US20080188982A1 - Vacuum Traction Device System and Method of Use - Google Patents
Vacuum Traction Device System and Method of Use Download PDFInfo
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- US20080188982A1 US20080188982A1 US12/062,682 US6268208A US2008188982A1 US 20080188982 A1 US20080188982 A1 US 20080188982A1 US 6268208 A US6268208 A US 6268208A US 2008188982 A1 US2008188982 A1 US 2008188982A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
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Abstract
A system is described for performing work or maintenance on a structure having an inclined working surface that includes a support robot for positioning at a high point on the structure and a payload robot attached to the support robot by an umbilical or tension cord for maneuvering along the working surface. The support robot and payload robot include traction devices having a continuous traction belt provided on a pair of opposing rollers. The traction belt includes openings such that a vacuum may be applied through the traction belt causing the traction device to cling to a working surface. A method for using the support robot and payload robot to perform work or maintenance on an inclined surface of a structure is also disclosed.
Description
- This application is a divisional application of U.S. application Ser. No. 11/331,884, filed Jan. 13, 2006, entitled VACUUM TRACTION DEVICE, the contents of which are hereby incorporated in their entirety by reference.
- This invention relates to traction devices for adhering and moving tools across vertical, inverted, inclined, curved, compound, and tapered surfaces.
- It is often desirable to hold a tool in close proximity to a vertical, inverted, inclined surface, curved, compound, or tapered surface and to move the tool to various locations on the surface. Some common scenarios include inspecting, cleaning, depainting, or otherwise maintaining the surfaces of airplanes, submarines, storage tanks, high rise buildings, and other similar structures. These surfaces can be inconvenient, difficult or even dangerous, for people to access directly. The difficulty can be increased when these surfaces are curved, compound, or tapered. Accordingly, it has been known to use an apparatus capable of traversing such surfaces and for supporting tools to work on the surfaces. For example, Jeswine, U.S. Pat. No. 6,742,617, discloses a surface clinging unit that includes a plurality of adherence members, in the form of suction cups that are used to adhere to a surface and a safety tether between two robots.
- Therefore there is a need for an improved traction device, and especially for a vehicle or robot that utilizes such an improved traction device to cling to and move around on vertical, inverted, or inclined surfaces, and especially on surfaces that are curved, compound, or tapered.
- According to one embodiment the present invention is a traction device including a continuous traction belt mounted on a pair of opposing rollers. The belt forms a continuous loop around the rollers such that a traction portion is formed by one span of the continuous belt between the rollers. A manifold is mounted in close proximity to an inner surface of the traction portion, and a vacuum source is connected to the manifold for supplying vacuum to the inner surface of the traction portion. The traction belt is provided with apertures extending through the belt from the inner surface to the traction surface. The frame may include a tensioning member to adjust the distance between the rollers and thereby adjust the tension in the belt. A motor may be provided to drive one or both of the rollers, and thereby drive the belt. A mechanism may be provided to selectively supply positive pressure through the manifold. One or more of such traction devices may be coupled with a support on which a tool may be mounted.
- According to another embodiment the present invention is a multiple robot system for performing work on compound curved and tapered surfaces as well as inclined, vertical and inverted surfaces. A support robot is suitable for positioning at a high point on or near the surface to be worked upon. A tension element such as an umbilical or cord is attached to the support robot and extends downwardly along the surface to be worked on. A payload robot is attached to the tension umbilical or cord, thereby transferring part of the weight of the payload robot to the support robot. The payload robot is provided with at least one traction device to permit the payload robot to cling to and maneuver along the surface. The support robot may be provided with software permitting the control and navigation of the payload robot. A second, or additional, payload robot may be attached to the support robot by a second tension element.
- The features, utilities, and advantages of various embodiments of the invention will be apparent from the following more particular description of the embodiments as illustrated in the accompanying drawings and find in the appended claims.
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FIG. 1 is an isometric view of a traction device according to one embodiment of the present invention; -
FIG. 2 is a partial fragmentary view of the traction device ofFIG. 1 ; -
FIG. 3 is a cross-section of the view of the traction device ofFIG. 1 taken along line 3-3 ofFIG. 1 ; -
FIG. 4 is a bottom view of the manifold of the embodiment shown inFIG. 1 ; -
FIG. 5 is an isometric view of a surface clinging device according to one embodiment of the present invention; -
FIG. 6 is a top plan view of the surface clinging device shown inFIG. 5 ; -
FIG. 7 a is a cross-sectional view of the surface clinging device ofFIG. 5 taken along line 7-7 ofFIG. 6 with the vacuum source in a de-energized state; -
FIG. 7 b is a cross-sectional view of the surface clinging device ofFIG. 5 taken along line 7-7 ofFIG. 6 with the vacuum source in an energized state; -
FIG. 8 is an isometric view of a robot according to one embodiment of the present invention; -
FIG. 9 is an isometric view of a system for performing maintenance on an aircraft utilizing robots similar to that shown inFIG. 8 ; -
FIG. 10 is a top plan view of the system and airplane fromFIG. 9 ; -
FIG. 11 is a cross sectional view of a traction device according to another embodiment of the present invention; and -
FIG. 12 is a cross section view of the a belt from the traction device ofFIG. 11 , taken along line 12-12 ofFIG. 11 . - A
traction device 100 is shown inFIG. 1 . As will be discussed in more detail, thistraction device 100 is useful for clinging to and maneuvering on inclined, inverted, and vertical surfaces that are difficult to access directly. Thetraction device 100 includes afirst roller 102 and asecond roller 103 that support acontinuous traction belt 104. Therollers frame 106. In the embodiment ofFIGS. 1-3 , theframe 106 includestop plate 108 andside plate 110.Support braces 112 are provided internally to help reinforceframe 106. Theframe 106 serves as a support and scaffold for therollers traction device 100.Bolts 114 are used to securely fasten thetop plate 108 to theside plates 110, and to fasten thebraces 112 to theside plates 110. The exact configuration and components used for theframe 106 are not crucial. - A
tensioning mechanism 116 is provided in association with thefirst roller 102. Thetensioning mechanism 116 allows the spacing between therollers traction belt 104 at a desired tension. During operation, the tension within thebelt 104 should be sufficient to maintain it in place on therollers rollers traction belt 104. - The
tensioning mechanism 116 includes aslidable bushing 118 provided with grooves that engagetongues 120 formed inside plate 110. Thebushing 118 supports an axle 122 of thefirst roller 102. Theslidable bushing 118 is slidable along thetongues 120 to adjust the distance between thefirst roller 102 and thesecond roller 103. Abearing 124 is secured to an outer surface of theslidable bushing 118.Shoulder 126 is fixed to the outside ofside plate 110, and a threadedadjustment member 128 passes through an aperture in theshoulder 126 such that it is in alignment with and bearing engagement against thebearing 124. A threadedreceiver 130, such as a nut, is fixed to theshoulder 126. The threadedadjustment member 128 can be adjusted relative to theshoulder 126 by axially turning the threadedadjustment member 128, as for example with a socket wrench. The threadedadjustment member 128 can thereby urge thebearing 124 andfirst roller 102 away from thesecond roller 103 in order to hold thetraction belt 104 at the desired tension. Again, those of skill in the art will be aware of additional mechanisms for urging the first andsecond rollers traction belt 104 at a desired tension. - An attachment point in the form of an
eye bolt 132 is provided on thetop plate 108. Theeye bolt 132 serves as a connection point for attaching thetraction device 100 to a vehicle suspension, robot, tool, or the like. Depending upon the circumstance, those of skill in the art will be aware of attachment mechanisms other than an eye bolt, including attachment points located on parts of theframe 106 other than thetop plate 108. - Various components are mounted inside the
frame 106 as best seen inFIGS. 2 and 3 . Amotor 134 is mounted to an inside surface of aside plate 110. Amotor mount 136, attached to the inside of theopposite side plate 110 securely fastens themotor 134 to theframe 106. Themotor 134 has anoutput shaft 135 that is engaged bydrive belt 138. Thesecond roller 103 includes a drivensurface 140 in the form of a recessed groove within the outer surface of thesecond roller 103. Therefore, as theoutput shaft 135 is rotated by themotor 134 thedrive belt 138 correspondingly drives thesecond roller 103. As shown, thedrive belt 138 frictionally engages both thedrive shift 135 and the drivensurface 140 of theroller 103. It should be appreciated that thedrive belt 138 could be provided with teeth that engage corresponding spur gears, or similar arrangements, to provide a more positive drive. Similarly, while thetraction belt 104 is shown frictionally engaging the drivenroller 103, alternative structures could be used to provide a more positive drive of thetraction belt 104. It should be further appreciated that a second motor could be used so that bothrollers - A
manifold plate 142 is mounted to the bottom of theframe 106 betweenside plates 110. In the embodiment shown, themanifold plate 142 is mounted by manifold bolts 145. It could be attached by other conventional means, such as welding or the like. Themanifold plate 142 is provided with at least one downwardly facing recessedportion 144. The embodiment shown, as best seen inFIG. 4 , themanifold plate 142 includes four such downwardly facing recessedportions 144. Each recessedportion 144 is provided with an outlet in the form ofelbow 146. A remote vacuum source (not shown) may be connected to theelbows 146 in order to supply a vacuum, or reduced pressure through theelbows 146 to the recessedportions 144 on the bottom side of themanifold plate 142. The inside surface of thetraction belt 104 thereby has a vacuum, or negative relative pressure applied along the portion where it slides across in close contact with the bottom of themanifold plate 142. Themanifold plate 142 may be formed as a relatively rigid plate, as for example cast aluminum. Alternatively, themanifold plate 142 could be made to allow some flex in order to permit thetraction device 100 to better cling to curved or compound surfaces. As a further alternative, thesingle manifold plate 142 could be replaced by a plurality of plates or suction cups each having its own recessed portion, and further that the individual plates or cups could be articulated so that they match the contour of the surface on which thedevice 100 is being used. - The
traction belt 104 is preferably formed from a flexible durable material. Ideally the outward facing surface will be relatively tacky, or have a high coefficient of friction, but will not mar or scratch metal or painted surfaces. Preferably the inward facing surface of thetraction belt 104 will be smooth and have a low coefficient of friction so that it will slide easily across themanifold plate 142. Importantly, thetraction belt 104 is provided withopenings 148 in the form of slots, holes, slits, or other type of apertures. Theseopenings 148 provide a passage way to permit the vacuum applied to the inside surface of thetraction belt 104 to be applied through thetraction belt 104 to the outward facing surface of thetraction belt 104. The outer surface of thebelt 104 forms a tread or traction portion between therollers -
FIGS. 5-7 show asurface clinging tool 150 according one embodiment of the present invention. Thesurface clinging tool 150 includes a pair oftraction devices 100 similar to thetraction device 100 described above. Rather than having aneye bolt 132 attached to thetop plate 108, each of thetraction devices 100 is connected with ahandle 152 that permits a user to manipulate thesurface clinging tool 150. Additionally,tool mounting bars 154 are provided between the facingside plates 110 of the twotraction devices 100. Thesurface clinging tool 150 may be used to help support a tool 156 (shown in broken lines inFIG. 6 ) in a working position against a inclined or downward facing surface. The tool may be a grinder, sander, polisher, painter, sensor, camera, or any other tool that needs to be held in close proximity to a working surface, and that may be difficult or heavy to maneuver without the aid of asurface clinging tool 150. -
FIG. 7( a) shows thesurface clinging tool 150 in a non-energized state wherein a vacuum has not been applied through themanifold plate 142. It should be appreciated that in the embodiment shown, aninternal vacuum source 158 is provided within eachtraction device 100 in order to supply the vacuum across themanifold plate 142, when desired. It should be appreciated, that thetraction devices 100 may be provided with or without a motor to drive thetraction belt 104. A power supply in the form of a battery, or more preferably an electric outlet, must be connected with thevacuum source 158. Furthermore, thevacuum source 158 may be replaced with a remote vacuum source that is attached to theelbows 146 by flexible hose (not shown). A control mechanism (not shown) should also be provided to permit a user to selectively turn on and off thevacuum supply 158. In the non-energized state ofFIG. 7( a), thetraction belt 104 will sit flat, or flush, against the workingsurface 160. In this state, thesurface clinging tool 150 provides no support to hold the weight of thetool 156, but will still hold thetool 156 at a proper position relative to the workingsurface 160. - When the
vacuum supply 158 is activated, a negative relative pressure is provided throughelbows 146 into the recessedportions 144 on the bottom of themanifold plate 142. This vacuum, or negative relative pressure, tends to deform thebelt 104 in the region of the recessedportions 144, such that portions of thebelt 104 are withdrawn away from the workingsurface 160 towards the recessedportions 144, as shown inFIG. 7( b). Accordingly,gaps 162 are provided between the outer surface of thetraction belt 104 and the workingsurface 160. Furthermore, because of theopenings 148 through thebelt 104 the reduced pressure or vacuum is applied through thebelt 104 directly to thesurface 160 in the area of the recessedportions 144. Accordingly, thesurface clinging tool 150 is drawn against the workingsurface 160 by the relative pressure difference between the area outside the manifold plate and the area between the recessedportions 144 and the workingsurface 160. The amount of clinging force provided is a function of the strength of the vacuum, and the surface area encompassed by the recessedportions 144 of themanifold plate 142. - The
surface clinging tool 150 may be moved across an inclined or downward facingsurface 160 by a user providing a pushing or pulling force athandle 152. The clinging force provided between thesurface clinging tool 150 and the workingsurface 160 will take some, or all, of the weight of thesurface clinging tool 150 and thetool 156 making it easier for a user to maneuver thetool 156 on the workingsurface 160. By properly adjusting thetool 156 on thetool mounting bars 154 it can be assured that thetool 156 will remain at a constant distance and orientation relative to the workingsurface 160. Alternatively, if thetraction device 100 is provided with a motor, the motor may be activated to move thebelt 104 around therollers tool 150 to move across the workingsurface 160. -
FIG. 8 shows arobot 200 according to one embodiment of the present invention that utilizestraction devices 100 similar to those described above. Therobot 200 includes achassis 202 suspended on a plurality oftraction devices 100. Each of thetraction devices 100 is mounted for independent swiveling movement relative to thechassis 202. Therobot 200 acts as a surface clinging device that can carry a payload within itschassis 202. The payload may include atool 156 for working on a workingsurface 160. As discussed above, thetool 156 may be a sander, grinder, paint sprayer, camera, sensor, or any other tool that needs to be provided in close working relation to a workingsurface 160. Additionally, the payload within thechassis 202 may include a steering mechanism for swiveling adjusting thetraction devices 100 relative to thechassis 202, a central vacuum supply for supplying vacuum to theindividual traction devices 100, a power supply for supplying power to the drive mechanisms for thetraction devices 100, and an umbilical cord 204 for connecting therobot 200 with other robots or with a control mechanism and/or power supply. Access to the payload within thechassis 202 may be provided bycloseable doors 206. - The
robot 200 is well suited for use on a wide variety of structures that include inclined and downward facing surfaces that require maintenance for inspection. For example,robot 200 may be used in the inspection and/or maintenance of water towers, submarines, ships, storage silos and storage tanks, tall buildings and windows on buildings, or cooling towers for nuclear power plants. -
FIGS. 9 & 10 show a system for performing maintenance on an existing structure utilizing robots similar to that shown inFIG. 8 . According to the embodiments ofFIGS. 9 & 10 , the structure being maintained is an aircraft. As noted above, while the system described is particularly well suited for aircraft maintenance, it will have uses in association with other structures. Thesystem 300 includes asupport robot 302 that is intended to be located at a high location on thestructure 310, preferably at a portion of thestructure 310 that is generally horizontal. For example, as shown inFIGS. 9 & 10 thesupport robot 302 may be located at the top of an aircraft fuselage. -
Payload robots 304 may be attached to thesupport robot 302 by a tension element, such as an umbilical 306 or atension cord 316. Each umbilical 306 may include a data cable or cables for transmitting information back and forth between thesupport robot 302 and thepayload robot 304. Additionally, theumbilicals 306 may include a power supply line and a vacuum supply line to provide electrical power and a vacuum source to thepayload robot 304. Preferably, theumbilicals 306 will be self-tensioning retractable lines that will provide support to thepayload robots 304 in addition to the support provided by thetraction devices 100 on thepayload robots 304. Therefore, thetraction devices 100 would not be required to support the full weight of their respective robots. Furthermore, if there should be failure of thetraction devices 100 on thepayload robots 304, the umbilical 306 may permit thesupport robot 302 to support the entire weight of thepayload robot 304. In addition to the umbilical 306, atension cord 316 may also be provided between thesupport robot 302 and eachpayload robot 304. Thistension cord 316 would provide additional support topayload robot 304, thereby supplementing or eliminating the umbilical 306. - The
support robot 302 may be configured to fit the leading surfaces of a vertical stabilizer in order to climb to the highest portion of the aircraft. Alternatively, a smaller support robot (not shown) may be deployed from theprimary support robot 302 at the base of the vertical stabilizer to climb the vertical stabilizer. The smaller support robot would be provided with a tensioned cord or cords to support at least part of the weight ofpayload robots 304 doing work on the vertical sides of the vertical stabilizer. - The
payload robot 304 may be similar to therobot 200 shown inFIG. 8 . Thepayload robot 304 will have mounted in its chassis 202 a tool for use on the fuselage of theaircraft 310, or other structure being worked upon or inspected. - A
supply cable 318 may be provided between thesupport robot 302 and acontrol mechanism 308, apower supply 312 and avacuum source 314. Thecontrol mechanism 308 may include a CPU and keyboard. The CPU may be programmed with software that permits it to provide control signals to thesupport robot 302 and thepayload robot 304 through data cables included in thesupply cable 318. Alternatively, radio frequency or infra red signals may be used between thecontrol mechanism 308 and therobots control mechanism 308 may provide a control signal only to thesupport robot 302 which in turn provide control signals to thepayload robot 304. Thepower supply 312 may be a standard electrical outlet having a voltage of 110 volts or 220 volts, or may be a direct voltage, as provided by a battery. Thevacuum source 314 should be connected to thesupport robot 302 and thepayload robots 304 by pneumatic hoses. Alternatively, eachrobot - Each
robot aircraft 310 or other structure, by manipulation of theindividual traction devices 100. As discussed above, eachindividual traction device 100 should be swively mounted to thechassis 202 of therobot traction devices 100, and the relative movement of thetraction belts 104 on theindividual traction devices 100, therobots aircraft 310 to any desired location. Typically, when turning one of thetraction devices 100 relative to thechassis 202 and the workingsurface 160 it is desirable to de-energize the vacuum supply to the recessedportions 144 so that thetraction device 100 does not cling to the workingsurface 160 as it is being turned. For this reason, it may be desirable to turn thetraction devices 100 one at a time so that while onetraction device 100 is being turned the clinging force of theother traction devices 100 holds therobots surface 160. Because there may be some residual suction cup effect if the vacuum supply is simply cut off, it may be desirable to include a mechanism to selectively provide positive pressure to the recessedportions 144 in order to fully release atraction device 100 from a workingsurface 160 before and during turning of the traction device so as to alleviate scrubbing on thesurface 100. - In operation the
system 300 would be deployed on theaircraft 310 by manually, or with the aid of mechanical help, placing thesupport robot 302 andpayload robot 304 against the fuselage of theaircraft 310 at an easily accessed portion of the fuselage. Thevacuum source 314 can then be activated to cause thetraction devices 100 on therobots aircraft 310. Thecontrol mechanism 308 can be activated to cause therobots support robot 302 is located in a desired high position on the fuselage. Thepayload robot 304 may then be given a control signal to move down the side of the fuselage of theaircraft 310 into a working position as shown inFIGS. 9 & 10 . Thepayload robot 304 may then be given signals by thecontrol mechanism 308 causing thepayload robots 304 to move across the fuselage in a desired manner such that an attachedtool 156 is moved across the surface of theaircraft 310 in a desired fashion. Alternatively, thesupport robot 302 may be deployed and maneuvered to the desired support position prior to attaching thepayload robots 304 to the tension umbilical or cord. - According to one embodiment of the invention the
support robot 302 may be located at a set location on the top of theaircraft fuselage 310, and further thesupport robot 302 may be provided with software that permits it to sense the location of thepayload robot 304 relative to that desired location. Furthermore, thesupport robot 302 may be provided with software that permits it to control movement of thepayload robots 304 relative to thesupport robot 302 in order to move thepayload robot 304 across the fuselage of theaircraft 310 in a desired manner. -
FIGS. 11 and 12 show atraction device 400 according to another embodiment of the present invention.FIG. 11 is a cross-section view showing abelt 404 aroundrollers device 400 utilizes four articulatedmanifold plates 442, each with a recessedportion 444 through which a vacuum is applied to thebelt 404. The embodiment ofFIG. 11 shows apositive pressure source 458 within thetraction device 400. Thispositive pressure source 458 provides positive pressure above themanifold plates 442, which creates a venturi effect, to cause a vacuum on the recessedportion 444 side of theplate 442. In practice, it may be preferable to use a remote positive pressure source that utilizes a flexible pneumatic hose to attach to theelbows 446 that connect terminate just above the back side of themanifold plates 442. - As seen in
FIG. 12 , thebelt 404 may includeflexible ridges 470 near the edges of thebelt 404.Openings 448 are provided between theridges 470, as well as throughout thebelt 404 in order to permit the vacuum to be applied through thebelt 404. Theseridges 470 help thebelt 404 to maintain a high friction coefficient to surfaces even when the surfaces have discontinuities such as seams, rivet heads, bolts, and the like. - Although various representative embodiments of this invention have been described above with a certain degree of particularity, those skilled in the art could make numerous alterations to the disclosed embodiments without departing from the spirit or scope of the inventive subject matter set forth in the specification and claims. All directional references (e.g., upper, lower, upward, downward, left, right, leftward, rightward, top, bottom, above, below, vertical, horizontal, clockwise, and counterclockwise) are only used for identification purposes to aid the reader's understanding of the embodiments of the present invention, and do not create limitations, particularly as to the position, orientation, or use of the invention unless specifically set forth in the claims. Joinder references (e.g., attached, coupled, connected, and the like) are to be construed broadly and may include intermediate members between a connection of elements and relative movement between elements. As such, joinder references do not necessarily infer that two elements are directly connected and in fixed relation to each other.
- In some instances, components are described with reference to “ends” having a particular characteristic and/or being connected with another part. However, those skilled in the art will recognize that the present invention is not limited to components which terminate immediately beyond their points of connection with other parts. Thus, the term “end” should be interpreted broadly, in a manner that includes areas adjacent, rearward, forward of, or otherwise near the terminus of a particular element, link, component, part, member or the like. In methodologies directly or indirectly set forth herein, various steps and operations are described in one possible order of operation, but those skilled in the art will recognize that steps and operations may be rearranged, replaced, or eliminated without necessarily departing from the spirit and scope of the present invention. It is intended that all matter contained in the above description or shown in the accompanying drawings shall be interpreted as illustrative only and not limiting. Changes in detail or structure may be made without departing from the spirit of the invention as defined in the appended claims.
Claims (7)
1. A system for performing work on an inclined surface of a structure, the system comprising:
a support robot suitable for positioning at a high point on the structure on or near the inclined surface, the support robot including at least one traction device to permit the support robot to cling to and maneuver along the inclined surface;
a payload robot including a tool for performing a desired function with respect to the inclined surface, the payload robot including at least one traction device to permit the payload robot to cling to and maneuver along the inclined surface;
a tension element for connecting the payload robot to the support robot such that the support robot provides support to the payload robot; and
a control mechanism for controlling movement of the payload robot and the support robot.
2. The system according to claim 1 , wherein said traction devices comprise:
a frame;
a pair of rollers mounted on the frame;
a belt continuously looped around the rollers such that a traction portion is formed between the rollers, the belt including an inner surface facing the rollers and an outer surface opposite from the inner surface; the belt being provided with a plurality of apertures extending through the belt from the inner surface to the outer surface; and
a vacuum source operably connected to the frame for supplying a vacuum to the inner surface of the traction portion such that vacuum is also provided through the plurality of apertures to the outer surface to cause the traction device to tend to cling to a surface in contact with the outer surface of the traction portion.
3. The system according to claim 1 , wherein the control mechanism comprises software on a computer permitting locating the payload robot relative to the support robot.
4. The system according to claim 1 , further comprising a second payload robot, and a second tension element connecting the second payload robot to the support robot.
5. The system according to claim 1 , wherein the structure is an airplane.
6. A method of performing maintenance on an inclined surface of a structure comprising:
providing a support robot suitable for positioning at a high point on the structure on or near the inclined surface, the support robot including at least one traction device to permit the support robot to cling to and maneuver along the inclined surface;
maneuvering the support robot to the high point on the structure;
providing a payload robot including a tool for performing a desired function with respect to the inclined surface, the payload robot including at least one traction device to permit the payload robot to cling to and maneuver along the inclined surface;
attaching the payload robot to the support robot with a tension element; and
maneuvering the payload robot to a desired working position on the inclined surface.
7. The method according to claim 6 , wherein each of the traction devices comprise:
a frame;
a pair of rollers mounted on the frame;
a belt continuously looped around the rollers such that a traction portion is formed between the rollers, the belt including an inner surface facing the rollers and an outer surface opposite from the inner surface; the belt being provided with a plurality of apertures extending through the belt from the inner surface to the outer surface; and
a vacuum source operably connected to the frame for supplying a vacuum to the inner surface of the traction portion such that vacuum is also provided through the plurality of apertures to the outer surface to cause the traction device to tend to cling to a surface in contact with the outer surface of the traction portion.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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US12/062,682 US20080188982A1 (en) | 2006-01-13 | 2008-04-04 | Vacuum Traction Device System and Method of Use |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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US11/331,884 US7404464B2 (en) | 2006-01-13 | 2006-01-13 | Vacuum traction device |
US12/062,682 US20080188982A1 (en) | 2006-01-13 | 2008-04-04 | Vacuum Traction Device System and Method of Use |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
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US11/331,884 Division US7404464B2 (en) | 2006-01-13 | 2006-01-13 | Vacuum traction device |
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US20080188982A1 true US20080188982A1 (en) | 2008-08-07 |
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US11/331,884 Expired - Fee Related US7404464B2 (en) | 2006-01-13 | 2006-01-13 | Vacuum traction device |
US12/062,682 Abandoned US20080188982A1 (en) | 2006-01-13 | 2008-04-04 | Vacuum Traction Device System and Method of Use |
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US11/331,884 Expired - Fee Related US7404464B2 (en) | 2006-01-13 | 2006-01-13 | Vacuum traction device |
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US11029692B2 (en) | 2016-07-01 | 2021-06-08 | Innovbot, Llc | Robotic device for providing vertical mobility |
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WO2022033443A1 (en) * | 2020-08-10 | 2022-02-17 | 苏州瑞得恩光能科技有限公司 | Suction type robot |
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- 2006-12-12 WO PCT/US2006/061924 patent/WO2007120328A2/en active Application Filing
- 2006-12-12 EP EP06850931A patent/EP1976710A2/en not_active Withdrawn
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Publication number | Priority date | Publication date | Assignee | Title |
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US20110202224A1 (en) * | 2010-02-16 | 2011-08-18 | Thompson Jeffrey S | Tethered robot positioning |
US20110198136A1 (en) * | 2010-02-16 | 2011-08-18 | Ross Carlyle Teague | Retractable line guidance for self-propelled machines |
US8234010B2 (en) * | 2010-02-16 | 2012-07-31 | Deere & Company | Tethered robot positioning |
USD748053S1 (en) * | 2014-02-03 | 2016-01-26 | Abb Technology Ag | Rotating electrical machinery modular air gap crawler |
USD756922S1 (en) * | 2014-02-03 | 2016-05-24 | Abb Technology Ag | Rotating electrical machinery modular air gap crawler |
US20150273696A1 (en) * | 2014-03-26 | 2015-10-01 | Mokpo National Maritime University Industry-Academic Cooperation Foundation | Mobile Robot for Detecting and Repairing Damages of Hull |
US9662782B2 (en) * | 2014-03-26 | 2017-05-30 | Mokpo National Maritime University Industry-Academic Cooperation Foundation | Mobile robot for detecting and repairing damages of hull |
Also Published As
Publication number | Publication date |
---|---|
WO2007120328A2 (en) | 2007-10-25 |
US7404464B2 (en) | 2008-07-29 |
US20070163827A1 (en) | 2007-07-19 |
EP1976710A2 (en) | 2008-10-08 |
WO2007120328A3 (en) | 2009-04-02 |
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Legal Events
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Owner name: MOBILE ROBOT INTEGRATION, INC., WASHINGTON Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:IMUS, RICHARD L.;MITTMANN, PAUL A.;IMUS, MARC S.;AND OTHERS;REEL/FRAME:020757/0097;SIGNING DATES FROM 20051223 TO 20060103 |
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STCB | Information on status: application discontinuation |
Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION |