NO342687B1 - MACHINE FOR MOVING ALONG A AREA - Google Patents

Abstract

A climbing machine (200) comprising a housing (210), a bust (213) comprising a plurality of elongate, elastic members, an actuator (211) arranged to: (i) create a vibrating motion in the longitudinal axis (212) of the climbing machine (200); or (ii) creating a cyclic relative motion between a first portion (210a) of the housing (210) and a second portion (210b) of the housing, the first and second portions (210a, 210b) being movable relative to each other in the longitudinal axis (212) of the climber (200), and a portion of the bush (211) is disposed on the first portion (210a) and a portion of the bush (211) is arranged on the second portion (210b).

Description

MACHINE FOR MOVEMENT ALONG A SURFACE

The present invention relates to a machine which is arranged for movement along a surface. In examples of embodiments of the invention, the machine is arranged as a pipe climbing machine, a sweeping machine, or a machine that can move along horizontal, vertical and/or inclined surfaces.

BACKGROUND

In many industrial applications, there is a need for machines that move along surfaces, for example along horizontal, vertical or inclined surfaces. Such machines may be intended to perform operations, such as inspection or repair, or the machine may be arranged to carry items or equipment. For example, in chimneys and pipes it is customary to carry out regular sweeping, i.e. the removal of soot and deposits along the pipe run. Such sweeping can be labour-intensive and entail safety risks, for example when working at height. For other purposes, there is often a need for inspection, repairs and the like in, for example, pipes and shafts that are difficult for operators to access.

There is therefore a continuous need for better solutions and methods for such operations. Known solutions that aim to remedy this or other problems include WO 2013/079695 A1, WO 03/078887 A1, US 3946459 A, JP11344214A, CN2052553671U, CN2051111111, CN2015111, CN20512111112151215121515151515151515111.11.

The present invention aims to provide a sweeping machine which exhibits advantages over known solutions.

SUMMARY

In one embodiment, there is provided a machine comprising a housing, a bristle attached to the housing, comprising a plurality of elongate elastic elements, an actuator arranged to create a cyclic relative movement between a first portion of the housing and a second portion of the housing, where the first and second parts are movable in relation to each other in the longitudinal axis of the machine, and part of the bristle is arranged on the first part and part of the bristle is arranged on the second part.

In one embodiment, a method for sweeping a pipe is provided, comprising placing a sweeper in a container unit, introducing the container unit into the pipe through an opening in the pipe, driving the sweeper out of the room and along the pipe.

The attached dependent claims and the detailed description below describe further embodiments.

BRIEF DESCRIPTION OF THE DRAWINGS

Examples of embodiments according to the invention will now be described with reference to the attached drawings, where

Figure 1a shows a sweeping machine according to one embodiment,

Figure 1b shows a sweeping machine according to an embodiment,

Figure 2 shows a sweeping machine according to one embodiment,

Figure 3 shows details of the sweeper shown in Fig.2,

Figure 4 shows details of an embodiment,

Figure 5 shows details of an embodiment,

Figure 6 shows details of the sweeping machine shown in Fig.2, and

Figure 7 shows the sweeper shown in Fig.2 in use.

Figure 8 illustrates an aspect of the sweeper shown in Fig.2 in use.

Figure 9 illustrates an aspect of the sweeper shown in Fig.2 in use.

Figures 10-16 illustrate further embodiments.

DETAILED DESCRIPTION

Figures 1a, 1b and 2 show different designs of a sweeping machine according to the invention. The sweeper is arranged for use in a pipe 90 and comprises a housing 10 and three drive units 20a-c. (For the sake of clarity, only two drive units are shown in Figures 1b and 2.) Each drive unit 20a-c is attached to the housing 10 via a movable arm 21a-c, for example a strut mechanism. An elastic element, in this embodiment a spring 30, 30a,b, is arranged to push the drive units 20a-c apart and towards the inner wall of the pipe 90. In the embodiments in figures 1a and 1b, the spring acts in the longitudinal direction of the sweeper (i.e. .the direction corresponding to the pipe's longitudinal direction when the sweeper is in use) and an outward force is generated through a strut mechanism. In the embodiment in Figure 2, a spring acts on each arm 21a-c and is directed outwards in a direction transverse to the sweeper's longitudinal direction.

A brush 40, driven by an electric motor 50, is arranged in connection with the housing 10. The brush 40 can be soft and flexible, and comprise a number of flexible and elongated brush wires attached to a brush shaft 41. This allows the brush 40 to adapt to the pipe run 90 using centrifugal force. Figure 1a shows the brush in an operational position (ie rotating, where the centrifugal force brings the brush 40 into contact with the barrel 90) and Figure 1b shows the brush 40 in a non-operational position. Alternative versions of the brush are also possible.

The housing 10 comprises a battery 60 for operation of the electric motor 50. The battery 60 can be arranged inside the housing 10. This means that the battery 60 is well protected against contamination and external stresses. Alternatively, the battery 60 can be attached to the housing 10, or another part of the sweeper, externally. This may enable rapid exchange of the battery 60.

The sweeping machine according to one of the designs shown in Figure 1a, 1b or 2 can thereby be driven along the pipe run 90 using the drive units 20a-c at the same time as the brush 40 is driven, and the sweeping machine can thereby sweep / clean the pipe run.

The drive units 20a-c can be round, oval or oblong. In the embodiment shown in Figure 1a, the drive units 20a-c are oval with a belt (not shown) arranged around the outer periphery of each drive unit 20a-c. In the embodiment shown in Figure 1b, the drive units 29a-c are wheels. In the embodiment shown in Figure 2, the drive units 20a-c are oblong units. Figure 6 shows one of the drive units 20b from Figure 2 in more detail. A belt 28 is arranged along the outer periphery of the drive unit 20b. The outer surface of the drive units, i.e. the surface that interacts with the inner wall of the pipe 90, can be straight or curved. By arranging the drive units with a curved surface in the cross-sectional plane of the pipe barrel 90, the propulsion properties of the unit in a round pipe barrel are improved, as the curved surface cooperates with the curved inner surface of the pipe pipe 90.

The electric motor 50 may be arranged to drive the drive units 20a-c, in addition to driving the brush 40. This may, for example, be done with a belt or chain transmission through the arms 21a-c and to the drive units 20a-c. Alternatively, the drive units 20a-c can be equipped with their own drive motors. This is illustrated in figure 6, where the drive unit 20b has an internal drive motor 22 with a control unit 23. Energy for operation of the drive motor 22 can be provided from the battery 60 via electrical cables, for example through the arm 21b. The other drive units 20a and 20c can be arranged accordingly.

The battery 60 can advantageously be arranged so that, in an operational position of the sweeper in the pipe 90, the battery 60's center of gravity is lower than the coupling 24 between each drive unit 20a-c and the respective movable arm 21a-c. This improves the sweeper's progress and stability during operation.

The sweeper can further comprise a camera 80 and/or a lamp 81 attached to the housing 10 or at another location on the sweeper. This can facilitate remote control of the sweeper, in that an image or video signal can be sent to an operator.

The brush 40 can be configured with different directions of rotation. The brush shaft 41 can be arranged so that in an operational position of the sweeper in the pipe 90 it runs parallel to the longitudinal direction of the pipe 90, as shown in Figures 1a and 1b. Alternatively, the brush shaft 41 can run perpendicular to the longitudinal direction of the pipe 90. This is illustrated in Figure 4, where two brushes are used to improve the effect in a rectangular pipe run 90.

The brush 40 can be arranged above or below the drive units 20a-c. Figures 1a and 1b illustrate an embodiment where the brush 40 is arranged above the drive units 20a-c, while Figure 2 illustrates an embodiment where the brush 40 is arranged below the drive units 20a-c. (The brush 40 is only illustrated schematically in figure 2, but can have the same design as the brush shown in figures 1a and 1b, as the one shown in figure 4, or a different design.)

The brush 40 is advantageously releasably attached to the housing 10, for example with a quick coupling. This makes it possible to quickly change the brush, for example to adapt the sweeper for the best possible effect in pipes of different sizes, or to sequentially use different brush types in the sweeping of a pipe run.

In one embodiment, illustrated in Figures 2 and 3, the sweeper has a fastening unit 11 connected to the housing 10, where each movable arm 21a-c is releasably attached to the fastening unit 11. The fastening unit 11 can, for example, be designed as a plate or disk with grooves for attachment of each arm 21a-c, and for this purpose can have a quick coupling to attach the arms, as well as a connector for connecting energy supply to a possible drive motor 22 (see fig.6) in each drive unit 20a-c. In the case of electric propulsion, this can be an electrical contact.

In one embodiment, the attachment unit 11 has four attachments 12a,b,d,f (see fig.3) and each attachment 12a,b,d,f is arranged for attaching a movable arm 21a-d. The four fasteners 12a,b,d,f are arranged at 90 degree intervals around the fastening unit 11, for example around an outer periphery of a disk that makes up the fastening unit 11.

Alternatively, or in addition, the attachment unit 11 can have three attachments 12a,c,e arranged for attaching a movable arm 21a-d, where the three attachments 12a,c,e are arranged at 120 degree intervals around the attachment unit 11.

This enables the sweeper to be configured for varying pipe runs, for example by different arms being used for pipe runs of different sizes. Furthermore, this enables adaptation of the sweeper for use both in round and square or rectangular pipe runs, for example three drive units may be sufficient in round pipe runs, while four may be necessary in rectangular pipe runs.

In one embodiment, illustrated in Figure 5, the sweeper is arranged in a rectangular pipe run 90. In this embodiment, the sweeper has four drive units 20a-d and four movable arms 21a-d, and the four movable arms 21a-d have pairs of different lengths. This improves the sweeper's effectiveness and operation in rectangular pipe runs.

Figure 7 illustrates a sweeper in use in a pipe run 90. The sweeper can be introduced into the pipe 90 by pressing the drive units 20a-d together and leading the sweeper into the pipe 90 through a sweep hatch 91. By having movable, spring-loaded arms 21a-d can the sweeper is thereby guided into the pipe run 90 from below, and also through a sweeping hatch 91 in the lower part of the pipe run 90, which has an opening with an area smaller than the cross-sectional area of the pipe 90.

When the sweeper is introduced and positioned in the pipe barrel 90, each drive unit 20ad will be pressed against the inner surface of the pipe pipe 90 by means of the respective elastic element 30, i.e. the spring. The sweeper can then be driven along the pipe 90 using the drive units 20a-d at the same time as the brush 40 is driven by the electric motor 50.

The sweeper can further comprise an electronic control unit 82 arranged to control the drive units 20a-d and the electric motor 50. The control unit 82 can be connected to an external control unit (not shown), for example via a wireless data connection. This enables control of the sweeper by an external operator. Alternatively, or in addition, the control unit 82 may be arranged to receive a signal via a user panel 83 and to start the drive units 20a-d and the electric motor 50 a predetermined period of time after receiving the signal. This enables the sweeper to be inserted into a pipe run 90 with a time delay before the sweeper starts, for example to close the sweeper hatch 91 or other openings.

The sweeper can be actively controlled by an operator, for example based on signals from the camera 80. The control unit 82 can for this purpose be arranged to send an image signal from the camera 80 to the external control unit.

The image signal can thus assist the operator in the operation of the sweeper and/or be used for inspection of the pipe run. Alternatively, the sweeper through the control unit 82 can be configured to move a predetermined length up the pipe barrel 90, and then turn. Alternatively, the sweeper may be configured to move up the pipe barrel 90 until it encounters resistance, for example from a pipe cap, and then reverse.

The control unit 82 can further comprise an automatic stabilization device, such as a mercury switch, to straighten the sweeper if it is crooked in the pipe. This can be done by the control unit 82 being arranged to stop/start the relevant drive unit 20a-d which is necessary to straighten the machine.

Figure 8 shows a further possible embodiment of the sweeper shown in Figure 2, where each drive unit 20a-d is rotatably attached to the movable arm 21a-d via a respective coupling 24a,b. This enables the drive unit 20a-d to freely rotate around the coupling 24b. This rotation can be unlimited or only allowed within a limited angular space, for example ±30 degrees from the drive unit's normal position. This gives the advantage that irregularities in the pipe run 90 can be handled by the machine, for example a side run pipe 92 that extends some distance into the pipe run 90. Figure 8 illustrates how a drive unit 20b in such a case can rotate around the coupling 24b to better get past the side run pipe 92.

The size/length of the drive units 20a-d is advantageously arranged so that these can pass through any side run pipes without falling into them or getting stuck.

Figure 9 illustrates an embodiment of a sweeping machine in use in a pipe run 90. In this embodiment, a collecting funnel 93 is arranged in the lower part of the pipe pipe 90, below the sweeping machine 100. A pipe 94 can be used in connection with the collecting funnel 93, where the pipe 94 leads out of the pipe run 90 and to a collection container 95 outside the pipe run 90. The collection funnel 93 and parts of the pipe 94 can be introduced into the pipe run 90 through the sweep hatch 91 after the sweeper has been brought into the pipe run 90, and the pipe 94 led out of the sweep hatch 91 during use. Thus, removed soot etc. can be collected and disposed of properly.

In further embodiments, illustrated in figures 10-15, a machine is provided for movement along a surface. In the embodiments in Figures 10-15, the machine is illustrated as a pipe climbing machine 200 and/or a sweeping machine 201, but it should be understood that the machine according to the invention is not limited to these embodiments and can also be a machine, for example, for use in another type of constriction, shaft, or similar, and/or for use on horizontal or inclined open surfaces.

Figures 10-14 show a tube climbing machine 200 comprising a housing 210 and a brush 213 comprising a plurality of elongated, elastic elements attached to the housing 210. The elongated elements can be, for example, spring steel or plastic. These are attached to the housing 210 at an outward angle in relation to the tube climbing machine's longitudinal axis 212. The angle can be 90 degrees, but it can also be another angle, for example the elements can be slightly inclined in their attachment to the housing 210. The elements can be straight , or initially bent. For example, bent elements can be an advantage for use in horizontal pipes, or (where the machine is not a pipe climbing machine) for use on horizontal or slightly inclined surfaces.

An actuator 211 is arranged in the housing 210. In the embodiments illustrated in Figures 10-12 and 14, the actuator is arranged to create a cyclic (repetitive, at least partially linear) relative movement between a first part 210a of the housing 210 and a second part 210b of the housing 210. The first and second parts 210a, 210b are relatively movable in relation to each other in the longitudinal direction / longitudinal axis 212 of the pipe climbing machine 200, and part of the brush 211 is arranged on the first part 210a and part of the brush 211 is arranged on the second part 210b.

The pipe climbing machine 200 can be a sweeping machine, but the pipe climbing machine 200 can also be a machine that carries equipment for other purposes, such as pipe inspection, installation of equipment in pipes (for example measuring equipment), repairs, and the like.

Figure 10 shows an embodiment where the first part 210a and the second part 210b are arranged side by side along an axis that is perpendicular to the longitudinal axis 212 of the pipe climbing machine 200. When the pipe climbing machine 200 is installed in the pipe 90, the elastic (flexible) elements in the brush 213 bent slightly backwards (relative to the tube climbing machine's longitudinal direction) and the end of the elements are in tension against the tube wall, for example as a result of the larger diameter of the brush than the inner diameter of the tube, or because the brush 213 initially has an angle. For example, these can have an angle to the pipe wall that is between 15 and 60 degrees, but other angles are also possible.

In the case of a cyclical, back-and-forth movement between the first and second parts 210a,b, the brush 213 will now be able to resist a greater downward force than the resistance force to "pull" the brush 213 upwards along the pipe 90. This is because the friction from the ends of the elastic elements will be higher in the downward direction due to their angle to the pipe wall, which creates a higher resistance/friction. A cyclic movement between the first and second parts 210a,b will therefore allow the pipe climbing machine 200 to "climb" in the pipe 90.

The pipe climbing machine 200 may be a sweeping machine and comprise one or more of the individual elements described in connection with the embodiments above, for example the brush 40, camera 80, control system 82, battery 60, etc. These will not be described again here, but it shall it is understood that all combinations of individual components and elements are possible and assumed. The brush 40 can, for example, be arranged at the bottom or top of the housing 10, as shown in Figures 1a, 1b and 2.

Figures 11A and 11B show another embodiment similar to the embodiment shown in Figure 10. The first and second parts 210a,b can be distributed along the circumference of the tube climbing machine 200, for example the first part 210a can be arranged on two opposite sides and the second part 210b be arranged on two opposite sides. Arranging the bristles 213 on such "sectors" around the circumference of the machine provides more stability and reduces oscillation of the pipe climbing machine 200 during its movement.

Figure 12 shows another embodiment where the first and second parts 210a,b are arranged with a distance between each other in the longitudinal direction of the pipe climbing machine 200. The actuator 211 is here arranged between the first and second parts 210a,b. This design can provide better stability in certain areas of use through a greater distance between the bristles 213 on each of the first and second parts 210a,b, which i.a. provides more stability against lateral forces that may act on the pipe climbing machine 200. Furthermore, the brush 213 can be arranged on removable elements that can be replaced, for example with a quick coupling. This means that different types of bristles 213 can be used in different pipe runs or for different purposes, for example with a length and/or stiffness of the elastic elements according to a given need.

The actuator 211 may be, for example, a solenoid, a linear electric motor, or another type of actuator capable of providing relative movement between the first and second parts 210a,b.

Figures 13A and 13B show a further embodiment. In this embodiment, the housing 10 comprises a vibration mechanism which provides a vibrating movement of the housing 10 in the longitudinal direction of the tube climbing machine. This causes individual elastic elements in the bristle 213 to "release" and move a short distance upwards along the wall, and a "creeping" movement of the pipe climbing machine 200 upwards in the pipe is achieved. The vibration mechanism can, for example, be an eccentric weight arranged on a motor shaft which is driven by the battery 60 or the power supply from the outside. The axial vibration force can be arranged to be greater than the sum of the force of friction and mass inertia of the machine also uphill, but at the same time less than the friction backwards/downwards against the wall in the pipe/substrate. Thus, a forward movement can be generated by the vibration mechanism. In this embodiment, the machines can be arranged so that the bristle 213 can be replaced with the configuration that may be suitable for a given purpose (for example the angle of the substrate). For example, the brush 213 may be attached to the machine with a quick coupling or a single detachable screw connection for this purpose. Other devices for replacing the bristle 213 can also be used.

Figure 14 illustrates another embodiment similar to that shown in Figure 12.

Figure 15 shows a further embodiment, where the pipe climbing machine 200 is a sweeping machine 201 and a brush 40 is arranged between the first and second parts 210a,b of the housing 210. In this embodiment, the actuator 211 is arranged with a part in the first part 210a and a part in the second part 210b.

The embodiment shown in Figure 15 also includes a line 215 attached to the rear end 216 of the tube climbing machine 200. Such a line can be used in conjunction with any of the other embodiments described above as well. With the line 216, an operator can pull the pipe climbing machine 200 backwards (and out of) a pipe pipe 90 if necessary. Furthermore, the line 216 makes it possible to reverse the direction of movement of the pipe climbing machine 200. By pulling the pipe climbing machine 200 a bit backwards with the line 216, the elastic elements in the bristle 213 will change angle, so that a relative movement between the first and second housing 210a,b will cause a movement in the opposite direction, but otherwise similar to that described above. This enables, for example, the pipe climbing machine 200 to work its way up to one end of a pipe 90, after which an operator via the line 215 reverses the direction of movement and the pipe climbing machine works its way back. The pipe climbing machine 200 can, for example, be active and sweep the pipe 90, or perform other operations, both ways.

With a pipe climbing machine 200 according to one of the embodiments above, a reliable system is thus achieved that is not very sensitive to the design of the pipe, for example deposits of soot in the pipe 90, side runs extending from the pipe 90 (see figure 8), or the like. The brush 213 can also, for example, be arranged on a replaceable element, so that different brushes 213 (with different lengths of the elastic elements) can be used according to need. By using a high number of elastic elements, a good attachment along the walls of the pipe 90 is achieved, with less risk of the pipe climbing machine 200 getting stuck, and enables the pipe climbing machine 200 to carry a higher load, for example heavier sweeping equipment or other equipment, or the weight of supply cables in long/high pipe runs.

In one embodiment, illustrated in Figure 16, a container unit 101, so-called garage unit, is provided for a sweeper 100,201. The sweeping machine 100, 201 which can be used together with the garage unit 101 can be any of the designs described above. The garage unit 101 comprises a room / a garage 102 for the sweeper 100, 201. In use, the sweeper 100, 201 can be placed in the garage 102, as shown on the right side in Figure 10, and the garage unit 101 is introduced through the opening 91 in the pipe 90. The garage unit 101 is then placed in the pipe 90, as shown on the left side in Figure 10. The garage 102 has an opening through which the sweeper 100,201 can move out, so that when the garage unit 101 is placed in the pipe 90 the sweeper 100,201 can start moving along the pipe 90, which illustrated in the upper part of figure 10, on the left side.

In one embodiment, the garage 102 can form a collection container at the bottom of the pipe 90, so that it collects waste, such as ash and soot, which the sweeper 100,201 removes from the pipe 90. A pipe 94 can be arranged in connection with the garage 102 to carry the waste out of the pipe 90, through the opening 91. In one embodiment, a sealing element 103 can be arranged between the pipe 94 and the opening 91.

With the help of the container unit 101, cleaner handling of the equipment is therefore made possible, as well as more reliable and easier operation of the sweeping machine 100,201, as well as avoiding soot entering the room outside the pipe.

When using embodiments of the invention, a number of advantages can thus be achieved, including increased safety when sweeping, improved efficiency, and reduced fire risk in that a machine and/or a method according to the invention can provide higher sweeping quality and can be used more often without unreasonable costs. The different aspects for the various design examples described above can be freely combined for a given need, so that a sweeping machine adapted to a specified pipe run or a specified need can be provided.

The invention is not limited to the embodiments described herein; reference is made to the attached requirements.

Claims (13)

CLAIM 1. Machine (100,200,201) comprehensive a house (210) a bristle (213) attached to the housing (210), where the bristle (213) comprises a plurality of elongated, elastic elements, characterized by an actuator (211) arranged to: create a cyclic relative movement between a first part (210a) of the housing (210) and a second part (210b) of the housing, the first and second parts (210a, 210b) being movable in relation to each other in the machine's longitudinal axis (212), and part of the bristle (211) is arranged on the first part (210a) and part of the bristle (211) is arranged on the second part (210b). 2. Machine according to the preceding claim, where the first and second parts (210a,b) are arranged: - side by side along an axis that is perpendicular to the longitudinal axis of the machine (212), or - with a distance between each other along an axis parallel to the longitudinal axis of the machine (212). 3. Machine according to the preceding claim, comprising a brush (40) driven by an electric motor (50). 4. Machine according to the preceding claim, where the brush (40) is arranged between the first (210a) and the second (210b) part in the longitudinal axis (212) of the machine. 5. Machine according to one of the two preceding claims, where the brush (40) comprises a plurality of flexible and elongated brush wires attached to a brush shaft (41), and where the brush shaft (41): runs parallel to the machine's longitudinal direction (212), or runs perpendicular to the machine's longitudinal direction (212). 6. Machine according to one of the preceding claims, comprising an electronic control unit (82) arranged to control the actuator (211). 7. Machine according to one of the preceding claims, comprising a line (215) attached to a rear end (216) of the machine and arranged to pull the machine backwards in a pipe (90). 8. Machine according to one of the preceding claims, where the brush (213) is attached to the housing (210) with a detachable coupling and arranged for removal by an operator. 9. Machine according to one of the preceding claims, where the brush (213) is arranged in several sectors around a circumference of the machine, where the sectors can be mutually displaced in relation to each other in a direction parallel to the machine's longitudinal axis (212). 10. Machine according to one of the preceding claims, where the machine is a pipe climbing machine (200) or a sweeping machine (100,201). 11. Method for sweeping a pipe tube (90), comprising placing a sweeper (100,201) in a compartment (102) in a container unit (101), to introduce the container unit (101) into the pipe (90) through an opening (91) in the pipe (90), to drive the sweeper out of the room (102) and along the pipe (90). 12. Method according to the preceding claim, comprehensive to collect waste from the pipe (90) in the room (102) and lead the waste out of the pipe (90) through a pipe (94) connected to the room (102). 13. Method according to the preceding claim, comprising arranging a sealing element (103) between the pipe (94) and the opening (91).