WO1985002135A1 - Vehicule - Google Patents

Vehicule Download PDF

Info

Publication number
WO1985002135A1
WO1985002135A1 PCT/NO1983/000048 NO8300048W WO8502135A1 WO 1985002135 A1 WO1985002135 A1 WO 1985002135A1 NO 8300048 W NO8300048 W NO 8300048W WO 8502135 A1 WO8502135 A1 WO 8502135A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
drive
suction cups
drive belt
suction
Prior art date
Application number
PCT/NO1983/000048
Other languages
English (en)
Inventor
Bjo^/rn Ove DALSEIDE
Original Assignee
Dalseide & Co.
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Dalseide & Co. filed Critical Dalseide & Co.
Priority to GB08515988A priority Critical patent/GB2158403B/en
Priority to PCT/NO1983/000048 priority patent/WO1985002135A1/fr
Priority to FR8320501A priority patent/FR2557059B1/fr
Priority to AU25910/84A priority patent/AU568343B2/en
Priority to BE0/212607A priority patent/BE899216A/fr
Priority to CH145884A priority patent/CH663768A5/de
Publication of WO1985002135A1 publication Critical patent/WO1985002135A1/fr

Links

Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
    • 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

Definitions

  • the present invention relates to a vehicle which is especially designed for supporting equipment for treating plane or curved or double-curved surfaces, the vehicle being provided with suction cups for holding the vehicle pressed against a vertically ex ⁇ tending or oblique downwardly inclining or downwardly facing surface (wall, under-ceiling or the like) .
  • the vehicle according to the inven ⁇ tion is remotely controlled, so that it can be ope- rated like a robot. If necessary, the vehicle can also carry with it driver or crew for operating equipment which the vehicle brings with it and in this connec ⁇ tion the vehicle can, if desired, be manually con ⁇ trolled.
  • the vehicle can be considered applicable for many different fields of use, but is regarded as finding its greatest employment as robot for driving on vertical or obliquely fashioned surfaces or down ⁇ wardly facing surfaces. It is particularly appropriate to use the vehicle in conjunction with equipment which is to be utilised in the treatment of sur ⁇ faces, that is to say in the treatment .of internal and external surfaces of a storage tank or in other building constructions or on ships, rigs and the like.
  • a special objective is a vehicle which can be used independently of working scaffolding or similar com ⁇ plicated devices for carrying or support, It can be especially appropriate to allow the vehicle to form carrying and supporting means for treating equipment such as sabd-blasting, rust-scaling and spraying equipment.
  • the spraying equipment can be employed for spraying on paint or other cotaing agent on the surface which is to be treated, that is to say on the drive base itself.
  • the vehicle can be adapted to transport crew for inspection of the surface which is to be driven on or for carrying out welding operations or other operation where a need arises for manual effort.
  • Vehicles are, for example, known which are main ⁇ tained on a base by means of magnetism (electro-magne-
  • Vehicles are also known which are pressed against a surface which is to be treated, by means of suction power.
  • the vehicle can have, for example, a suction pipe -the air intake opening of which is arranged as a narrow gap between the suction pipe and the surface which is to
  • Extra support devices have been proposed, for example, in the form of elongate
  • Devices consisting of two coope ⁇ rating frameworks which are displaceable backwards and forwards relative to each other.
  • Each framework is provided with its set of suction cups which can be sucked fast to the base and hold the respective frames- work in place on the base, while the remaining frame ⁇ work, after its suction cups have eleminated the suction action, is transferred to a new position and the suction cups are sucked fast in the new position.
  • the first-mentioned framework can, after its suction cups have nullified the effect of suction, be drawn behind to its new position and its suction cups sucked fast in the corresponding- new position.
  • the vehicle according to the invention is charac ⁇ terised in that the vehicle is provided with one and preferably a pair of power-driven drive belts with suction cups arranged in series and that the vehicle has valve control means for activating the suction cups in positions where the drive belt is to form an abut- ment against the drive base-forming surface and for inactivating the suction cups in positions where the drive belt is to be released from abutment against the drive base. 5
  • a rela ⁇ tively large number (for example, twenty-one) suction cups on each drive belt there is the possibility of maintaining the vehicle in a secure manner simultane ⁇ ously at several different locations along the path
  • suction cups 10 of movement of the drive belt for example via one third of the total number of suction cups (say, via seven suction cups) , while the remaining suction cups can occupy an inactive position or can occupy a transition position close by the suction cups which
  • the speed can ba adapted according to the speed of working of the treatment equipment.
  • valve controls which respectively activate and inactivate the suction cups singly at specific positions of the vehicle, that is to say at specific positions of the drive belt of the vehicle.
  • the control of the valves can be effected by means of mechanical, electromagnetic or other suitable actuating means which, in turn, can be controlled by mechanical control means or preferably program-controlled control means.
  • Fig. 1 shows schematically the vehicle according to the invention during use on a surface which is to be treated.
  • Fig. 2 shows on a larger scale the drive belt of the vehicle in a side view,with suction conduits and the like omitted for the sake of simplicity.
  • Fig. 3 shows the vehicle in a perspective view.
  • Fig. 4 shows in a perspective view details of the vehicle.
  • FIG. 5 shows a detail of the suction conduits.
  • Fig. 1 there is illustrated in full lines a robot-forming vehicle 10 according to the invention which is moved along a vertically extending wall 11 in a vertical direction along the wall.
  • the vehicle In broken lines the vehicle is illustrated in another position for movement of the vehicle in a horizontal direction along the wall.
  • a control desk 12 having operating buttons , measuring ' instruments, control lamps and the like on its top and having a vacuum unit and the like arranged internally therein, rests on a floor surface "13 at the lower end of the wall 11.
  • From the control desk 12 there extend electrical leads 14 to two drive motors 15 shich- are fastened to their respective sections 10a and 10b of the vehicle 1Q and a main vacuum conduit 16 to two series of suction cups 18 on the vehicle.
  • the series of suction cups are arranged on their respective sections 10a and 10b of the vehicle.
  • the vehicle 10 is designed as a belt vehicle with two separate drive belts which can be driven separately or at the same time .forwardly in the drive direction of the respective drive motor 15 and which are adhered to the drive base or the wall 11 by means of their respective series of suction cups 18 included in the respective drive belt. It is possible to effect a certain control of the vehicle by intermittent ope- ration of the two drive belts of the vehicle.
  • Fig. 2 and 3 there are shown further details of the drive belts of the vehicle 10 with associated suction cups 18.
  • the drive belt consists of a link chain 20 which passes over ,a o.tor-driven rotary toothed wheel 21 at one end of the vehicle and over a free-running rotary toothed wheel 22 at the opposite end of the vehicle.
  • On one run of the drive belt which faces towards the drive base there are arranged two free-running control wheels 23, 24 which are arranged at a suitable distance from the respec ⁇ tive adjacent rotary wheels 21, 22.
  • the said angle is preferably only some few degrees.
  • the drive motors 15, which preferably consist of electromotor with reversible drive direction, are connection via an alternator 25 (Fig. 3) to their respective rotary wheels 21 in their respective vehicle sections 10a and 10b.
  • each suction cup 18 has an elongate form transversely of the longitudinal direction of the chain 20.
  • Each suction cup projects a considerable distance laterally outside the chain 20 on opposite sides of the latter, while provision is made for a certain distance between the suction cups in the longitudinal direction of the chain.
  • the intrinsic rigidity of the chain ensures that each suction cup 18 can only be pivoted by quite small angular blows about the longi ⁇ tudinal axis of the chain relative to the neighbouring 5 suction cups 18 on the chain 20.
  • each suction cup 18 " is only fixed to the chain 20 at the centre of the suction cup, so that the suction cup can be pivoted about the pivot axes of the chain link substantially with pivotal
  • the suction cups are constructed of a substan ⁇ tially rectangular support plate having a correspon ⁇ dingly shaped peripheral lip of elastically yielding
  • valve 35 of the valve communicates with the suction opening of the suction cup 18, and its second passage communi ⁇ cates with a vacuum conduit 28 via an associated
  • each valve 26 communicates with the vacuum conduit 28 via a transverse branch conduit 29, the vacuum conduit 28 being designed in closed annular form via two of th ' passages of a T- shaped coupling union 30.
  • the third passage of the coupling union 30 is taken up in a turning link 31 in connection with the outer end of an associated branch conduit 16a (and 16b) from the main vacuum conduit 16, so that the vacuum conduit 28- with the associated branch conduits 29 can be rotated about the turning link 31 in step with the rotation of the drive belt.
  • the drive belts are supported in their respective rigid drive belt frame 32 which determines the distance between the rotary wheels 21, 22 and the positioning o.f the control wheels 23, 24 relative to the rotary wheels.
  • the frame 32 is provided in the region between the control wheels 23, 24 with an extra, relatively rigid guide rail 33 which forms a local guiding engagement with the suction cups 18 via a support lug 34 for each suction cup.
  • the guide rail forms on its one side guidance for the support lug and on the opposite side guidance for the suction cup itself with a moderate clearance for both the ⁇ support lug and the suction cup.
  • the support lug 34 is fixed to the chain itself at a distance of the length of a link from the fastening of the suctiin cup on the chain.
  • Fig. 4 there are shown two opposite guide chambers 35, 36 which project inwardly into the path of movement of the valve slide 27 and which ensure a
  • valve slide 27 mechanical readjustment of the valve slide 27 between its two outer positions.
  • the guide chambers 35, 36 are shown arranged just by an associated control wheel 24, so that the momentary changing over of the individual suction cup from vacuum to atmospheric pressure is
  • control wheel 24 instead of the illustrated mechanical control device there can be employed, for example-, an (EDB-) program-controlled control means with, for example, an electro-magneti- . cally or pneumatically driven actuating means.
  • EDB- electro-magneti- . cally or pneumatically driven actuating means.
  • the vehicle according to the invention is, as mentioned, designed in two separate sections 10a and 10b which are connected to each other via transverse frame beams 37, 38, 39 which establish the distance between the sections and reinforce the sections rela ⁇ tive to each other.
  • the sections 10a and 10b are readily dismountably fastened to the frame beams 37-39, - so that the latter can be replaced with longer or shorter frame beams as required and all according to the condition of the drive surfaces which are to be treated and, for example, in order to take up flanges or similar projections from the surface which is to be treated between the sections or in order to carry different types of tools between the sections.
  • the ready dismountability of the sections 10a and 10b also makes-it possible on despatch of the vehicle to pack the vehicle in an especially space-saving manner. Also it is especially advantageous that the sections in a dismantled condition, where they demand little space, can be guided in an easy manner down into tanks or similar spaces via man holes or similar narrow passages. Nevertheless, the vehicle can provide, in a mounted condition, a relatively large support region for the vehucle during use.
  • the extra set of drive belts with associated framework, drive motor and the like can be moved towards and away from the drive base relative to the vehicle remaining, and in a manner corresponding to that described for the
  • the suction cups of the extra drive belts can be placed under vacuum and the vacuum of the remaining suction cups of the vehicle discharged.
  • the drive belts can be pushed with the inactivated suction cups a suitable distance outwardly of the drive base, so that the vehicle can be moved in a direction across the direction of drive of the released drive belts.
  • the frame 32 can be linked at the centre.
  • a vehicle is shown with two drive belts, but vehicles can also be considered with only one drive belt, but then prefer ⁇ ably a drive belt with two link chains arranged laterally displaced relative to each other.
  • link chains there can be employed, for example, belt bands or, if desired, a linked band construction.

Abstract

Un véhicule (10) est spécialement conçu pour porter un équipement destiné au traitement de surfaces planes ou courbes ou à double courbure. Le véhicule est doté de ventouses (17) permettant de maintenir le véhicule appuyé contre une surface s'étendant verticalement, ou inclinée vers le bas ou regardant vers le bas. Le véhicule est doté de courroies d'entraînement mues par un moteur, chacune de ces bandes ayant un ensemble respectif de ventouses (17) disposées en série. En outre, le véhicule possède des dispositifs de commande à soupapes qui actionnnent les ventouses dans les positions où la courroie d'entraînement doit former un appui contre la surface de formation de la base d'entraînement et rend inactives les ventouses dans les positions où la courroie d'entraînement doit être libérée de son appui contre la base d'entraînement.
PCT/NO1983/000048 1983-11-07 1983-11-07 Vehicule WO1985002135A1 (fr)

Priority Applications (6)

Application Number Priority Date Filing Date Title
GB08515988A GB2158403B (en) 1983-11-07 1983-11-07 Vehicle
PCT/NO1983/000048 WO1985002135A1 (fr) 1983-11-07 1983-11-07 Vehicule
FR8320501A FR2557059B1 (fr) 1983-11-07 1983-12-21 Vehicule a ventouses pour circuler sur une surface verticale
AU25910/84A AU568343B2 (en) 1983-11-07 1984-03-20 Track vehicle
BE0/212607A BE899216A (fr) 1983-11-07 1984-03-21 Vehicules a chenilles.
CH145884A CH663768A5 (de) 1983-11-07 1984-03-22 Fahrzeug zum transport von geraeten zur behandlung planer, gekruemmter oder doppelt gekruemmter flaechen.

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/NO1983/000048 WO1985002135A1 (fr) 1983-11-07 1983-11-07 Vehicule

Publications (1)

Publication Number Publication Date
WO1985002135A1 true WO1985002135A1 (fr) 1985-05-23

Family

ID=19907253

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NO1983/000048 WO1985002135A1 (fr) 1983-11-07 1983-11-07 Vehicule

Country Status (6)

Country Link
AU (1) AU568343B2 (fr)
BE (1) BE899216A (fr)
CH (1) CH663768A5 (fr)
FR (1) FR2557059B1 (fr)
GB (1) GB2158403B (fr)
WO (1) WO1985002135A1 (fr)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4828059A (en) * 1986-10-03 1989-05-09 Babcock-Hitachi Kabushiki Kaisha Wall-crawling machine
FR2624824A1 (fr) * 1987-12-16 1989-06-23 Mitsubishi Kakoki Kk Appareil equipe de chenilles soumises a une depression, pour pouvoir etre deplace sur une paroi ou un mur
EP0395489A1 (fr) * 1989-04-28 1990-10-31 Commissariat A L'energie Atomique Véhicule à chenilles adapté à tourner facilement
EP0416142A1 (fr) * 1989-09-04 1991-03-13 O.N.O. Co., Ltd. Procédé et dispositif de commande de la direction d'avancement d'un véhicule chenillé se déplaçant sur un mur par adhérence pneumatique
EP0584520A1 (fr) * 1992-08-25 1994-03-02 Hidetsugu Nishiguchi Robot se déplaçant sur un mur
EP1246750A1 (fr) * 1999-06-07 2002-10-09 SHT Co. Ltd. Dispositif mobile d'adsorption par le vide pourvu d'un systeme de nettoyage
CN114985342A (zh) * 2021-03-02 2022-09-02 安徽巨泰视显光电有限公司 一种手机屏幕保护膜清洗装置
US20220322646A1 (en) * 2019-06-12 2022-10-13 Abyssnaut System for cleaning walls of aquatic basins with motorized traveller

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19727421C2 (de) * 1997-06-27 1999-08-05 Fraunhofer Ges Forschung Autonomer Kletterroboter
CN113276975B (zh) * 2021-05-08 2022-07-12 广东工业大学 一种磁力可控的永磁履带轮及具有其的机器人
CN113734310A (zh) * 2021-09-08 2021-12-03 湖南沄耀中创科技有限公司 永磁吸附履带装置及永磁吸附机器人

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1581849A (en) * 1921-07-15 1926-04-20 Madsen Nils Hull-cleaning machine for ships afloat
GB989742A (en) * 1962-01-19 1965-04-22 Kiyoshi Kontani Self propelled machine for working on the surface of iron and steel bodies
DE2032231A1 (de) * 1970-05-02 1971-12-30 Gehomat, Giss & Hofner oHG, 7014 Kornwestheim Vorrichtung zum Ausführen von Arbeiten an senkrechten Wänden
US3960229A (en) * 1975-03-31 1976-06-01 Cheng Shio Electromagnetic vehicle
US3973711A (en) * 1973-04-03 1976-08-10 Compagnia Italiana Montaggi Industriali Magnetic crawler vehicle for soldering apparatus
US3991842A (en) * 1975-07-25 1976-11-16 Chicago Bridge & Iron Company Movable vacuum secured apparatus for inclined or vertical surfaces
SU852698A1 (ru) * 1979-07-09 1981-08-07 Предприятие П/Я Р-6700 Вакуумно-гусеничный движитель

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE620047C (de) * 1933-12-03 1935-10-12 Werner Schuhbauer Vorrichtung zur Erreichung groesserer Bodenhaftung bei Fahrzeugen, insbesondere Kraftfahrzeugen
DE7723017U1 (de) * 1976-08-18 1977-11-17 Lende, Leendert J. Van Der Selbstfahrendes Fahrgestell, insbesondere für das Befahren und Bearbeiten von senkrechten Wänden, Decken u.dgl

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1581849A (en) * 1921-07-15 1926-04-20 Madsen Nils Hull-cleaning machine for ships afloat
GB989742A (en) * 1962-01-19 1965-04-22 Kiyoshi Kontani Self propelled machine for working on the surface of iron and steel bodies
DE2032231A1 (de) * 1970-05-02 1971-12-30 Gehomat, Giss & Hofner oHG, 7014 Kornwestheim Vorrichtung zum Ausführen von Arbeiten an senkrechten Wänden
US3973711A (en) * 1973-04-03 1976-08-10 Compagnia Italiana Montaggi Industriali Magnetic crawler vehicle for soldering apparatus
US3960229A (en) * 1975-03-31 1976-06-01 Cheng Shio Electromagnetic vehicle
US3991842A (en) * 1975-07-25 1976-11-16 Chicago Bridge & Iron Company Movable vacuum secured apparatus for inclined or vertical surfaces
SU852698A1 (ru) * 1979-07-09 1981-08-07 Предприятие П/Я Р-6700 Вакуумно-гусеничный движитель

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4828059A (en) * 1986-10-03 1989-05-09 Babcock-Hitachi Kabushiki Kaisha Wall-crawling machine
FR2624824A1 (fr) * 1987-12-16 1989-06-23 Mitsubishi Kakoki Kk Appareil equipe de chenilles soumises a une depression, pour pouvoir etre deplace sur une paroi ou un mur
EP0395489A1 (fr) * 1989-04-28 1990-10-31 Commissariat A L'energie Atomique Véhicule à chenilles adapté à tourner facilement
FR2646393A1 (fr) * 1989-04-28 1990-11-02 Commissariat Energie Atomique Vehicule a chenilles adapte a tourner facilement
EP0416142A1 (fr) * 1989-09-04 1991-03-13 O.N.O. Co., Ltd. Procédé et dispositif de commande de la direction d'avancement d'un véhicule chenillé se déplaçant sur un mur par adhérence pneumatique
EP0584520A1 (fr) * 1992-08-25 1994-03-02 Hidetsugu Nishiguchi Robot se déplaçant sur un mur
EP1246750A1 (fr) * 1999-06-07 2002-10-09 SHT Co. Ltd. Dispositif mobile d'adsorption par le vide pourvu d'un systeme de nettoyage
EP1246750A4 (fr) * 1999-06-07 2003-09-17 Sht Co Ltd Dispositif mobile d'adsorption par le vide pourvu d'un systeme de nettoyage
US6971141B1 (en) 1999-06-07 2005-12-06 Sht Co., Ltd. Surface-traveling mobile apparatus and cleaning apparatus using the same
US20220322646A1 (en) * 2019-06-12 2022-10-13 Abyssnaut System for cleaning walls of aquatic basins with motorized traveller
CN114985342A (zh) * 2021-03-02 2022-09-02 安徽巨泰视显光电有限公司 一种手机屏幕保护膜清洗装置

Also Published As

Publication number Publication date
FR2557059B1 (fr) 1989-10-27
BE899216A (fr) 1984-07-16
GB8515988D0 (en) 1985-07-31
AU568343B2 (en) 1987-12-24
AU2591084A (en) 1985-09-26
GB2158403A (en) 1985-11-13
GB2158403B (en) 1988-04-20
CH663768A5 (de) 1988-01-15
FR2557059A1 (fr) 1985-06-28

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