WO2015081013A1 - Appareils et procédés d'évaluation, de maintenance, et de réparation structurelle - Google Patents

Appareils et procédés d'évaluation, de maintenance, et de réparation structurelle Download PDF

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Publication number
WO2015081013A1
WO2015081013A1 PCT/US2014/067108 US2014067108W WO2015081013A1 WO 2015081013 A1 WO2015081013 A1 WO 2015081013A1 US 2014067108 W US2014067108 W US 2014067108W WO 2015081013 A1 WO2015081013 A1 WO 2015081013A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
tool
drive system
coupled
section
Prior art date
Application number
PCT/US2014/067108
Other languages
English (en)
Inventor
Lowell L. Wood, Jr.
Hon Wah Chin
William David Duncan
Roderick A. Hyde
Jordin T. Kare
Tony S. PAN
David B. Tuckerman
Original Assignee
Elwha Llc
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
Priority claimed from US14/091,150 external-priority patent/US9193068B2/en
Priority claimed from US14/090,725 external-priority patent/US9193402B2/en
Application filed by Elwha Llc filed Critical Elwha Llc
Publication of WO2015081013A1 publication Critical patent/WO2015081013A1/fr

Links

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
    • B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • 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
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
    • E01D19/00—Structural or constructional details of bridges
    • E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
    • E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne des systèmes destinés au nettoyage d'une structure par l'intermédiaire d'un robot. Le robot comprend un corps. Le robot comprend en outre un outil couplé au corps et conçu pour tenir un outil de maintenance structurelle. Le robot comprend un capteur couplé au corps. Le robot comprend un système d'entraînement conçu pour permettre le positionnement du corps le long de la structure, y compris un positionnement inversé et un positionnement vertical. Le robot comprend en outre une interface de communication couplée ou corps. Le robot comprend un dispositif de commande couplé au corps. Le dispositif de commande est en communication avec l'outil, le capteur et le système d'entraînement. Le dispositif de commande est conçu pour recevoir une instruction opératoire par l'intermédiaire de l'interface de communication. Le dispositif de commande est conçu pour positionner de façon autonome le corps par l'intermédiaire du système d'entraînement et pour effectuer une tâche avec au moins l'un de l'outil et du capteur en fonction de l'instruction opératoire.
PCT/US2014/067108 2013-11-26 2014-11-24 Appareils et procédés d'évaluation, de maintenance, et de réparation structurelle WO2015081013A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US14/091,150 US9193068B2 (en) 2013-11-26 2013-11-26 Structural assessment, maintenance, and repair apparatuses and methods
US14/090,725 US9193402B2 (en) 2013-11-26 2013-11-26 Structural assessment, maintenance, and repair apparatuses and methods
US14/091,150 2013-11-26
US14/090,725 2013-11-26

Publications (1)

Publication Number Publication Date
WO2015081013A1 true WO2015081013A1 (fr) 2015-06-04

Family

ID=53199578

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2014/067108 WO2015081013A1 (fr) 2013-11-26 2014-11-24 Appareils et procédés d'évaluation, de maintenance, et de réparation structurelle

Country Status (1)

Country Link
WO (1) WO2015081013A1 (fr)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106426192A (zh) * 2016-04-26 2017-02-22 金莉萍 智能洗船机器人
WO2017084983A1 (fr) * 2015-11-20 2017-05-26 National Grid Gas Plc Robot d'inspection de conduite
WO2018215977A1 (fr) * 2017-05-26 2018-11-29 Invert Robotics Limited Robot grimpant pour la détection de défauts sur un corps d'aéronef
WO2019155234A1 (fr) * 2018-02-09 2019-08-15 Bladebug Limited Système d'inspection de pale d'éolienne
CN110171502A (zh) * 2019-05-29 2019-08-27 三明学院 一种足履机器人
CN110234563A (zh) * 2017-04-28 2019-09-13 深圳市元征科技股份有限公司 一种救灾车的自动行驶方法及装置
CN110450176A (zh) * 2019-08-07 2019-11-15 国网河北省电力有限公司 用于电力物资仓储盘点的机器人
CN110617801A (zh) * 2019-09-17 2019-12-27 韶关市涵润信息科技有限公司 建筑病害巡视装置、建筑病害检测系统及其检测方法
WO2021028672A1 (fr) * 2019-08-09 2021-02-18 Quantum Leap Technologies Limited Système d'entretien de tissu et procédé d'utilisation
CN112743192A (zh) * 2021-03-05 2021-05-04 广东海洋大学 一种气室式局部干法水下焊接机器人

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20010013434A1 (en) * 2000-02-16 2001-08-16 Hopkins Kathleen Garrubba Adherent Robot
US20080257615A1 (en) * 2007-04-20 2008-10-23 Gm Global Technology Operation, Inc. Climbing devices based on thermo-reversible dry adhesives
JP2010186819A (ja) * 2009-02-10 2010-08-26 Kowa Co Ltd ソーラーパネル清掃装置
KR20110024946A (ko) * 2009-09-03 2011-03-09 현대중공업 주식회사 선체 외판 블라스팅 장치
KR20120068330A (ko) * 2010-12-17 2012-06-27 삼성중공업 주식회사 해저로봇 운용 시스템 및 그 방법
KR20130025526A (ko) * 2011-09-02 2013-03-12 삼성중공업 주식회사 풍력터빈용 블레이드 유지관리장치
KR20130105130A (ko) * 2012-03-16 2013-09-25 (주)마미로봇 태양전지판의 세정장치

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20010013434A1 (en) * 2000-02-16 2001-08-16 Hopkins Kathleen Garrubba Adherent Robot
US20080257615A1 (en) * 2007-04-20 2008-10-23 Gm Global Technology Operation, Inc. Climbing devices based on thermo-reversible dry adhesives
JP2010186819A (ja) * 2009-02-10 2010-08-26 Kowa Co Ltd ソーラーパネル清掃装置
KR20110024946A (ko) * 2009-09-03 2011-03-09 현대중공업 주식회사 선체 외판 블라스팅 장치
KR20120068330A (ko) * 2010-12-17 2012-06-27 삼성중공업 주식회사 해저로봇 운용 시스템 및 그 방법
KR20130025526A (ko) * 2011-09-02 2013-03-12 삼성중공업 주식회사 풍력터빈용 블레이드 유지관리장치
KR20130105130A (ko) * 2012-03-16 2013-09-25 (주)마미로봇 태양전지판의 세정장치

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017084983A1 (fr) * 2015-11-20 2017-05-26 National Grid Gas Plc Robot d'inspection de conduite
WO2017085126A1 (fr) * 2015-11-20 2017-05-26 National Grid Gas Plc Robot d'inspection de conduite
CN106426192A (zh) * 2016-04-26 2017-02-22 金莉萍 智能洗船机器人
CN110234563A (zh) * 2017-04-28 2019-09-13 深圳市元征科技股份有限公司 一种救灾车的自动行驶方法及装置
CN110234563B (zh) * 2017-04-28 2022-04-15 深圳市元征科技股份有限公司 一种救灾车的自动行驶方法及装置
WO2018215977A1 (fr) * 2017-05-26 2018-11-29 Invert Robotics Limited Robot grimpant pour la détection de défauts sur un corps d'aéronef
GB2573192A (en) * 2018-02-09 2019-10-30 Bladebug Ltd Wind turbine blade inspection system
WO2019155234A1 (fr) * 2018-02-09 2019-08-15 Bladebug Limited Système d'inspection de pale d'éolienne
US11959463B2 (en) 2018-02-09 2024-04-16 Bladebug Limited Wind turbine blade inspection system
GB2573192B (en) * 2018-02-09 2020-12-30 Bladebug Ltd Wind turbine blade inspection system
GB2591176B (en) * 2018-02-09 2021-12-15 Bladebug Ltd Wind turbine blade inspection system
GB2591176A (en) * 2018-02-09 2021-07-21 Bladebug Ltd Wind turbine blade inspection system
CN110171502A (zh) * 2019-05-29 2019-08-27 三明学院 一种足履机器人
CN110171502B (zh) * 2019-05-29 2021-10-29 三明学院 一种足履机器人
CN110450176A (zh) * 2019-08-07 2019-11-15 国网河北省电力有限公司 用于电力物资仓储盘点的机器人
WO2021028672A1 (fr) * 2019-08-09 2021-02-18 Quantum Leap Technologies Limited Système d'entretien de tissu et procédé d'utilisation
CN110617801A (zh) * 2019-09-17 2019-12-27 韶关市涵润信息科技有限公司 建筑病害巡视装置、建筑病害检测系统及其检测方法
CN112743192A (zh) * 2021-03-05 2021-05-04 广东海洋大学 一种气室式局部干法水下焊接机器人
CN112743192B (zh) * 2021-03-05 2024-04-26 广东海洋大学 一种气室式局部干法水下焊接机器人

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