WO2007025553A1 - Robot for the treatment and/or working on steel external structures - Google Patents
Robot for the treatment and/or working on steel external structures Download PDFInfo
- Publication number
- WO2007025553A1 WO2007025553A1 PCT/EP2005/009282 EP2005009282W WO2007025553A1 WO 2007025553 A1 WO2007025553 A1 WO 2007025553A1 EP 2005009282 W EP2005009282 W EP 2005009282W WO 2007025553 A1 WO2007025553 A1 WO 2007025553A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- robot
- track
- magnetic
- unit
- robot according
- Prior art date
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
Definitions
- This invention relates to a robot for the treatment and/or working of external surfaces or parts in large steel structures according to the pre-characterizing part of the main claim.
- the technical field relates to large extended structures, such as for example the keel of a ship, the fagade of a steel building, etc.
- the types of treatment and working can be very different, such as for example:
- - surface treating e.g. abrasive brush or blasting and/or painting of the surfaces; - welding, boring, bolting, etc.
- treatment and/or working of external surfaces or part of them is understood to mean any type of work attainable from outside the surface, outside is intended not only to indicate the exterior of the structure but also the inside of the structure, the external part described herein mainly refers to the surface to be treated or to be worked.
- Sin Andamios Robot is know from EP-A- 04025163.3, that discloses a track-laying robot whose track-links are equipped with magnetic soles and wherein the driving means consist in two opposite and independent motor means, remote-controlling the two opposite tracks independently. In this way the robot can be moved in any direction moving one or the other track of the robot.
- the aim of the present invention is to conceive an improved magnetic-path track robot in a new form of realization in order to allow easy, improved and safe movement along surfaces that are also not plane or small portions of surfaces having non-magnetic parts.
- the movement takes place without hangings and the robot is capable of moving vertically along the steel stanchions of a skyscraper, along the horizontal levels of said vertical surfaces of the steel structures, like a spider, both vertically along the iron beams of the columns and horizontally along the steel iron beams of the levels.
- the robot is capable of moving on the external surfaces of the hulls or keels of ships, both for maintenance in the shipyard as well as for urgent interventions at sea, by means of a submergible feature of the robot, that has the capacity to function below sea level if the robot motor structure provided is completely water-tight.
- the robot can turn 360° without having to displace itself, moving only one of the side units or both tracks in the opposite direction. Consequently, it can move vertically and horizontally and also at right-angles along the stanchions or along the levels for fagade cleaning and maintenance.
- it is also capable of carrying out extraordinary working processes in buildings, such as for example the electro-welding of a structure without the presence of workers.
- Fig.1 represents the schematic perspective overview of the robot, with one track without cover structure and the other track with respective cover in transparent representation, to show (without magnetic plates) the internal structure of the motor means and respective double couple of opposed wheels, one of them toothed for driving the magnetic-sole chain, operated by said motor-means and the other free rotating;
- Fig.2 represents a perspective schematic view of the robot with two opposed elastic advance track-arms, allowing the robot to climb on different tilted surfaces having on their extremity also magnetic-sole couple of free-rotating wheels for adherence on the front or rear surfaces slightly distant from the core robot and also not perfectly in plane with respect to the surface below the body of the robot.
- the provided remote-control electronic apparatus is not disclosed and can be any of the known art.
- the robot is structured with two mono-track units (1) placed in parallel-tandem and hinged sideways-longitudinally to each other by a respective couple of hinging-means (6-7) connected to a side-plate (5) joined to the respective frame (10) of each unit (1), one plate (5) being able to be inclined by orthogonal hinge means (51) in order to allow one unit to oscillate or incline with respect to the other in any direction.
- Each unit (1 ) has a frame with two opposed plates (10) with spacers (100), to realize a case that includes two opposed axles (110), one of them driven by a motor means (12) having a reducer means (13).
- Each axle (110) supports two track wheels (11), realizing a front and rear couple of wheels that support a magnetic-sole tract.
- the motor axle has toothed wheels for driving the magnetic-sole chain (M).
- a case or hull (4) covers the upper part of the unit. In this way it is clear that one unit can incline sideways from the other to achieve improved adherence.
- an arm structure In front of each unit (1 ) an arm structure is provided (2), the arm structure (2) is elastically pressed against the pathway-floor for better adherence by undisclosed spring means. At the end of the arm structure (2) at least a couple of free rotating wheels are provided (23-24) with respective magnetic soles (M).
- the best solution provided a tandem-double couple free oscillating structure (22-220-23-24) supporting a respective magnetic tract (M).
- the same structure being provided front and rear. In this way a the secure climbing of the robot is allowed also in forward or rearward direction to move along different tilted surfaces or to overcome obstacles that are not flat, eg. welding or bolting etc., the magnetic contact surface being better assured in this articulated structure.
- the details can however vary without departing from the domain of the description and claims.
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Laser Beam Processing (AREA)
- Chemical Or Physical Treatment Of Fibers (AREA)
Abstract
Robot for treating and/or working of surfaces or external parts in large steel structures, said robot being of the tracked type for its movement with magnetic soles (M) on the tracks of said track-laying robot, characterised in that - it comprises two independent drive-units (1) hinged sideways one to the other with respective side-hinging means (6-7,51).
Description
DESCRIPTION
ROBOT FOR THE TREATMENT AND/OR WORKING ON STEEL EXTERNAL
STRUCTURES
Object This invention relates to a robot for the treatment and/or working of external surfaces or parts in large steel structures according to the pre-characterizing part of the main claim. Technical Field
The technical field relates to large extended structures, such as for example the keel of a ship, the fagade of a steel building, etc.
The types of treatment and working can be very different, such as for example:
- external maintenance, e.g. the cleaning of the surfaces;
- surface treating, e.g. abrasive brush or blasting and/or painting of the surfaces; - welding, boring, bolting, etc.
However, other treatments and works are not excluded, and therefore the aforementioned examples should not be considered as limitative. Working and maintenance in large steei structures is usual, eg. keel of a ship, skyscrapers and similar buildings, hull overhanging structures, stadium vaulting surfaces, etc.
The definition of treatment and/or working of external surfaces or part of them is understood to mean any type of work attainable from outside the surface, outside is intended not only to indicate the exterior of the structure but also the inside of the structure, the external part described herein mainly refers to the surface to be treated or to be worked.
Background Art and Problems or Drawbacks of the State of the Art
In the present state of the art the treatment technique and/or working of external surfaces or parts in steel structures is well known in skyscraper maintenance,
ships, etc. which require periodic cleaning and painting. Furthermore, the maintenance of a building in a large vault is not easy for operators and is only possible with the use of scaffolding structures.
Nowadays, this operation is carried out using movable bridge means that are lifted and lowered and moved along the entire surface of the structure with workers on board.
The periodic maintenance of the keel and hull of ships that must be almost annually sanded for the removal of marine scales and then revarnished etc. is also known. These operations also have to be carried out using complex and expensive means that involve the additional cost of employing specialized workers.
The need to work metallic surfaces for abrasive blasting or painting of structures is also known. Furthermore, workers suspended along the surfaces are always exposed to the danger of accidents and falling.
To avoid the above problems Sin Andamios Robot is know from EP-A- 04025163.3, that discloses a track-laying robot whose track-links are equipped with magnetic soles and wherein the driving means consist in two opposite and independent motor means, remote-controlling the two opposite tracks independently. In this way the robot can be moved in any direction moving one or the other track of the robot.
Other caterpillar magnetic-path robots are known, see US-A-5884642, JP-A- 02092788, J P-A-2001270478, EP-A-0248659, JP-A-03231079, GB-A-2203108 The above solutions have the problem of being difficult to move in any direction. Furthermore the existing magnetic-track robots are limited in moving on surfaces that are not perfectly plane. In particular when surface change is not plane, magnetic track adherence is reduced with the danger that the robot may fall.
Aim of the Present Invention
The aim of the present invention is to conceive an improved magnetic-path track robot in a new form of realization in order to allow easy, improved and safe movement along surfaces that are also not plane or small portions of surfaces having non-magnetic parts.
Solution to the Problem and Disclosure of the Invention
The problem is solved with the characteristics of the main claim.
The sub-claims relate to preferred solutions.
Advantages
The use of two completely independent mono-track caterpillars hinged sideways to each other not only allow easy movement along the surface in any direction, but also improved adherence of both tracks also in surfaces that are not flat, one being free to incline with respect to the other.
In this way the robot can climb on any ferromagnetic steel surface that constitutes the swinging majority of steel structures.
The movement takes place without hangings and the robot is capable of moving vertically along the steel stanchions of a skyscraper, along the horizontal levels of said vertical surfaces of the steel structures, like a spider, both vertically along the iron beams of the columns and horizontally along the steel iron beams of the levels.
The latter is also true for interventions on the inside of structures or buildings.
Further improved and without movement limitations, it is capable of moving on the external surfaces of the hulls or keels of ships, both for maintenance in the shipyard as well as for urgent interventions at sea, by means of a submergible feature of the robot, that has the capacity to function below sea level if the robot motor structure provided is completely water-tight.
As conceived the robot can turn 360° without having to displace itself, moving only one of the side units or both tracks in the opposite direction. Consequently, it can move vertically and horizontally and also at right-angles along the stanchions or along the levels for fagade cleaning and maintenance. Moreover, it is also capable of carrying out extraordinary working processes in buildings, such as for example the electro-welding of a structure without the presence of workers.
Description of a Preferred Embodiment The invention will be better understood with the following description of a preferred example of robot and with the attached figures wherein: Fig.1 represents the schematic perspective overview of the robot, with one track without cover structure and the other track with respective cover in transparent representation, to show (without magnetic plates) the internal structure of the motor means and respective double couple of opposed wheels, one of them toothed for driving the magnetic-sole chain, operated by said motor-means and the other free rotating;
Fig.2 represents a perspective schematic view of the robot with two opposed elastic advance track-arms, allowing the robot to climb on different tilted surfaces having on their extremity also magnetic-sole couple of free-rotating wheels for adherence on the front or rear surfaces slightly distant from the core robot and also not perfectly in plane with respect to the surface below the body of the robot.
The provided remote-control electronic apparatus is not disclosed and can be any of the known art.
Working structures above the robot are not disclosed as being any of the desired types of work. Therefore, power-operated accessories can be provided,
Eg. brushes, cleaning means, articulated arms for surface workings (cleaning, washing, spraying, painting, scaling etc.), all means and devices being applied on the said robot.
Detailed Description of the Figures
As per Figure 1 and as claimed the robot is structured with two mono-track units (1) placed in parallel-tandem and hinged sideways-longitudinally to each other by a respective couple of hinging-means (6-7) connected to a side-plate (5) joined to the respective frame (10) of each unit (1), one plate (5) being able to be inclined by orthogonal hinge means (51) in order to allow one unit to oscillate or incline with respect to the other in any direction.
Each unit (1 ) has a frame with two opposed plates (10) with spacers (100), to realize a case that includes two opposed axles (110), one of them driven by a motor means (12) having a reducer means (13). Each axle (110) supports two track wheels (11), realizing a front and rear couple of wheels that support a magnetic-sole tract. The motor axle has toothed wheels for driving the magnetic-sole chain (M). A case or hull (4) covers the upper part of the unit. In this way it is clear that one unit can incline sideways from the other to achieve improved adherence.
In front of each unit (1 ) an arm structure is provided (2), the arm structure (2) is elastically pressed against the pathway-floor for better adherence by undisclosed spring means. At the end of the arm structure (2) at least a couple of free rotating wheels are provided (23-24) with respective magnetic soles (M). The best solution provided a tandem-double couple free oscillating structure (22-220-23-24) supporting a respective magnetic tract (M). The same structure being provided front and rear. In this way a the secure climbing of the robot is allowed also in forward or
rearward direction to move along different tilted surfaces or to overcome obstacles that are not flat, eg. welding or bolting etc., the magnetic contact surface being better assured in this articulated structure. The details can however vary without departing from the domain of the description and claims.
Claims
1. Robot for treating and/or working of surfaces or external parts in large steel structures, said robot being of the tracked type for its movement with magnetic soles (M) on the tracks of said track-laying robot, characterised in that it comprises two independent drive-units (1) hinged sideways to each other with respective side-hinging means (6-7,51 ).
2. Robot according to claim 1 characterised in that said side-hinging means comprise at least a longitudinal intermediate hinge means (7), said longitudinal hinge means having a longitudinal intermediate axis (7) substantially able to allow one unit (1) to tilt sideways with respect to the other.
3. Robot according to claim 1 characterised in that said side-hinging means comprise at least transverse hinge means (51 ), said transverse hinge means having a transverse rotational coupling (51 ) substantially able to allow one unit (1 ) to rotate with respect to the other.
4. Robot according to any of previous claims, characterised in that in front and/or rear of each unit, arm means are provided (2), said arm means being equipped with free-advance magnetic track (M) supported by respective free- rotating wheels (23-24).
5. Robot according to preceding claim, characterised in that said front and/or rear magnetic-sole track arms are equipped with spring means to maintain said magnetic advance track in contact with a respective front or rear pathway.
6. Robot according to claim 1 and 2, characterised in that said front and/or rear arm track-supporting wheels (2,23-24) are conceived as a double couple of free oscillating tandem wheels with an intermediate axis (22), in order to allow the respective magnetic track (M) to incline freely, according to the contacting surface, independently of the surface on which the main magnetic of the core robot tracts unit (1 ) lie.
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ES05781689T ES2329389T3 (en) | 2005-08-29 | 2005-08-29 | ROBOT TO TREAT AND / OR WORK ON EXTERNAL STEEL STRUCTURES. |
DK05781689T DK1924487T3 (en) | 2005-08-29 | 2005-08-29 | Robot for the treatment and / or machining of exterior steel structures |
PT05781689T PT1924487E (en) | 2005-08-29 | 2005-08-29 | Robot for the treatment and/or working on steel external structures |
EP05781689A EP1924487B1 (en) | 2005-08-29 | 2005-08-29 | Robot for the treatment and/or working on steel external structures |
AT05781689T ATE435145T1 (en) | 2005-08-29 | 2005-08-29 | ROBOTS FOR THE TREATMENT AND/OR PROCESSING OF EXTERNAL BEAM CONSTRUCTIONS |
PCT/EP2005/009282 WO2007025553A1 (en) | 2005-08-29 | 2005-08-29 | Robot for the treatment and/or working on steel external structures |
DE602005015263T DE602005015263D1 (en) | 2005-08-29 | 2005-08-29 | ROBOT FOR THE TREATMENT AND / OR PROCESSING OF EXTERNAL BEAM STRUCTURES |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/EP2005/009282 WO2007025553A1 (en) | 2005-08-29 | 2005-08-29 | Robot for the treatment and/or working on steel external structures |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2007025553A1 true WO2007025553A1 (en) | 2007-03-08 |
Family
ID=36097194
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2005/009282 WO2007025553A1 (en) | 2005-08-29 | 2005-08-29 | Robot for the treatment and/or working on steel external structures |
Country Status (7)
Country | Link |
---|---|
EP (1) | EP1924487B1 (en) |
AT (1) | ATE435145T1 (en) |
DE (1) | DE602005015263D1 (en) |
DK (1) | DK1924487T3 (en) |
ES (1) | ES2329389T3 (en) |
PT (1) | PT1924487E (en) |
WO (1) | WO2007025553A1 (en) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102009047992B3 (en) * | 2009-10-01 | 2011-03-17 | Niederberger Patent Ag | Climbing robot for driving on adhesive surfaces |
DE102009047991B3 (en) * | 2009-10-01 | 2011-03-31 | Niederberger Patent Ag | Climbing robot for driving on adhesive surfaces |
US20120116583A1 (en) * | 2010-11-08 | 2012-05-10 | James Beard | Mobile, climbing endless track robotic system to perform remote inspections on structures |
US20120138105A1 (en) * | 2010-12-02 | 2012-06-07 | Eliot Systems, S.L. | robotised device of cleaning of external steel structures |
EP2708454A1 (en) * | 2012-09-18 | 2014-03-19 | Eliot Systems, S.L. | Robot for treating metal structures |
CN103863530A (en) * | 2014-02-28 | 2014-06-18 | 浙江海洋学院 | Novel cleaning device for ship attachments |
WO2022103215A1 (en) * | 2020-11-13 | 2022-05-19 | 주식회사 타스글로벌 | Ship-cleaning robot |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
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SI2558353T1 (en) | 2010-04-15 | 2016-02-29 | Yvon Martel | Compact pulling apparatus |
US8827014B2 (en) | 2010-04-15 | 2014-09-09 | Yvon Martel | Compact pulling apparatus |
US9821865B2 (en) | 2010-04-15 | 2017-11-21 | Yvon Martel | Compact pulling apparatus |
EP2908918B1 (en) | 2012-10-19 | 2019-01-09 | Yvon Martel | Compact drive unit including juxtaposed tracks |
WO2015003221A1 (en) | 2013-07-12 | 2015-01-15 | University Of Technology, Sydney | Adhesion system for a climbing vehicle |
CN105473243B (en) | 2013-07-24 | 2018-06-05 | 埃利奥特技术国际有限公司 | The cleaning system that can be mounted on the robot device for cleaning metal surface |
EP4108563A1 (en) * | 2021-06-17 | 2022-12-28 | Mobile Robot Technologies LLC | Mobile robot |
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JPH0293788A (en) | 1988-09-29 | 1990-04-04 | Kubota Ltd | Automatic vending machine |
JPH03237079A (en) | 1990-08-10 | 1991-10-22 | Ngk Spark Plug Co Ltd | Surface structure of base material made of aluminum nitride |
US5435405A (en) * | 1993-05-14 | 1995-07-25 | Carnegie Mellon University | Reconfigurable mobile vehicle with magnetic tracks |
US5884642A (en) | 1997-08-07 | 1999-03-23 | Broadbent Spray Rentals | Remotely controlled pressurized liquid dispensing mobile unit |
JP2001270478A (en) | 2000-03-24 | 2001-10-02 | Babcock Hitachi Kk | Crawler type magnetic travel device |
-
2005
- 2005-08-29 ES ES05781689T patent/ES2329389T3/en active Active
- 2005-08-29 EP EP05781689A patent/EP1924487B1/en not_active Not-in-force
- 2005-08-29 DK DK05781689T patent/DK1924487T3/en active
- 2005-08-29 DE DE602005015263T patent/DE602005015263D1/en active Active
- 2005-08-29 PT PT05781689T patent/PT1924487E/en unknown
- 2005-08-29 WO PCT/EP2005/009282 patent/WO2007025553A1/en active Application Filing
- 2005-08-29 AT AT05781689T patent/ATE435145T1/en not_active IP Right Cessation
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
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GB978600A (en) * | 1963-04-17 | 1964-12-23 | Inst Schiffbau | Apparatus carrier for use on steel walls |
GB1545232A (en) * | 1975-10-20 | 1979-05-02 | Larson R | Device for surface treatment of objects having large surfaces eg ships cisterns or the like |
GB2103162A (en) * | 1981-07-17 | 1983-02-16 | Mitsui Shipbuilding Eng | Apparatus moving on wall |
EP0248659A2 (en) | 1986-06-03 | 1987-12-09 | Edward William Sutherland Kneebone | Self-propelled magnetic-track vehicle |
GB2203108A (en) | 1987-04-07 | 1988-10-12 | Babcock Energy Ltd | Endless track vehicle for verticle and like surfaces |
JPH0293788A (en) | 1988-09-29 | 1990-04-04 | Kubota Ltd | Automatic vending machine |
JPH03237079A (en) | 1990-08-10 | 1991-10-22 | Ngk Spark Plug Co Ltd | Surface structure of base material made of aluminum nitride |
US5435405A (en) * | 1993-05-14 | 1995-07-25 | Carnegie Mellon University | Reconfigurable mobile vehicle with magnetic tracks |
US5884642A (en) | 1997-08-07 | 1999-03-23 | Broadbent Spray Rentals | Remotely controlled pressurized liquid dispensing mobile unit |
JP2001270478A (en) | 2000-03-24 | 2001-10-02 | Babcock Hitachi Kk | Crawler type magnetic travel device |
Cited By (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102009047992B3 (en) * | 2009-10-01 | 2011-03-17 | Niederberger Patent Ag | Climbing robot for driving on adhesive surfaces |
DE102009047991B3 (en) * | 2009-10-01 | 2011-03-31 | Niederberger Patent Ag | Climbing robot for driving on adhesive surfaces |
WO2011038870A1 (en) | 2009-10-01 | 2011-04-07 | Niederberger Patent Ag | Climbing robot for travelling over adhesive surfaces |
WO2011038871A1 (en) | 2009-10-01 | 2011-04-07 | Niederberger Patent Ag | Climbing robot for travelling over adhesive surfaces |
US20120116583A1 (en) * | 2010-11-08 | 2012-05-10 | James Beard | Mobile, climbing endless track robotic system to perform remote inspections on structures |
US10315715B2 (en) * | 2010-11-08 | 2019-06-11 | James Beard | Mobile, climbing endless track robotic system to perform remote inspections on structures |
US9555448B2 (en) * | 2010-12-02 | 2017-01-31 | Eliot Systems, S.L. | Robotised device of cleaning of external steel structures |
EP2647324A1 (en) * | 2010-12-02 | 2013-10-09 | Eliot Systems, S.L. | Robot device for cleaning iron metal structures |
EP2647324A4 (en) * | 2010-12-02 | 2014-07-09 | Eliot Systems S L | Robot device for cleaning iron metal structures |
CN103260493A (en) * | 2010-12-02 | 2013-08-21 | 埃利奥特系统有限公司 | Robot device for cleaning iron metal structures |
US20120138105A1 (en) * | 2010-12-02 | 2012-06-07 | Eliot Systems, S.L. | robotised device of cleaning of external steel structures |
EP2708454A1 (en) * | 2012-09-18 | 2014-03-19 | Eliot Systems, S.L. | Robot for treating metal structures |
WO2014044886A1 (en) * | 2012-09-18 | 2014-03-27 | Eliot Systems, S.L. | Robot for treating metal structures |
CN103863530A (en) * | 2014-02-28 | 2014-06-18 | 浙江海洋学院 | Novel cleaning device for ship attachments |
WO2022103215A1 (en) * | 2020-11-13 | 2022-05-19 | 주식회사 타스글로벌 | Ship-cleaning robot |
TWI795998B (en) * | 2020-11-13 | 2023-03-11 | 南韓商塔斯全球有限公司 | Cleaning robot for ships |
Also Published As
Publication number | Publication date |
---|---|
PT1924487E (en) | 2009-10-12 |
EP1924487B1 (en) | 2009-07-01 |
ES2329389T3 (en) | 2009-11-25 |
DK1924487T3 (en) | 2009-11-23 |
ATE435145T1 (en) | 2009-07-15 |
DE602005015263D1 (en) | 2009-08-13 |
EP1924487A1 (en) | 2008-05-28 |
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