

However, this does not have to be the case.

In the described example, along the length of the proximal section of the track along the longitudinal axis LA, the number of the vacuum grippers and the spacing between them are such that three grippers, 130b to 130d, are disposed simultaneously in their gripping position in which their gripping faces 135b to 135d lie in the plane GP and constitute the surface gripping face 165. However, this does not have to be the case and the number of grippers disposed simultaneously in their gripping position can be less, i.e. two as mentioned above or more than three.

In general, the vacuum grippers in a caterpillar assembly according to the presently disclosed subject matter, can each take, during its movement, the following positions along different sections of the track: a remote position at the distal section of the track, at which the gripping face of the vacuum gripper is spaced to a maximal distance from the grip plane GP, an intermediate position at each of the front and rear sections of the track, when the gripping face of the vacuum gripper is spaced from the front and rear 02771311\249-01 281841/3 ends of the proximal track section, a grip entering position at the area of merger of the front section with the front end of the proximal section of the track, in which the gripping face of the vacuum gripper forms an obtuse angle, facing the track, with the grip plane GP, a plurality of gripping positions along the proximal section of the track between its front and rear ends, in which the gripping face of the vacuum gripper lies in the grip plane GP, and a grip exiting position at the area of merger of the rear end of the proximal section of the track with the rear section of the track, in which the gripping face of the vacuum gripper forms an obtuse angle, facing the track, with the grip plane GP.

In the present example, the positions of the vacuum grippers in the state of the assembly 100 as shown in Figs.1A and 1B, are as follows: - the vacuum grippers 130b to 130d are each in the gripping position, in which their gripping faces 135b to 135d lie in the plane GP, the gripper 130d being in the first gripping position adjacent the front end 124A of the proximal section 124 of the track, and the gripper 130b being in the last gripping position adjacent the rear end 124B of the proximal section 124 of the track; - the vacuum gripper 130a is in the grip exit position adjacent the rear end 124b of the proximal section 124 of the track, in which its gripping face 135a forms an angle A1 with the grip plane GP; - the vacuum grippers 130g to 130k are in their remote positions at the distal section of the track, in which their gripping faces are spaced to a maximal distance from the grip plane GP; - the vacuum grippers 130f and 130l are in their intermediate positions at the respective front and rear sections of the track, in which their gripping faces are spaced from the grip plane GP to a distance smaller than the above maximal distance; and - the vacuum gripper 130e is in the grip entering position adjacent the front end 124A of the proximal section 124 of the track, in which its gripping face 135e forms an angle A2 with the grip plane GP; Fig. 1C illustrates a caterpillar assembly 100’ showing more details about the structural construction of the caterpillar assembly, according to an example of the presently disclosed subject matter. As can be seen in Fig. 1C, the caterpillar assembly 100’ comprises a track 120’ having vacuum grippers 130’positioned therealong. The 02771311\249-01 281841/3 caterpillar assembly 100’ comprises the same components as that of the caterpillar assembly 100, with a difference between positions of the vacuum grippers, and the description above relating to the caterpillar assembly 100 shown in Figs. 1A and 1B, and all its components is fully applicable (apart from the positions of the vacuum grippers) to the caterpillar assembly 100’ shown in Fig. 1C and all its components. According to the example illustrated in Fig. 1C, the track 120’ is a stationary track and the vacuum grippers 130’ are slidingly mounted thereto. The moving system, in this case, comprises the track 120’, gears 136A’ associated with each vacuum gripper 130’, corresponding gears (not shown) associated with the track 120’, a driving mechanism/motor (not shown) configured to individually rotate the gears of each of the vacuum grippers and/or the track 120’. In some examples, the moving system can comprise an individual driving mechanism/motor associated with gears of each of the vacuum grippers. In some examples, the gears of the track 120’ can be a zigzag surface of the track constituting the gears corresponding to the gears of the vacuum grippers.

The rotation of the gears 136A’ of the vacuum grippers 130, which are not attached to the surface on which the assembly is to be moved, causes those grippers to move along the track 120’. The rotation of the gears 136A’ of the vacuum grippers 130, which are attached to the surface on which the assembly is to be moved, causes the stationary track 120’ to move in the direction of movement, thereby forwarding the assembly 100’.

The caterpillar apparatus according to the presently disclosed subject matter further comprises a vacuum system, which can be configured so as to make sure that vacuum is applied to each vacuum gripper when it takes the grip entering position or when it faces the grip plane, and it can be maintained within the vacuum gripper until the vacuum is released. The vacuum system can also be configured to release the vacuum maintained when the vacuum gripper reaches the rear end of the proximal section of the track. In the present example, the vacuum system comprises a plurality of vacuum pumps, each associated with or disposed within a corresponding vacuum gripper. Some examples of such vacuum gripper are described below with reference to Figs. 2A to 2C.

To save energy and to further increase the overall safety during operation of the caterpillar apparatus, each vacuum gripper can be configured for maintaining the vacuum 02771311\249-01 281841/3 created therein after termination of operation of its vacuum pump, e.g., at least during the time when the gripping face of the vacuum gripper is to be attached to the surface along which the apparatus is to be moved. Accordingly, each vacuum gripper is configured to have the following operational modes: a suction mode when the vacuum is created by the vacuum pump and an optional vacuum mode when the vacuum is maintained after the termination of operation of the vacuum pump, and a non-operational mode when the vacuum pump is not operated, and the vacuum is released from the vacuum gripper. Thus, each gripper is configured to be in its suction mode or vacuum mode in at least one gripping position thereof. Each vacuum gripper that can be used in a caterpillar assembly according to the presently disclosed subject matter, can comprise or have associated therewith a pump manipulator configured to initiate the operation of the pump once the vacuum gripper reaches a pre-determined starting position, e.g. the grip entering position or the first gripping position adjacent the front end of the proximal section of the track.

Accordingly, the caterpillar assembly can comprise at least one starting position indicator, e.g., disposed in the vicinity of the front end of the proximal section of the track, configured for signaling to the pump manipulator of each gripper when the gripper reaches the predetermined starting position in which it has to enter its suction mode. The starting position indicator can be any one of a visual, a mechanical and/or an electronic switch and/or indicator configured to signal the pump manipulator. The pump manipulator can be an optic/image processing unit, a mechanic trigger, a laser sensor or any other sensor which can receive feedback from the starting position indicator to initiate the operation of the pump.

Each vacuum gripper can further comprise or have associated therewith a vacuum releaser which is configured to release the vacuum maintained in the gripper once the vacuum gripper reaches a predetermined finishing position. Accordingly, the caterpillar assembly can comprise at least one finishing position indicator, e.g., disposed in the vicinity of the rear end of the proximal section of the track, configured for signaling to the vacuum releaser of the gripper when the gripper reaches the predetermined finishing position, in which vacuum should be released from the vacuum gripper to release grip thereof from the surface, thereby enabling the vacuum gripper to be moved to the rear section of the track. Similarly to the starting position indicator, the finishing position 02771311\249-01 281841/3 indicator can be any one of a visual, a mechanical and/or an electronical switch and/or indicator, configured to trigger the vacuum releaser. The vacuum releaser can be an optic/image processing unit, a mechanic trigger, a laser sensor or any other sensor which can receive feedback from the finishing position indicator to release the vacuum maintained in the vacuum gripper.

Additionally, each vacuum gripper can comprise at least one sensor configured to indicate whether the vacuum gripper is in an operational mode, i.e., suction mode or vacuum mode, or in a non-operational mode, and, optionally, its malfunction. This indication may help assess the overall safety of the apparatus indicating at each moment the number of vacuum grippers that are attached to the surface.

Fig. 1D schematically illustrates a caterpillar assembly 200 similar to the caterpillar assembly 100 described above and having a track 220 and vacuum grippers 230 (with some vacuum grippers removed for the purpose of better illustration of elements of the assembly 200), with a difference between them being in that the track 220 has a position indicator 225 in the form of an elongated protrusion protruding outwardly from the proximal section 224 of the track 220 towards the surface gripping face and extending along the grip plane GP to a length corresponding to the number of vacuum grippers 230 that can simultaneously be in their gripping position.

The position indicator 225 has a start indication area 225a allowing the indicator 225 to function as a starting position indicator, and an end indication area 225b allowing the indicator 225 to function as a finishing position indicator, such that each time a vacuum gripper 230 comes in contact with or arrives at a position on the track common with the start indication area 225a, the pump manipulator of the vacuum gripper causes the vacuum pump of the vacuum gripper to operate and the gripper thus to enter its suction mode, optionally succeeded with the vacuum mode, and when the vacuum gripper comes in contact with or arrives at a position on the track common with the end indication area 225b, the vacuum releaser is caused to release vacuum from the vacuum gripper thereby bringing the vacuum gripper into the non-operational mode, where vacuum is released.

The position indicator 225 can trigger the pump manipulator or the vacuum releaser by a respective front or end distance sensing device, such as an optic/laser, a mechanic or an electronic sensor. The distance sensing device (detailed hereinbelow with 02771311\249-01 281841/3 respect to Figs. 2B and 2C), can ‘watch’ the start area 225a or the end area 225b of the position indicator 225 and sense the change in its state when one of the vacuum grippers has contacted this area, or is a predetermined distance from this area, so as to trigger the pump manipulator or the vacuum releaser accordingly, which thus causes the vacuum gripper to enter its suction mode or vacuum release mode, respectively. Optionally, once vacuum is created within the vacuum gripper in its suction mode, it enters its vacuum mode and the vacuum is maintained therewithin. The vacuum mode can be triggered by a pressure sensor indicating that a predetermined negative pressure is achieved within the gripper. The predetermined negative pressure can be, for example, any pressure below -0.2 bar, and may be sufficient to secure the caterpillar apparatus to the surface.

To increase the overall safety of operation of the assembly, in the present example the position indicator 225 extends along a majority of the proximal section of the track 220. Thus, if, for any reason, the vacuum gets released from the vacuum gripper while it is still required to be secured to the surface, the position indicator 225 acting as the position indicator, signals to reinitiate the suction mode of the vacuum gripper. In this example, the position indicator 225 extends along the entire proximal section 224 of the track 220 that faces the surface gripping face 265 in a continuous manner. Alternatively, the position indicator can comprise a plurality of discrete protrusions.

In the present example, the track 220 is a stationary track. In other examples, the track 220 can be a movable track or a stationary track, and the position indicator can be realized by other means so as to indicate the position of the grippers with respect to the rigid structure and/or the moving system of the assembly. In another example (not shown), e.g., when the track 220 is a movable track, a position indicator similar to the position indicator 225 described hereinabove, or different therefrom, can be mounted to any stationary part of the assembly.

Fig. 1E illustrates a caterpillar assembly 200’ showing more details about the structural construction of the caterpillar assembly, according to an example of the presently disclosed subject matter. As can be seen in Fig. 1E, the caterpillar assembly 200’ comprises a track 220’ having positioned therealong vacuum grippers 230’ and having a position indicator 225’. The caterpillar assembly 200’ comprises similar components as that of the caterpillar assembly 200, with a difference being in the number 02771311\249-01 281841/3 of vacuum grippers illustrated, and the description above relating to the caterpillar assembly 200 shown in Fig. 1D, and all its components is fully applicable (apart from the positions of the vacuum grippers) to the caterpillar assembly 200’ shown in Fig. 1E and all its components.

As mentioned above, a caterpillar assembly according to the presently disclosed subject matter, can comprise a stationary track to which the vacuum grippers are slidably connected, and a movable track to which the vacuum grippers are fixedly mounted for being moved therewith between the positions described above, while staying slidably connected to the stationary track. In this case, the two tracks can both be of an endless type and be disposed adjacent to each other, have the same shape and be oriented in the same manner.

Fig. 1F schematically illustrates a caterpillar assembly 300 having similar components as the assembly 100 of Figs. 1A and 1B, but having two tracks, one – a movable track 340, to which the vacuum grippers 330 are fixedly mounted to be movable therewith, and the other one – a stationary track 320, to which the vacuum grippers 330 are slidingly connected for providing structural support and/or maintaining their desired orientation during the movement. The description above relating to the caterpillar assembly 100 shown in Figs. 1A and 1B, and all its components is fully applicable to the caterpillar assembly 300 shown in Fig. 1F and all its components, except for that the description above relating to the sections of the track 120 is applicable to the sections of the tracks 320 and 340.

The movable track can be configured to be rotated about the central axis CA of the caterpillar assembly by a moving system according to the presently disclosed subject matter. The moving system can comprise one or more wheels and/or gears configured to be rotated by a common driving system or a respective driving mechanism/motor associated with each of the wheels/gears. In some examples, the moving system can comprise a central hub and one or more mechanical arms configured for rotating the movable track about the central axis.

Fig. 1G illustrates a caterpillar assembly 300’ showing more details about the structural construction of the caterpillar assembly, according to an example of the presently disclosed subject matter. As can be seen in Fig. 1G, the caterpillar assembly 02771311\249-01 281841/3 300’ comprises a movable track 340’ having vacuum grippers 330’ fixedly mounted therewith, and a stationary track 320’, to which the vacuum grippers 330’ are slidingly connected. The caterpillar assembly 300’ comprises similar components as that of the caterpillar assembly 300, with a difference between positions of the vacuum grippers, and the description above relating to the caterpillar assembly 300 shown in Fig. 1F, and all its components is fully applicable (apart from the positions of the vacuum grippers) to the caterpillar assembly 300’ shown in Fig. 1G and all its components.

Whilst the caterpillar assembly 200 described with respect to Fig. 1D has a stationary track 220, the description of the stationary track 220 including that of the position indicator 225 and its operation, is fully applicable to a caterpillar assembly, where the track is a movable track and the vacuum grippers are movable by the movable track. For instance, Fig. 1H schematically illustrates a caterpillar assembly 400 having similar components as the assembly 200 of Fig. 1D, but having two tracks, one – a movable track 440, to which the vacuum grippers 430 are fixedly mounted to be movable therewith, and the other one – a stationary track 420, to which the vacuum grippers 430 are slidingly connected, and which comprises the position indicator 425 corresponding to the position indicator 225 of the track 220 of Fig. 1D. The description above relating to the caterpillar assembly 200 shown in Fig. 1D, and all its components is fully applicable to the caterpillar assembly 400 shown in Fig. 1H and all its components, except for that the description relating to the sections of the track 220 is applicable to the sections of the tracks 420 and 440.

Fig. 1I illustrates a caterpillar assembly 400’ showing more details about the structural construction of the caterpillar assembly, according to an example of the presently disclosed subject matter. As can be seen in Fig. 1I, the caterpillar assembly 400’ comprises a movable track 440’ having vacuum grippers 430’ fixedly mounted therewith, and a stationary track 420’, to which the vacuum grippers 430’ are slidingly connected and are supported thereby and which comprises a position indicator 425’. The caterpillar assembly 400’ comprises similar components as that of the caterpillar assembly 400, with a difference being in the number of vacuum grippers illustrated, and the description above relating to the caterpillar assembly 400 shown in Fig. 1H, and all its components (apart 02771311\249-01 281841/3 from the positions of the vacuum grippers) is fully applicable to the caterpillar assembly 400’ shown in Fig. 1I and all its components.

As mentioned above, each vacuum gripper has the mounting portion, at which it is mounted with the caterpillar assembly. For this purpose, the mounting portion can enable the vacuum gripper to be slidingly mounted to a stationary track and/or fixedly mounted to a movable track. The vacuum gripper can be provided with an adjusting device configured for enabling adjustment of the distance between its gripping face or gripping portion, and the track, and/or orientation thereof at an adjustable angle with respect to the central plane CP. The adjustment of the distance and/or the orientation angle, can enable the caterpillar apparatus to advance over an uneven surface, such as an inclined surface and/or a surface which comprises elevations, depressions, steps or ditches.

When the surface along which the caterpillar assembly or the caterpillar apparatus is to be moved is not ideally planar, the vacuum grippers are configured to adjust a distance between their gripping faces and the track, thus rendering the surface gripping face of the caterpillar assembly to have a non-planar configuration. In this case, the grip plane of the caterpillar assembly will be defined by the gripping face(s) of that/those vacuum gripper(s) disposed in their gripping position, which is at a maximal distance from the track.

Fig. 2A schematically illustrates a vacuum gripper unit 530, which can be used in any caterpillar assembly described above or any other caterpillar assembly according to the presently disclosed subject matter. The vacuum gripper unit 530 comprises a gripping portion 532 configured to be attached to the surface on which the caterpillar assembly is to be moved, an opposite mounting portion 534 by which the gripper 530 can be mounted to a track (fixedly or slidingly) of the caterpillar assembly, e.g., via at least one attachment element (described hereinbelow with reference to Figs. 2B and 2C), and an adjusting device 540 configured for connecting the two portions. The adjusting device 540 is configured for enabling adjustment of the distance between the gripping portion 532 and the track (not shown). For example, adjusting device 540 can comprise a spring, a piston, other distance adjustable element and/or any combination thereof, enabling the adjustment of distance between the gripping face 535 of the vacuum gripper 530 and the 02771311\249-01 281841/3 track. The adjusting device 540 is configured for orienting the vacuum gripper unit 530 in general, and/or the gripping portion 532 in particular, at an adjustable angle with respect to the central plane CP of the caterpillar assembly. The adjustment of the distance and/or the orientation angle of the vacuum gripper unit in general and/or the gripping portion in particular, can enable the caterpillar apparatus to advance over an uneven surface, such as an inclined surface and/or a surface which comprises elevations, depressions, steps or ditches.

As mentioned above, a vacuum gripper that can be used with caterpillar assemblies in any of the above-described examples of a caterpillar apparatus according to the presently disclosed subject matter, as well as any other such apparatus, can have any construction of its gripping portion allowing it to be securely attached to a surface along a pre-determined area defined by a surface area of the gripping face of the gripper.

Some examples of such vacuum gripper are illustrated in Figs. 2B and 2C hereinbelow. It needs to be indicated that the vacuum gripper described hereinbelow can have a gripping portion similar, and that can operate similarly, to a vacuum apparatus described in WO2019215722, which description is incorporated herein by reference, with a main difference being in that the vacuum apparatus described in the above publication is configured for attaching to an object to be carried thereby, whilst the presently disclosed vacuum gripper has an adjusting device and/or a mounting portion so as to be used in a caterpillar assembly.

Figs. 2B and 2C illustrate a vacuum gripper unit 530’ showing more details about the structural construction of the vacuum gripper, according to an example of the presently disclosed subject matter. The vacuum gripper 530’ comprises a gripping portion 532’ configured to be attached, via its gripping face 535’, to the surface on which the caterpillar assembly is to be moved, and an opposite mounting portion 534’ configured to be mounted to the track of the caterpillar assembly, e.g. via at least one attachment element. The vacuum gripper 530’ further comprises an adjusting device 540’ configured to facilitate an adjustment of distance and/or orientation angle of the vacuum gripper 530’ in general and the gripping portion 532' in particular with respect to the track and/or the central plane CP of the caterpillar assembly. The vacuum gripper 530’ further comprises a first attachment element 536A’ in the form of gears/wheels, mounted to the mounting 02771311\249-01 281841/3 portion 534’ and configured to be slidingly mounted to the track in case the track is a stationary track. In case the track is a movable track, a second attachment element 536B’ of the vacuum gripper 530’, mounted to the mounting portion 534’ can be used to fixedly mount the vacuum gripper 530’ to the movable track. The vacuum gripper 530’ can further comprise, or can have associated therewith, a driving mechanism/motor (not shown) configured for moving the gears 536A’. Further either or both of the attachment elements 536A’ and 536B’ can be configured for detachably mounting the vacuum gripper with the track.

The vacuum gripper 530’ further comprises an outer cover 538’, which has been removed in Fig. 2C to show internal components of the vacuum gripper 530’, the gripping portion 532' and the adjusting device 540’.

As can be seen in Fig. 2C, the adjusting device 540’ has a body 542’ connected via proximal ends of legs 544’ to a base 539’ of the vacuum gripper 530’. The legs 544’ have distal ends thereof connected, via connectors 546’ of mounting portion 534', to the wheels 536A’. In the illustrated example, the legs 544’ are configured in the form of telescopic rods and are configured to telescopically change their respective lengths. The body 542’ via mounting portion 534' is connected thereto by the second attachment element 536B’. The adjusting device 540’ comprises a spring 548’ having a proximal end thereof connected to the base 539’ of the vacuum gripper 530’ and a distal end thereof connected to the body 542’ of the adjusting device 540’. For the purpose of adjusting the distance between the attachment elements 536A’, 536B’ and the gripping face 535’, the spring 548’ can be compressed and stretched by an actuation mechanism (not shown) controlled by a sensor, configured to sense if the gripping face 535’ touches a surface (the surface on which the assembly is to be moved), and a controller (not shown).

Simultaneously, the legs 544’ decrease (while the spring is compressed) and increase (while the spring is stretched) their respective lengths telescopically, thereby changing the distance between the attachment elements 536A’, 536B’ and the base 539’ of the vacuum gripper 530’. For the purpose of changing the orientation of the gripper 530’, the legs 544’ can be actuated, for example by the controller, to have different lengths with respect to each other based on the orientation that is to be achieved, and the spring can be configured to flex accordingly. Additionally, for the purpose of changing the orientation 02771311\249-01 281841/3 of the gripping face 535' with respect to the central plane CP of a caterpillar apparatus, the legs 544' can be connected to the base 539' such that a degree of freedom is left enabling the gripping face to change its angle, e.g. tilt, with respect to the grip plane.

The vacuum gripper 530’ further comprises a suction plate 550’ configured, in conjunction with a vacuum pump 552’, to create a vacuum between itself and the surface on which the assembly is to be moved. The suction plate 550’ has a sealing rubber 554’ positioned along a periphery of the face of the suction plate 550’ facing away from the track, when the vacuum gripper 530’ is mounted to the track. The sealing rubber 554’ defines the gripping face 535’ of the vacuum gripper 530’. When the vacuum is generated within the vacuum gripper 530’, i.e., between the suction plate 550’ and the surface on which the assembly is to be moved, the sealing rubber 554’ attaches with the surface.

Whilst the vacuum pump 552’ has been described above as a part of the vacuum gripper 530’, the vacuum pump can be external to the vacuum gripper while being associated therewith and configured to create negative pressure therewithin.

The vacuum gripper 530’ further comprises a vacuum switch 556’ configured to switch the vacuum gripper 530’ between its non-operational mode (when there is no vacuum in the gripper) and various operational modes as detailed hereinabove with respect to Figs. 1A and 1B. The vacuum switch 556’ is configured to be controlled by the controller (not shown) based on a distance sensing device 558’ configured with the vacuum gripper 530’. The distance sensing device 558’ senses the position of the vacuum gripper along the track, and signals, via the controller, the vacuum switch 556’ to operate the vacuum pump 552’. Upon sensing the vacuum gripper reaching its predetermined starting position (as detailed hereinabove with respect to Figs. 1A and 1B), the distance sensing device 558’ signals the vacuum switch 556’ to function as a pump manipulator to initiate the operation of the vacuum pump 552’ thereby causing the vacuum gripper 530’ to enter into its suction mode. Upon sensing the vacuum gripper reaching its predetermined finishing position (as detailed hereinabove with respect to Figs. 1A and 1B), the distance sensing device 558’ signals the vacuum switch 556’ to function as a vacuum releaser to release the vacuum from within the gripper 530’.

Whilst the distance sensing device has been shown in Fig. 2C positioned on an inner surface of the body 542’, it can be positioned at any location with respect to the 02771311\249-01 281841/3 vacuum gripper 530’ such that it can ‘watch’ the position indicator of the track to sense the position of the vacuum gripper along the track.

In the illustrated example, the adjusting device has been described as operating with the help of a spring and telescopic rods. In other examples, the adjusting device can comprise either of a spring, a telescopic rod, a piston, a hydraulic mechanism, combinations thereof, or any other mechanism capable of adjusting the distance and/or orientation of the vacuum gripper with respect to the track.

As mentioned above, a caterpillar apparatus according to the presently disclosed subject matter can comprise two or more caterpillar assemblies of the kind described above. Some examples of such assemblies are presented in Figs. 1A to 1I.

In general, a caterpillar apparatus according to the presently disclosed subject matter can comprise any of the exemplary caterpillar assemblies 100, 100’, 200, 200’, 300, 300’, 400, 400’ described above according to various examples of the presently disclosed subject matter, or any other such caterpillar assembly. In some examples, the caterpillar apparatus can comprise assemblies of different kinds, for example, one assembly can be similar to one of the caterpillar assemblies 100, 100’, 200, 200’, 300, 300’, 400, 400’while the other assembly can be similar another one of the caterpillar assemblies 100, 100’, 200, 200’, 300, 300’, 400, 400’. The caterpillar assemblies of the caterpillar apparatus can be connected, via their respective rigid structures forming structural supports of the assemblies, together by a common base, i.e., a base of the caterpillar apparatus, and can have an equal number of vacuum grippers such that at each moment a same of number of vacuum grippers of each assembly is attached to a surface on which the apparatus is to be moved. As described above, each vacuum gripper has a gripping face, at which the vacuum gripper is configured to be attached to the surface.

The gripping faces of all the vacuum grippers which are attached to the surface, at the same moment, together define a surface gripping face of the caterpillar apparatus. It is to be understood herein that each of the vacuum grippers can be any one of the exemplary vacuum grippers 130, 130’, 230, 230’, 330, 330’, 430, 430’, 530, 530’ described above according to various examples of the presently disclosed subject matter, or any other such vacuum gripper. 02771311\249-01 281841/3 Each of the caterpillar assemblies can have respective moving systems, as described above or the caterpillar apparatus can have a common moving system comprising components of each of the respective moving systems of the assemblies with additional components for facilitating coordination between those moving systems. The moving system of each of the assemblies, or the common moving system for both the assemblies, i.e., constituting the moving system of the caterpillar apparatus, can be securely mounted to the base of the caterpillar apparatus. Irrespective of the fact as to which of the above described caterpillar assemblies are used in the apparatus, the base of the caterpillar apparatus can be configured so as to securely support the respective moving system of each of the caterpillar assemblies, which in turn is configured to securely support the vacuum grippers. When the assembly comprises a stationary track on which the vacuum units are mounted, the base can be also configured for support the stationary track.

The caterpillar assembly can have a plane of symmetry passing through the base of the caterpillar apparatus, and generally parallel to the longitudinal planes of each of the assemblies, such that the assemblies are positioned on opposite sides of the plane of symmetry. Further, the caterpillar apparatus can have a central plane perpendicular to the plane of symmetry and generally coinciding with, or at least parallel to, the central reference planes of each of the assemblies.

The caterpillar apparatus can comprise a pivoting assembly mounted to the base of the caterpillar apparatus and configured to secure the apparatus to the surface and pivot the caterpillar apparatus, e.g. along the central plane and about an axis perpendicular to the central plane and lying in the plane of symmetry. The pivot assembly can comprise at least one vacuum gripper configured to secure, when operated, the pivoting assembly and thus the apparatus to the surface, at least when the moving system of the apparatus is inoperative. For example, in order to change the direction of movement of the caterpillar apparatus, the vacuum grippers of the pivoting assembly can be operated by a vacuum pump associated thereto, thereby securing the apparatus to the surface via the pivoting assembly, and simultaneously all the vacuum grippers of the caterpillar assemblies can be released from the surface. In this state, the pivoting assembly can rotate the base of the caterpillar apparatus (and its assemblies), thereby changing the direction of movement of 02771311\249-01 281841/3 the apparatus. Successively, the vacuum grippers of the caterpillar assemblies can be operated to be attached to the surface, followed by release of the vacuum grippers of the pivoting assembly from the surface to allow movement of the caterpillar apparatus along the surface. In addition to the above described purpose of changing the direction of movement, for other purposes, the vacuum grippers of the pivoting assembly can be secured with the surface simultaneously with the vacuum grippers of the caterpillar assemblies to increase the strength of the attachment of the apparatus to the surface that might be required for such other purposes.

Fig. 3A schematically illustrates a caterpillar apparatus 1 according to an example of the presently disclosed subject matter, comprising two caterpillar assemblies 600 and 700, both similar to the caterpillar assembly 100 schematically illustrated in Figs. 1A and 1B, according to an example of the presently disclosed subject matter. The description above relating to the caterpillar assembly 100 shown in Figs. 1A and 1B, and all its components is fully applicable to both of the caterpillar assemblies 600 and 700 shown in Fig. 3A and all their components. Whilst the caterpillar assemblies 600 and 700 have been shown to be similar to the assembly 100 described above with respect to Figs. 1A and 1B having only one track, which can be stationary or movable, any or both of the caterpillar assemblies 600 and 700 can be either of the exemplary caterpillar assemblies 100’, 200, 200’, 300, 300’, 400, 400’ described above, or any other such assembly.

The caterpillar assemblies 600 and 700 comprise respective tracks 620 and 720, to which the grippers 630 and 730 are connected respectively. The caterpillar assemblies 600 and 700 have respective rigid structures 610 and 710 securely holding the tracks 600 and 700 respectively, and connected to each other via a common base 10, i.e., the base of the caterpillar apparatus 1. It should be noted that base 10 can be structured from several components, e.g., bars, rods, flanges, a like elements and/or any combination thereof, so as to reduce the overall weight of the base.

The caterpillar apparatus 1 has a plane of symmetry SP passing through the base and extending respectively to the longitudinal planes (not shown) of the assemblies 600 and 700. The assemblies 600 and 700 are positioned on the two sides of the plane of symmetry SP of the apparatus 1. The caterpillar apparatus 1 has a central plane CPA extending perpendicular to the plane of symmetry SP. The apparatus 1 further comprises 02771311\249-01 281841/3 a gripping face 65 parallel to the central plane CPA and constituted by the gripping faces 635 and 735 of those vacuum grippers of the assemblies 600 and 700 which are connected to the surface on which the apparatus 1 is to be moved. For example, at least one vacuum gripper of the assembly 600 and at least one vacuum gripper of the assembly 700 which are connected to the surface on which the apparatus 1 is to be moved, define the gripping face 65.

The base 10 has a pivoting assembly 20 of the apparatus 1, mounted thereto and configured to secure the base 10, and thus the apparatus 1, to the surface and to pivot the caterpillar apparatus 1 along the central plane CPA, and about an axis SA perpendicular to the central plane CPA and lying in the plane of symmetry SP. The pivoting assembly comprises vacuum grippers 30 configured to securely attach the pivoting assembly 20, and consequently the apparatus 1, to the surface. The pivoting assembly 20 further comprises a moving system 25 configured to move the base 10 of the apparatus 1 along the central plane CPA to change the direction of movement of the apparatus 1, at least when none of the vacuum grippers 630 and 730 are attached to the surface, and the vacuum grippers 30 are attached to the surface. The moving system 25 can comprise a gear arrangement, wheel, movable belt, any combination thereof and/or any other mechanism configured to move the base 10 as described above.

Fig. 3B illustrates a caterpillar apparatus 1’ showing more structural details of the caterpillar apparatus according to another example of the presently disclosed subject matter. The apparatus 1’ comprises two caterpillar assemblies 600’ and 700’, both of which are similar to the caterpillar assembly 400’ described above with reference to Fig. 1I, and the description above relating to the caterpillar assembly 400’ shown in Fig. 1I, and all its components is fully applicable to both of the caterpillar assemblies 600’ and 700’ shown in Fig. 3B and all their components.

Similar to that of caterpillar assembly 400’, the caterpillar assembly 600’ comprises a movable track 640’ having vacuum grippers 630’ fixedly mounted therewith, and a stationary track 620’, to which the vacuum grippers 630’ are slidingly connected and supported thereby. Also, the caterpillar assembly 700’, similar to the assembly 400’, comprises a movable track 740’ having vacuum grippers 730’ fixedly mounted therewith, and a stationary track 720’, to which the vacuum grippers 730’ are slidingly connected. 02771311\249-01 281841/3 The assemblies 600’ and 700’ are connected to each other via a base 10’ of the apparatus 1’, and are positioned on the two sides of a plane of symmetry SP’. The apparatus 1’ is configured to be moved along the surface by the assemblies 600’ and 700', which are configured to be moved by their respective moving systems, one of which, i.e., a moving system of the assembly 600’, has been shown in an inner view of the caterpillar apparatus 1’ illustrated in Fig. 3C.

Fig. 3C illustrates an inner view of the apparatus 1’ achieved by taking a cross section of the apparatus 1’ along a plane parallel to the plane of symmetry SP’ with some components of the apparatus 1’ not shown for the purposes of clarity in illustration. As can be seen in Fig. 3C, the caterpillar assembly 600’ has a moving system 660’ comprising the movable track 640’. The moving system 660’ has two gears 662’ and 664’ on which the movable track 640’ is configured to move in a counterclockwise or counter clockwise direction with respect to the central axis CA. The two gears 662’ and 664’, each are rotatable about a respective axle 663’ and 665’, which are, according to the illustrated example, common for both the assemblies 600’ and 700’. In addition, the moving system 660’ has another pair of gears 666’ and 668’. The gear 666’ shares the axle 665’ with the gear 664’, such that the rotation of gear 666’ causes the axle 665’ to rotate, which in turn causes the rotation of the gear 664’ and thus that of the movable track 640’. The gear 668’ has a driving mechanism/motor (not shown) associated therewith and configured to rotate the gear 668’. The gears 668’ and 666’ have a belt 670’ configured to rotate thereon and to transfer the rotational movement of the gear 668’ to the gear 666’. In operation, the motor rotates the gear 668’, which is then transferred to the gear 666’ by the belt 670’. The gear 666’ rotates the axle 665’, which causes the gear 664’ to rotate, and consequently, to rotate the movable track 640’ and in turn, the gear 662’. Thus, the moving system 660’ is configured to move the vacuum grippers 630’ (and correspondingly the grippers 730’, because the axles 663’ and 665’ are common for both the assemblies 600’ and 700’) along with the movable track 630’ to cause the apparatus 1’ to move in its direction of movement. In some examples, a moving system can comprise only one pair of gears and a driving mechanism/motor to directly rotate those gears. In some examples, a moving system can comprise more than four gears, for 02771311\249-01 281841/3 example an additional gear between the gears 662’ and 666’ for increased support to the movable track.

The two gears of each assembly can also be configured to provide tension for the movable track, similarly to caterpillar tracks of an armed vehicle.

The moving system 660’ is configured to ensure that at least two vacuum grippers of each assembly are in their respective gripping positions (as described above) at every moment. In some embodiments, the moving system 660’ is configured so as to ensure that at least two vacuum grippers of the caterpillar apparatus are in their respective gripping positions (as described above) at every moment.

Reference is now made again to Fig. 3B illustrating the caterpillar apparatus 1’ which further comprises a pivoting assembly 20’ mounted to the base 10’ of the apparatus 1’. The pivoting assembly 20’ (shown in Fig. 3D) comprises a plurality of vacuum grippers 30’, each configured to be securely attached to the surface when vacuum is created within them. The pivoting assembly 20’ comprises piston arrangements 22’ each associated with one of the vacuum grippers 30’, such that each piston arrangement 22’ has a top end 24’ at a first end configured to abut a proximal section of the base 10’ disposed closer to that surface, e.g., when the vacuum pistons 22' are retracted, and a gripper 30’ connected at the other end. The pivoting assembly 20’ further comprises a base 21’ configured to support the piston arrangements 22’ at one end thereof and having a moving system 25’ at another end thereof. The moving system 25’ is configured to facilitate the movement of the base 10’, and thus the pivoting of apparatus 1’, along the central plane thereof. The moving system 25’ comprises a gear 26’ connected to the base 21’ and is configured to be rotated about an axis perpendicular the central plane of the apparatus 1’. The gear 26’ is connected to the base 10’ of the apparatus 1’ so as to pivot the base 10’, and thereby the apparatus 1’, therewith. The gear 26’ is rotatable by a belt 27’ (as best seen in Fig. 3B), which in turn is movable by another gear 28’ (as best seen in Fig. 3B) configured to be rotated by a driving mechanism/motor (not shown) associated therewith. In operation, the vacuum grippers 30’ can be attached to the surface, and the apparatus can be pivoted, i.e., rotated by the moving system 25’ about an axis perpendicular to the central plane and lying in the plane of symmetry of the apparatus 1’, at least when the grippers 630’ and 730’ are not attached to the surface. 02771311\249-01 281841/3 Using individual grippers for the pivot arrangement allows utilizing a smaller gripping face for gripping onto a surface than in case where a single gripper would have been used. This can be useful for clinging the assembly 100 onto extremely uneven surfaces, which do not have planar areas which are large enough for the entire gripping face of the pivot arrangement.

The piston arrangements 22’ are configured for enabling adjustment of the distance between the base 10’ and the surface on which the apparatus is to be moved.

Further, the piston arrangements 22’ are configured for orienting the apparatus 1’ at an adjustable angle with respect to the central plane as well as the plane of symmetry of the apparatus 1’. For the purpose of adjusting the distance between the base 10’ and the surface, all the piston arrangements 22’ can be operated simultaneously and in the same direction to increase or decrease their lengths to an equal extent. For the purpose of orienting the apparatus 1’, the piston arrangements 22’ can be operated independently to change their respective lengths by unequal extents so as to orient the apparatus 1’ with respect to the central plane as well as the plane of symmetry of the apparatus 1’. The distance of the vacuum grippers 630’ and 730’ from the tracks 620’ and 720’, respectively, is also adjusted in coordination with the adjustment of the piston arrangements 22’, for example, by a controller. The adjustment of distance and orientation of the apparatus 1’ facilitates the operation of the apparatus on an uneven surface, such as an inclined surface and/or a surface which comprises elevations, depressions, steps or ditches.

It should be noted that any of the above examples of the caterpillar apparatus or any other such apparatus according to the presently disclosed subject matter, each vacuum gripper of each of the caterpillar assemblies and of the pivoting assembly, is configured so that, in case of a power failure at the time when it is attached to a surface, it maintains this attachment by entering its vacuum mode, thereby ensuring that the caterpillar apparatus is secured to the surface.

In any of the above-described examples of a caterpillar apparatus according to the presently disclosed subject matter, as well as any other such apparatus can comprise a controller configured to control the movement of the vacuum grippers of the assemblies and/or those of the pivoting assembly. The controller can control the moving system, e.g., 02771311\249-01 281841/3 the rotation rate of the track, the speed of the movable track, the speed of rotation of the gears of the vacuum grippers, the adjusting devices, the piston arrangements, and/or the releasement and securement of the vacuum grippers of the piston assembly. By controlling the speed at which the vacuum grippers are moved, the controller can set the pace at which the caterpillar apparatus advances along the surface. The setting of the advancement rate enables the use of the apparatus for many purposes. For example, cleaning windows of a skyscraper may require the caterpillar apparatus to move relatively slow, e.g., at a rate between 5 to 15 meters per minute, whereas functioning as a rescue device for rescuing people from high story buildings may require the caterpillar apparatus to move much faster, e.g., at a rate between 20 to 40 meters per minute.

Additionally, the controller is configured to ensure that at least two vacuum grippers, including the vacuum grippers of the pivot arrangement, are secured at the required vacuum pressure to the surface at all times. For example, the controller may advance the vacuum grippers which are not secured to the surface faster than the ones that are secured to the surface. This deferential movement of the vacuum grippers, can ensure that more than two vacuum grippers are secured to the surface at all time, thereby increasing the overall safety operation of the apparatus and the advancement rate of the apparatus.

In general, the moving system of a caterpillar assembly according to the presently disclosed subject matter can be any moving system that enables the vacuum grippers to move along the movement direction such as to allow bringing the grippers successively into their gripping position while making sure that there are always at least two vacuum grippers that are in such position, and the grippers can be connected to the moving system in any suitable manner, e.g., in a detachable manner, thereby enabling the replacement of each gripper if and/or when required. 6-10-2021 The moving system does not necessarily have to comprise a movable track, rather, the moving system can be of a human legs kind, e.g., , i.e. with two or four legs having adjustable distance and angles with respect to the central reference plane.

In case the moving system does comprise a movable track, e.g., an endless movable track, it can be in the form of a continuous conveyer-like strap of the kind described above or in the form of a plurality of discrete track elements pivotally connected 02771311\249-01 281841/3 to each other by pivot axles, each track element being associated with a vacuum gripper.

In the latter case, the moving system can further comprise any means operable to move the track elements and/or the pivot axles, to successively bring the vacuum grippers into gripping position. For example, the moving system can comprise at least one gear rotatably mounted to a stationary element of the caterpillar assembly, and configured to be rotated by a driving mechanism/motor (not shown) associated therewith, the at least one gear securely engaging the track elements and/or the pivot axles so as to move them upon rotation of the at least one gear.

When the movable track comprises the above track elements, vacuum grippers can be detachably attachable thereto, or integrally mounted thereto or unitarily formed therewith. In a specific example, the vacuum gripper can have a central axis and comprise a gripping portion with a gripping face oriented perpendicular to the central axis of the gripper and a mounting portion spaced from the gripping face along the central axis of the gripper and comprising an attachment extension oriented transversely to the central axis and having two attachment ends on two sides of the central axis, the attachment ends 6-10-2021 being each pivotally connectable to a pivot axle, enabling the attachment extension to constitute the track element of the movable track when the caterpillar assembly is assembled. Optionally, the attachment extension can have two attachment extension portions extending in opposite directions from the central axis of the gripper, each having a proximal end adjacent the central axis and a distal end spaced from the central axis and pivotally connectable to a pivot axle. The mounting portion can further comprise at least one attachment element extending between the gripping portion and the attachment extension. The mounting portion can comprise two attachment elements, which can generally extend along the central axis of the gripper on two sides thereof, each connected to the proximal end of one the attachment extension portions. The two attachment elements can be disposed close to each other or rather can be spaced from each in a direction perpendicular to the central axis of the gripper.

Fig. 4A schematically illustrates a caterpillar assembly 800 according to another example of the presently disclosed subject matter, which can function as a single-line caterpillar apparatus, or can constitute a part of a two-line or multiple-line apparatus having two or more such assemblies, respectively. Endless movable track 820 along with 02771311\249-01 281841/3 vacuum grippers 830, can be used in the caterpillar assembly 800 of the present example in a manner similar to that described above with respect to movable tracks of the previous examples.

The track 820 comprises a succession of discrete track elements 821 pivotally connected to each other by pivot axles 822, each track element being associated with one of the vacuum grippers 830.

Components of the assembly 800 other than the track elements and axles of the movable track 820 and components of each vacuum gripper 830 other than its mounting portion, and their operation, can be the same as those described above with respect to the assemblies and vacuum grippers of the previous examples.

All the track elements and the associated portions of all the vacuum grippers 830 are identical, and they will now be described in more detail with reference to Fig. 4B, which illustrates a portion ‘B’ of the track 820 shown in Fig. 4A. The track 820 can thus be considered as comprising a plurality of such portions and the description below is applicable to each of them. 6-10-2021 In Fig. 4B, three adjacent vacuum grippers designated as 830a, 830b and 830c are shown, each having a central axis GAa, GAb and GAc, and a mounting portion 832a, 832b and 832c, respectively. The grippers are shown at the moment when the gripper 830a is just about to reach its starting position before it enters its suction mode, and the grippers 830b and 830c have reached their starting position, with gripper 830b being in its suction mode and gripper 830c in its vacuum mode.

The mounting portion 832a of the vacuum gripper 830a comprises two attachment elements 832a’, 832a" unitarily formed with respective attachment extension portions 834a’ and 834a" extending on two sides of the central axis GAa perpendicularly thereto.

Each attachment extension portion 834a’, 834a" has a proximal end 836a’, 836a" and a distal end 838a’, 838a", respectively, the distal ends being pivotable about respective pivot axles 822a and 822b.

Similarly, the mounting portion 832b of the vacuum gripper 830b comprises two attachment elements 832b’, 832b" unitarily formed with respective attachment extension portions 834b’ and 834b" extending on two sides of the central axis GAb perpendicularly 02771311\249-01 281841/3 thereto. Each attachment extension portion 834b’, 834b" has a proximal end 836b’, 836b" and a distal end 838b’, 838b", respectively, the distal ends being pivotable about respective pivot axles 822b and 822c.

Similarly, the mounting portion 832c of the vacuum gripper 830c comprises two attachment elements 832c’, 832c" unitarily formed with respective attachment extension portions 834c’ and 834c" extending on two sides of the central axis GAc perpendicularly thereto. Each attachment extension portion 834c’, 834c" has a proximal end 836c’, 836c" and a distal end 838c’, 838c", respectively, the distal ends being pivotable about respective pivot axles 822c and 822d.

The attachment elements with their attachment extension portions of the mounting portion of each of the grippers 830a, 830b and 830c constitute one of the discrete track elements 821 of the movable track 820 shown in Fig. 4A. These elements are thus designated in Fig. 4B as 821a, 821b and 821c, respectively.

As clear from Fig. 4B, the pivotal connection of the track elements 821 to the pivot axles 822 enables the grippers to take their orientation at an adjustable angle with respect to the central reference plane and/or the surface gripping face and grip plane GP. 6-10-2021 For example, during the movement of the track the track elements 821 can be moved from one side to the other side of the central referee plane, thereby being oriented parallel to the grip plane GP, at angle thereto, perpendicular thereto and so on and so forth.

Similarly to vacuum grippers described above with reference to Figs. 2A to 2C, vacuum grippers 830 can each comprise an adjusting device configured for enabling adjustment of the distance between the gripping face or gripping portion of the vacuum gripper, and the attachment extensions along the gripper central axis, and/or orientation thereof at an adjustable angle with respect thereto. Such adjustment/s can enable the caterpillar apparatus to advance over an uneven surface, such as an inclined surface and/or a surface which comprises elevations, depressions, steps or ditches.

Fig. 5 schematically illustrates a vacuum gripper unit 930, which can be used in the caterpillar assembly 800 or any other caterpillar assembly according to the presently disclosed subject matter. The vacuum gripper unit 930 differs from the vacuum grippers shown in Figs. 4A and 4B in that its attachment elements are spaced from each other in a direction perpendicular to the central axis GA of the gripper unit. 02771311\249-01 281841/3 Thus, the gripper unit 930 comprises a gripping portion 931 with a gripping face 935 oriented perpendicular to the central axis GA of the gripper and attachable, when vacuum is applied to the gripping unit, to a surface on which the caterpillar assembly is to be moved. The gripper unit 930 further comprises a mounting portion 932 disposed opposite to the gripper unit and spaced from the gripping face along the axis GA. The mounting portion 932 comprises two attachment elements 932’ and 932" unitarily formed with respective attachment extension portions 934’ and 934" extending on two sides of the central axis GA perpendicularly thereto. Each attachment extension portion 934’, 934" has a proximal end 936’, 936" and a distal end 938’, 938", respectively, the distal ends being configured for pivoting connection to a pivot axle.

The pivoting connection of the distal ends of the attachment extensions of vacuum 6-10-2021 gripper units described above with reference to Figs. 4A, 4B and 5, can be provided by any suitable means. For example, the distal ends of the attachment extension portions can be formed with through holes configured to freely receive therein the corresponding pivot axles.

Although not illustrated in Figs. 4A to 5, the attachment elements can be a part of and/or provided with an adjusting device similar to the adjusting device described hereinabove with respect to Figs. 2A, 2B and 2C. Discrete element 938a'' can be configured for adjustably attaching to discrete element 938b' of a front vacuum gripper, whereas discrete element 938b'' can be configured for adjustably attaching to discrete element 938c' of a rear vacuum gripper (similar to that illustrated in Figs. 4A and 4B with respect to discrete elements 838' and 838''). 02771311\249-01

Claims

281841/3 - 40 - CLAIMS:

1. A caterpillar assembly for moving along a surface, the assembly having a longitudinal reference plane comprising a longitudinal axis and a central reference plane perpendicular to the longitudinal reference plane and comprising the longitudinal axis and a central axis perpendicular to the longitudinal axis, the assembly having at least one surface gripping face, at least a portion of which is parallel to the central reference plane and which is configured, when in operation, to face said surface, the assembly comprising: a moving system; and a plurality of vacuum grippers each having a gripping face, the vacuum grippers being arranged so that at each moment, gripping faces of at least two vacuum grippers define said surface gripping face of the assembly and are configured for being attached to said surface when vacuum is applied to these grippers, each gripper being mounted to the moving system so as to be moved along the longitudinal reference plane; each vacuum gripper is provided with an individual vacuum pump configured for selectively creating vacuum within the gripper; and at least one of the following combinations: a) a pump manipulator configured to initiate the operation of the vacuum pump once the vacuum gripper reaches a predetermined starting position, and wherein optionally said caterpillar assembly further comprises at least one starting position indicator configured for signaling to the pump manipulator of each gripper when the gripper reaches the predetermined starting position; b) a vacuum releaser configured to release vacuum in the vacuum gripper once the vacuum gripper reaches a predetermined finishing position, and wherein optionally said caterpillar assembly further comprises at least one finishing position indicator configured for signaling to the vacuum releaser of each gripper when the gripper reaches the predetermined finishing position. 02771311\210-01 281841/3 - 41 -

2. The caterpillar assembly of Claim 1, wherein each of the vacuum grippers is configured for maintaining the vacuum after termination of operation of the vacuum pump, during the time when the gripping face of the vacuum gripper is attached to the surface, whereby the gripper is configured to have the following operational modes: a suction mode when the vacuum is created by the vacuum pump and a vacuum mode when the vacuum is maintained after the termination of operation of the vacuum pump.

3. The caterpillar assembly of any one of the preceding claims, wherein said moving system comprises a stationary track and wherein each gripper is configured for slidingly engaging the stationary track.

4. The caterpillar assembly of Claim 3, wherein said at least one starting position indicator is associated with a surface griping face of the stationary track or with another stationary element of the assembly, and optionally extends along at least a majority of the stationary track.

5. The caterpillar assembly of any one of the preceding claims, wherein said moving system comprises a movable track, wherein each gripper is configured for being fixedly connected to the movable track and wherein, optionally, the movable track is in the form of an endless movable track constituted by one of the following: (a) a continuous conveyer flexible strap; or (b) a succession of discrete elements pivotally connected to each other via pivot axles.

6. The caterpillar assembly of Claim 5, wherein said endless movable track is movable by a moving mechanism so as to move each gripper from one side to the other side of the central reference plane along the longitudinal reference plane. 02771311\210-01 281841/3 - 42 -

7. The caterpillar assembly of Claim 6, wherein said moving mechanism comprises at least one gear configured for movingly engaging the movable track so as to move the track with the vacuum grippers, and a motor configured for moving the at least one gear.

8. The caterpillar assembly of any one of the preceding claims, constituting a part of a caterpillar apparatus comprising at least two caterpillar assemblies and a plane of symmetry, optionally parallel to the longitudinal planes of the two assemblies, such that at least one caterpillar assembly is positioned on each one of the two sides of the plane of symmetry.

9. A caterpillar apparatus comprising at least two caterpillar assemblies, each as defined in any one of Claims 1 to 8.

10. The caterpillar apparatus of Claim 9, wherein the caterpillar assemblies comprise an equal number of the vacuum grippers which are arranged such that at each moment the gripping faces of the same number of grippers of the two assemblies define said surface gripping faces of the two assemblies, and constitute a surface gripping face of the apparatus.

11. The caterpillar apparatus of Claim 10, wherein the apparatus comprises a base to which the moving system is securely mounted, at least a part of the moving system being rigid to form a structural support for the vacuum grippers.

12. The caterpillar assembly of any one of Claims 1 to 8 or the caterpillar apparatus of any one of Claims 9 to 11, wherein each vacuum gripper is provided with a mounting portion by which the gripper is mounted to the moving system and an adjusting device which is configured for enabling adjustment of the distance between the vacuum gripper and the moving system. 02771311\210-01 281841/3 - 43 -

13. The caterpillar assembly or apparatus of Claim 12 wherein said adjusting device or a pivotal connection via pivot axles is configured for orienting the vacuum gripper at an adjustable angle with respect to the central reference plane.

14. The caterpillar assembly of any one of Claims 1 to 8, 12 or 13, or the caterpillar apparatus of any one of Claims 9 to 13, wherein said individual vacuum pump is two or more individual vacuum pumps configured for selectively creating vacuum within the gripper.

15. The caterpillar assembly of any one of Claims 1 to 8 or 12 to 14, or the caterpillar apparatus of any one of Claims 9 to 14, further comprising a controller configured to at least indirectly control the movement of each one of the vacuum grippers.

16. The caterpillar assembly of any one of Claims 1 to 8 or 12 to 15, or the caterpillar apparatus of any one of Claims 9 to 15, further comprising a controller configured to control the movement of the moving system.

17. The caterpillar assembly of any one of Claims 2 to 8 or 12 to 16, or the caterpillar apparatus of any one of Claims 9 to 16, all when dependent on Claim 2, wherein each vacuum gripper further comprises at least one sensor configured to provide indication of at least the operational mode of the vacuum gripper and, optionally, its malfunction.

18. The caterpillar apparatus of any one of Claims 9 to 17 when dependent on Claim 8, further comprising a pivoting assembly comprising at least one vacuum gripper, and configured to secure the caterpillar apparatus to the surface and pivot the caterpillar apparatus along a central plane of the apparatus perpendicular to the plane of symmetry, at least when the moving system are inoperative.

19. The caterpillar apparatus of Claim 18 when dependent on Claim 15 or 16, wherein said controller is further configured to control the securement and releasement of 02771311\210-01 281841/3 - 44 - the caterpillar apparatus to and from said surface via the at least one vacuum gripper of the pivoting assembly.

20. The caterpillar apparatus of Claim 18 or 19 when dependent on Claim 15 or 16, wherein said controller is further configured to control the pivoting of the caterpillar apparatus via said pivoting assembly.

21. A caterpillar assembly for moving along a surface, the assembly having a longitudinal reference plane comprising a longitudinal axis and a central reference plane perpendicular to the longitudinal reference plane and comprising the longitudinal axis and a central axis perpendicular to the longitudinal axis, the assembly having at least one surface gripping face, at least a portion of which is parallel to the central reference plane and which is configured, when in operation, to face said surface, the assembly comprising: a moving system; and a plurality of vacuum grippers each having a gripping face, the vacuum grippers being arranged so that at each moment, gripping faces of at least two vacuum grippers define said surface gripping face of the assembly and are configured for being attached to said surface when vacuum is applied to these grippers, each gripper being mounted to the moving system so as to be moved along the longitudinal reference plane, optionally from one side to the other side of the central reference plane; each vacuum gripper is provided with at least one individual vacuum pump configured for selectively creating vacuum within the gripper.

22. The caterpillar assembly of Claim 21, further comprising a vacuum system configured for selectively applying vacuum to the vacuum grippers so that, at each time, vacuum is simultaneously maintained within each of the at least two vacuum grippers whose gripping faces define the surface gripping face. 02771311\210-01 281841/3 - 45 -

23. The caterpillar assembly of Claims 21 or 22, wherein said moving system comprises a movable track, wherein each gripper is configured for being fixedly connected to the movable track and wherein, optionally, the movable track is in the form of an endless movable track constituted by one of the following: (a) a continuous conveyer flexible strap; or (b) a succession of discrete elements pivotally connected to each other via pivot axles.

24. The caterpillar assembly of Claim 23, wherein said endless movable track is movable by a moving mechanism so as to move each gripper along the longitudinal reference plane.

25. The caterpillar assembly of Claim 24, wherein said endless movable track is movable by a moving mechanism so as to bring each gripper from one side to the other side of the central reference plane along the longitudinal reference plane

26. The caterpillar assembly of Claim 24 or 25, wherein said moving mechanism comprises at least one gear configured for movingly engaging the movable track so as to move the track with the vacuum grippers, and a motor configured for moving the at least one gear.

27. The caterpillar assembly of any one of Claims 21 to 26, wherein said moving system comprises a stationary track and wherein each gripper is configured for slidingly engaging the stationary track.

28. The caterpillar assembly of any one of Claims 21 to 27, wherein the gripper is configured for maintaining the vacuum after termination of operation of the vacuum pump, during the time when the gripping face of the vacuum gripper needs to be attached to the surface, whereby the gripper is configured to have at least the following operational modes: a suction mode when the vacuum is created by the vacuum pump, and a vacuum mode when the vacuum is maintained after the termination of operation of the vacuum pump. 02771311\210-01 281841/3 - 46 -

29. The caterpillar assembly of any one of Claims 21 to 28, wherein each vacuum gripper comprises a pump manipulator configured to initiate the operation of the pump once the vacuum gripper reaches a predetermined starting position, and wherein optionally said caterpillar assembly further comprises at least one starting position indicator configured for signaling to the pump manipulator of each gripper when the gripper reaches the predetermined starting position.

30. The caterpillar assembly of Claim 29 when dependent on Claim 27, wherein said at least one starting position indicator is associated with a surface griping face of the stationary track or with another stationary element of the assembly, and optionally positioned along the stationary track.

31. The caterpillar assembly of Claim 28, 29 or 30 when dependent on Claim 28, wherein each vacuum gripper comprises a vacuum releaser configured to release the vacuum maintained in the gripper once the vacuum gripper reaches a predetermined finishing position, and wherein optionally said caterpillar assembly further comprises at least one finishing position indicator configured for signaling to the vacuum releaser of each gripper when the gripper reaches the predetermined finishing position.

32. The caterpillar assembly of any one of Claims 21 to 31, constituting a part of a caterpillar apparatus comprising at least two caterpillar assemblies and a plane of symmetry, optionally parallel to the longitudinal planes of the two assemblies, such that at least one caterpillar assembly is positioned on each one of the two sides of the plane of symmetry.

33. The caterpillar assembly of Claim 32, wherein the caterpillar assemblies in said apparatus comprise an equal number of the vacuum grippers which are arranged such that at each moment the gripping faces of the same number of grippers of the two assemblies define said surface gripping faces of the assemblies. 02771311\210-01 281841/3 - 47 -

34. The caterpillar assembly of any one of Claims 27 to 33 when dependent on Claim 27, further comprising a base to which the stationary track is securely mounted, the track being rigid to form a structural support for the vacuum grippers.

35. The caterpillar assembly of any one of 27 to 34 when dependent on Claim 27, wherein each vacuum gripper is provided with a mounting portion by which the gripper is mounted to the stationary track and an adjusting device which is configured for enabling adjustment of the distance between the vacuum gripper and the stationary track.

36. The caterpillar assembly of Claim 35, wherein said adjusting device or a pivotal connection via pivot axles is configured for orienting the vacuum gripper at an adjustable angle with respect to the central reference plane.

37. The caterpillar assembly of any one of Claims 28 to 36 when dependent on Claim 28, wherein each vacuum gripper further comprises at least one sensor configured to provide indication of at least the operational mode of the vacuum gripper and, optionally, its malfunction.

38. A caterpillar apparatus comprising at least two caterpillar assemblies, each as defined in any one of Claims 21 to 37.

39. The caterpillar assembly of any one of Claims 21 to 37 or the caterpillar apparatus of Claim 38, further comprising a controller configured at least to control the movement of the movable tracks of the caterpillar assemblies.

40. The caterpillar assembly of any one of Claims 32 to 37 or the caterpillar apparatus of Claim 38 or 39 when dependent on Claim 32, further comprising a pivoting assembly comprising at least one vacuum gripper, and configured to secure the caterpillar apparatus to the surface and pivot the caterpillar apparatus along a central plane of the apparatus perpendicular to the plane of symmetry, at least when the movable tracks are inoperative. 02771311\210-01 281841/3 - 48 -

41. The caterpillar apparatus of Claim 40 when dependent on Claim 39, wherein said controller is further configured to control the securement and releasement of the caterpillar apparatus to and from the surface via the at least one vacuum gripper of the pivoting assembly.

42. The caterpillar apparatus of Claim 40 or 41 when dependent on Claim 39, wherein said controller is further configured to control the pivoting of the caterpillar apparatus via said pivoting assembly.

43. A vacuum gripper unit for use in a movable assembly having a moving system, for gripping attachment of the assembly to a surface, the vacuum gripper comprising: a gripping portion with a gripping face configured to be attached to the surface when vacuum is applied thereto, and a mounting portion opposite to the gripping portion; the mounting portion configured for being mounted to the moving system via at least one attachment element; said vacuum gripper is provided with at least one individual vacuum pump configured for selectively creating vacuum within the gripper.

44. A vacuum gripper unit for use in a caterpillar assembly, optionally, as defined in any one of claims, the assembly comprising a plurality of vacuum grippers for gripping attachment of the assembly to a surface and a moving system for moving the grippers to successively bring them into contact with said surface, the moving system comprising an endless movable track constituted by a plurality of discrete track elements, each associated with a vacuum gripper unit, and a plurality of pivot axles via which the track elements are pivotally connected to each other, the vacuum gripper unit having a central axis and comprising: a gripping portion with a gripping face oriented perpendicular to the central axis of the gripper and attachable to said surface when vacuum is applied to the gripping face; 02771311\210-01 281841/3 - 49 - a mounting portion spaced from the gripping face along the central axis of the gripper and comprising an attachment extension oriented transversely to the central axis and having two attachment ends on two sides of the central axis, the attachment ends being each pivotally connectable to a pivot axle, enabling the attachment extension to constitute the discrete track element of the movable track when the caterpillar assembly is assembled; and an individual vacuum pump configured for selectively creating vacuum within the gripper. wherein, optionally, the attachment extension has two attachment extension portions extending in opposite directions from the central axis of the gripper, each having a proximal end adjacent the central axis and a distal end spaced from the central axis and pivotally connectable to a pivot axle

45. The vacuum gripper unit of Claim 44 , wherein the mounting portion comprises at least one attachment element extending between the gripping portion and the attachment extension.

46. The vacuum gripper unit of any one of Claims 43 to 45, wherein said moving system comprises a stationary track and the mounting portion is configured for slidingly engaging the stationary track.

47. The vacuum gripper unit of any one of Claims 43 to 46, wherein said moving system comprises a movable track, and the at least one attachment element is configured for being fixedly connected to the movable track; and wherein optionally, the movable track is in the form of an endless movable track constituted by one of the following: (a) a continuous conveyer flexible strap; or (b) a plurality of discrete track elements pivotally connected to each other via pivot axles.

48. The vacuum gripper unit of any one of Claims 1 to 47, constituting a part of the caterpillar assembly or apparatus of any one of Claims 1 to 42. 02771311\210-01 281841/3 - 50 - 02771311\210-01