US3409854A - Device for moving a working apparatus on a support surface - Google Patents
Device for moving a working apparatus on a support surface Download PDFInfo
- Publication number
- US3409854A US3409854A US549708A US54970866A US3409854A US 3409854 A US3409854 A US 3409854A US 549708 A US549708 A US 549708A US 54970866 A US54970866 A US 54970866A US 3409854 A US3409854 A US 3409854A
- Authority
- US
- United States
- Prior art keywords
- frame
- supporting surface
- moving
- movement
- support surface
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0264—Carriages for supporting the welding or cutting element magnetically attached to the workpiece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
- B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F22—STEAM GENERATION
- F22B—METHODS OF STEAM GENERATION; STEAM BOILERS
- F22B37/00—Component parts or details of steam boilers
- F22B37/002—Component parts or details of steam boilers specially adapted for nuclear steam generators, e.g. maintenance, repairing or inspecting equipment not otherwise provided for
- F22B37/006—Walking equipment, e.g. walking platforms suspended at the tube sheet
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/45—Scale remover or preventor
- Y10T29/4572—Mechanically powered operator
- Y10T29/4583—Hammer
Definitions
- the apparatus includes first and second frames which are reciprocally movable relative to each other in response to a control means.
- Each of the frames includes a means for selectively securing the respective frame to a supporting surface.
- the just-moved frame may be secured to the supporting surface and the other one released therefrom so that further movement of a frame relative to the other frame now results in movement of the other frame relative to the supporting surface.
- the entire apparatus may be moved along the surface.
- a further means is provided for securing a portion of one of the frames to the supporting surface and then rotating the remainder of that frame together with the other frame, about the secured portion, thereby permitting an effective transverse motion of the entire apparatus over the supporting surface.
- the object of the present invention is to provide a simple and effective device for automatic moving of such apparatus. along adjustable paths of movement. According to theinvention this is achieved by the fact that the apparatusis supported by two frame members reciprocatingly and linearily movable in relation to each other said frame members being provided with attaching members as eletcromagnets or suction cups capable to alternatingly adhere to the support surface in synchronism with the reciprocating movement of the frame members.
- the attaching member or members of one of the frame members is arranged, in its adhering state, to be turned an adjustable angle in rleation to said frame member in order to change the direction of movement of the device.
- Another embodiment of the invention is characterized in that the two frame members are reciprocatingly and linearily movable in relation to each other in an additional direction perpendicular to the first mentioned linear direction of movement and in a plane parallel to the support surface in order to change the direction of movement of the device.
- FIGURE 1 is a perspective of a rust scaling hammer apparatus
- FIGURES 2 to 4 illustrate the principle of the movement of the apparatus shown in FIG. 1, and
- FIGURE 5 illustrates the apparatus in action on a ship's side plating.
- the device shown on the drawing comprises a metallic frame having end sections 1 and 2 which are provided with electromagnets 3, 4 and 5.
- Two parallel rods 7 and 8 connect the end sections 1 and 2 and support a platform 6 slidingly mounted on the rods.
- the platform 6 is provided with a row of pneumatic hammers 9, an electromagnet 10 and a toothed wheel 11.
- the electromagnet 10 and the toothed wheel 11 are secured coaxially to a shaft 12 which is'rotatably mounted on said platform 6.
- a rack 13 meshes with the toothed wheel 11.
- the rack is actuated by a piston running in a cylinder 14 attached to the platform 6 to which cylinder compressed air is supplied through apertures 15 or 16 in order to move the rack in one or the other direction and thus turn the magnet 10.
- a rod 17 is actuated by a piston running in a cylinder 18 attached to the end section 1 and thus moves the platform 6 along the rods 7, 8.
- the electromagnets 3, 4, 5 on one hand and on the other hand the electromagnet 10 are connected separately to an AC-current source.
- the device operates in the following way: After the device has been placed on the ships steel plating and its electromagnets and pneumatic cylinders has been connected to a control box operated by an operator 20, it is possible to move the device optionally in all directions in the following manner:
- a movement of the platform 6 is achieved when magnet 10 is deenergized and the piston in cylinder 18 is moved in the desired direction (FIG. 2).
- the platform 6 reaches the end of its stroke abutting on one of the end sections 1 or 2 of the frame magnet 10 is first energized and then magnets 3, 4 and 5 are deenergized and the piston in cylinder 18 is actuated to move in the opposed direction.
- the frame 1, 2, 7, 8, is thereby moved one step forward and after that the magnets 3, 4, 5 are energized and the magnet 10 is deenergized and so on. In this way it is possible to have the ships side hammered from stem to stern along a path of movement having a width equal to the distance between upper and lower pneumatic hammers 9 on the platform 6.
- magnet 10 To change direction of movement the magnet 10 is energized, magnets 3, 4, 5 are deenergized and the piston in cylinder 14 is moved so that rack 13 forces the metal frame to turn e.g. as shown in FIG. 3. The frame reaches the position shown in FIG. 4 and then it is possible to move the device in the new direction as described above.
- magnet 10 in relation to platform 6 can be effected by other means than a rack.
- electric motors instead of pneumatic pistons and cylinders and suction cups connected to vacuum conduits instead of magnets 3, 4, 5 and 10 thus making it possible to use the device in connection with other kinds of support surfaces than ferromagnetic surfaces, e.g. for painting cisterns coated with aluminium plates.
- the device on horizontal surfaces in which case the support surface can have a more uneven surface.
- the magnets or suction cups are resiliently mounted on the frame so that a reliable action is obtained even if the support surface is uneven.
- Apparatus for moving a working apparatus over a supporting surface comprising in combination, a first frame, a second frame movably engaging said first frame, control means for reciprocally moving said first frame relative to said second frame, and securing means on each of said frames for selectively securing the respective frame to said supporting surface, whereby said second frame may be moved in response to said control means relative to said first frame and relative also to said supporting surface when said securing means secures only said first frame to said supporting surface, and alternatively said first frame may be moved in response to said control means relative to said second frame and relative also to said supporting surface when said securing means secures only said second frame to said supporting surface.
- said securing means for at least one of said frames comprises at least one electromagnet on said one frame adapted to engage said supporting surface.
- control means includes a piston operatively connected to one frame and a cooperating cylinder operatively connected to the other frame.
- the apparatus of claim 1 which further includes means on one frame rotatable with respect to said one frame and means for selectively securing said last-named means to said supporting surface.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Transportation (AREA)
- Ocean & Marine Engineering (AREA)
- Optics & Photonics (AREA)
- High Energy & Nuclear Physics (AREA)
- Thermal Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Spray Control Apparatus (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE6361/65A SE309562B (no) | 1965-05-14 | 1965-05-14 |
Publications (1)
Publication Number | Publication Date |
---|---|
US3409854A true US3409854A (en) | 1968-11-05 |
Family
ID=20268480
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US549708A Expired - Lifetime US3409854A (en) | 1965-05-14 | 1966-05-12 | Device for moving a working apparatus on a support surface |
Country Status (2)
Country | Link |
---|---|
US (1) | US3409854A (no) |
SE (1) | SE309562B (no) |
Cited By (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3811320A (en) * | 1973-03-12 | 1974-05-21 | Rockwell International Corp | Surface scaler apparatus |
US3900968A (en) * | 1971-12-10 | 1975-08-26 | Genshichi Shigyo | Mobile cleaning and polishing device |
US3958652A (en) * | 1973-12-11 | 1976-05-25 | Sanko Co., Ltd. | Apparatus movably adhering to a wall and adapted to carry a cleaning apparatus |
US4043134A (en) * | 1976-05-13 | 1977-08-23 | Burton Hoster Mason | Guide arm clamp mechanism for submergible chamber |
DE2920541A1 (de) * | 1978-06-01 | 1979-12-06 | Lundberg Marinkonsult | Vorrichtung zum behandeln von schiffskoerpern |
FR2519576A1 (fr) * | 1982-01-11 | 1983-07-18 | Kroczynski Patrice | Robot a pattes grimpeur |
FR2529131A1 (fr) * | 1982-06-23 | 1983-12-30 | Int Robotic Eng | Robot capable de se deplacer sur parois inclinees ou verticales |
FR2538743A1 (fr) * | 1982-12-29 | 1984-07-06 | Renault | Robot |
WO1984004733A1 (en) * | 1983-05-20 | 1984-12-06 | John Cameron Robertson | Remotely-operable vehicles for use in the cleaning and inspection of marine contact surfaces |
FR2550984A1 (fr) * | 1983-07-07 | 1985-03-01 | Inst Rech Const Navale | Installation flexible de couples robot-porteurs |
FR2555491A2 (fr) * | 1983-11-28 | 1985-05-31 | Int Robotic Eng | Robot a pattes grimpeur |
EP0186488A2 (en) * | 1984-12-28 | 1986-07-02 | Westinghouse Electric Corporation | Controllable vehicle for inspecting limited access areas |
US4697239A (en) * | 1984-12-27 | 1987-09-29 | Institut De Recherches De La Construction Navale | Automated installation for processing large objects |
GB2218398A (en) * | 1988-05-11 | 1989-11-15 | Danzoe Eng Ltd | Crane mounted on rail chassis |
US5339573A (en) * | 1991-08-27 | 1994-08-23 | Chubu Electric Power Co., Inc. | Floor surface blasting apparatus |
US5716261A (en) * | 1994-01-14 | 1998-02-10 | The Wheelabrator Corporation, | Oscillating blast cleaner |
WO2010142044A1 (en) * | 2009-06-10 | 2010-12-16 | Robotinc.Ch Ag | Wall climbing apparatus |
NO20161367A1 (en) * | 2016-08-26 | 2018-02-12 | Bri Norhull As | Holding means for holding an apparatus against a metallic surface |
US20190016367A1 (en) * | 2017-07-13 | 2019-01-17 | Inuktun Services Ltd. | Magnetically adhering robot |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4018345A (en) * | 1975-11-18 | 1977-04-19 | Combustion Engineering, Inc. | Surface traversing apparatus |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2104062A (en) * | 1935-10-28 | 1938-01-04 | John C Temple | Surfacing machine |
US2132661A (en) * | 1935-11-29 | 1938-10-11 | John C Temple | Surfacing machine |
US2543348A (en) * | 1948-12-21 | 1951-02-27 | Todd Shipyards Corp | Scaling machine for cleaning the sides of a ship |
-
1965
- 1965-05-14 SE SE6361/65A patent/SE309562B/xx unknown
-
1966
- 1966-05-12 US US549708A patent/US3409854A/en not_active Expired - Lifetime
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2104062A (en) * | 1935-10-28 | 1938-01-04 | John C Temple | Surfacing machine |
US2132661A (en) * | 1935-11-29 | 1938-10-11 | John C Temple | Surfacing machine |
US2543348A (en) * | 1948-12-21 | 1951-02-27 | Todd Shipyards Corp | Scaling machine for cleaning the sides of a ship |
Cited By (33)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3900968A (en) * | 1971-12-10 | 1975-08-26 | Genshichi Shigyo | Mobile cleaning and polishing device |
US3811320A (en) * | 1973-03-12 | 1974-05-21 | Rockwell International Corp | Surface scaler apparatus |
US3958652A (en) * | 1973-12-11 | 1976-05-25 | Sanko Co., Ltd. | Apparatus movably adhering to a wall and adapted to carry a cleaning apparatus |
US4043134A (en) * | 1976-05-13 | 1977-08-23 | Burton Hoster Mason | Guide arm clamp mechanism for submergible chamber |
DE2920541A1 (de) * | 1978-06-01 | 1979-12-06 | Lundberg Marinkonsult | Vorrichtung zum behandeln von schiffskoerpern |
EP0084012A1 (fr) * | 1982-01-11 | 1983-07-20 | International Robotic Engineering Inc. | Robot à pattes grimpeur |
FR2519576A1 (fr) * | 1982-01-11 | 1983-07-18 | Kroczynski Patrice | Robot a pattes grimpeur |
WO1983002419A1 (fr) * | 1982-01-11 | 1983-07-21 | Patrice Alain Kroczynski | Robot a pattes grimpeur |
US4674949A (en) * | 1982-01-11 | 1987-06-23 | International Robotic Engineering, Inc. | Robot with climbing feet |
FR2529131A1 (fr) * | 1982-06-23 | 1983-12-30 | Int Robotic Eng | Robot capable de se deplacer sur parois inclinees ou verticales |
EP0106709A2 (fr) * | 1982-06-23 | 1984-04-25 | International Robotic Engineering Inc. | Robot capable de se déplacer sur parois inclinées ou verticales |
EP0106709A3 (fr) * | 1982-06-23 | 1984-05-30 | International Robotic Engineering Inc. | Robot capable de se déplacer sur parois inclinées ou verticales |
FR2538743A1 (fr) * | 1982-12-29 | 1984-07-06 | Renault | Robot |
GB2150512A (en) * | 1983-05-20 | 1985-07-03 | John Cameron Robertson | Remotely-operable vehicles for use in the cleaning and inspection of marine contact surfaces |
WO1984004733A1 (en) * | 1983-05-20 | 1984-12-06 | John Cameron Robertson | Remotely-operable vehicles for use in the cleaning and inspection of marine contact surfaces |
FR2550984A1 (fr) * | 1983-07-07 | 1985-03-01 | Inst Rech Const Navale | Installation flexible de couples robot-porteurs |
WO1985002360A1 (fr) * | 1983-11-28 | 1985-06-06 | International Robotic Engineering Inc. | Appareil a pattes adherentes sur une surface non horizontale |
FR2555491A2 (fr) * | 1983-11-28 | 1985-05-31 | Int Robotic Eng | Robot a pattes grimpeur |
US4666114A (en) * | 1983-11-28 | 1987-05-19 | International Robotic Engineering, Inc. | Device for holding on a non-horizontal surface an apparatus capable of moving along said surface |
US4697239A (en) * | 1984-12-27 | 1987-09-29 | Institut De Recherches De La Construction Navale | Automated installation for processing large objects |
US4703817A (en) * | 1984-12-28 | 1987-11-03 | Westinghouse Electric Corp. | Controllable vehicle for inspecting limited access areas |
EP0186488A3 (en) * | 1984-12-28 | 1987-07-01 | Westinghouse Electric Corporation | Controllable vehicle for inspecting limited access areas |
EP0186488A2 (en) * | 1984-12-28 | 1986-07-02 | Westinghouse Electric Corporation | Controllable vehicle for inspecting limited access areas |
GB2218398A (en) * | 1988-05-11 | 1989-11-15 | Danzoe Eng Ltd | Crane mounted on rail chassis |
US5339573A (en) * | 1991-08-27 | 1994-08-23 | Chubu Electric Power Co., Inc. | Floor surface blasting apparatus |
US5435773A (en) * | 1991-08-27 | 1995-07-25 | Chubu Electric Power Co., Inc. | Floor surface blasting apparatus |
US5667429A (en) * | 1991-08-27 | 1997-09-16 | Chubu Electric Power Company, Inc. | Floor surface blasting apparatus |
US5716261A (en) * | 1994-01-14 | 1998-02-10 | The Wheelabrator Corporation, | Oscillating blast cleaner |
WO2010142044A1 (en) * | 2009-06-10 | 2010-12-16 | Robotinc.Ch Ag | Wall climbing apparatus |
NO20161367A1 (en) * | 2016-08-26 | 2018-02-12 | Bri Norhull As | Holding means for holding an apparatus against a metallic surface |
NO341869B1 (en) * | 2016-08-26 | 2018-02-12 | Bri Norhull As | Holding means for holding an apparatus against a metallic surface |
US20190016367A1 (en) * | 2017-07-13 | 2019-01-17 | Inuktun Services Ltd. | Magnetically adhering robot |
US10518800B2 (en) * | 2017-07-13 | 2019-12-31 | Inuktun Services Ltd. | Magnetically adhering robot |
Also Published As
Publication number | Publication date |
---|---|
SE309562B (no) | 1969-03-24 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US3409854A (en) | Device for moving a working apparatus on a support surface | |
US4420921A (en) | Building spacer | |
US3543679A (en) | Silk screen apparatus for printed circuit boards | |
US3371583A (en) | Material-handling device actuator | |
US3931728A (en) | Portal press | |
KR20030024603A (ko) | 가요성 프린트기판의 인쇄상태 등을 검사하는 장치 | |
US4172429A (en) | Arrangement for marking workpieces | |
GB965752A (en) | Improvements in or relating to coating machines | |
US2903994A (en) | Apparatus for oscillating a moving article carrier | |
CN215358483U (zh) | 轮毂双工位夹爪 | |
US3784904A (en) | A.c.energized magnetic particle flaw detector with means to raise and lower electromagnets from path of workpiece | |
US3601440A (en) | Magnet spreader bar | |
US10081893B2 (en) | Computer-controlled sewing machine positioning system integrated with processing device, and positioning method thereof | |
US3356070A (en) | Spray painting fixture | |
US3087629A (en) | Transporting apparatus | |
KR100997766B1 (ko) | 피용접물 정렬 장치 | |
SU1735188A1 (ru) | Грузозахватное устройство | |
KR0150562B1 (ko) | 차체 패널 운반장치 | |
SU868567A1 (ru) | Установка дл ультразвукового контрол материалов | |
US2395977A (en) | Spot welding apparatus | |
CN210388108U (zh) | 车架拼装定位装置及具有其的车架拼装工装 | |
GB2150512A (en) | Remotely-operable vehicles for use in the cleaning and inspection of marine contact surfaces | |
US3125054A (en) | Clamping apparatus | |
GB2153312A (en) | Propelling vehicles on vertical surfaces | |
CS206354B1 (cs) | Zařízeni pro pohyb střlkaeíoh pistoli |