WO2017042722A1 - Machine d'inspection et de réparation de parois - Google Patents

Machine d'inspection et de réparation de parois Download PDF

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Publication number
WO2017042722A1
WO2017042722A1 PCT/IB2016/055376 IB2016055376W WO2017042722A1 WO 2017042722 A1 WO2017042722 A1 WO 2017042722A1 IB 2016055376 W IB2016055376 W IB 2016055376W WO 2017042722 A1 WO2017042722 A1 WO 2017042722A1
Authority
WO
WIPO (PCT)
Prior art keywords
main body
machine according
cables
inspecting
joined
Prior art date
Application number
PCT/IB2016/055376
Other languages
English (en)
Inventor
Rony Javier CABALLERO GEORGE
Fernando MERCHAN
Aranzazu BERBEY
Original Assignee
Universidad Tecnológica De Panamá
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 Universidad Tecnológica De Panamá filed Critical Universidad Tecnológica De Panamá
Publication of WO2017042722A1 publication Critical patent/WO2017042722A1/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
    • B62D57/024—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
    • 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

  • This invention describes a machine for inspecting and repairing walls of buildings, ships, airplanes, tanks, silos and similar.
  • the machine comprises a securing device with multiple cables that make it possible to position the main body, whereon the wall inspection and repair means are mounted, at any point of the wall, regardless of whether the surface is regular or irregular.
  • cracks or filtrations can be repaired locally by applying specific products such as mixtures, epoxy compounds or equivalent products.
  • the cleaning apparatus is secured to the building by means of a suction system.
  • This system can move freely in any direction (i.e. vertically, horizontally or in both directions).
  • this system has several limitations.
  • the suction force depends on the suction system, the system has a limited load weight for the equipment and cleaning supplies (for example: water, detergent and brushes).
  • the system is not equipped to move on irregular surfaces (for example, on walls that are not totally flat, with external columns).
  • the machine for inspecting and repairing walls of the present invention overcomes the previously described technical problems of the known systems.
  • the invention consists of a machine for inspecting and repairing walls, preferably of buildings, that comprises a main body with the inspection and repair means and that is supported by a securing device with at least four cables secured directly or indirectly to the top portion and bottom portion (or other positions) of a surface to be cleaned.
  • the inspection and repair device is secured to cables using springs that provide the adequate securing and stability.
  • the length of the cables is chosen in such a manner that the entire surface to be cleaned can be reached.
  • the cables secured to the top portion of the surface are connected to a motorised mechanical transmission or other system to pull the main body.
  • the cables connected to the bottom portion of the surface can be connected to a motorised mechanical transmission, counterweights or other equivalent system. Other cables in other points may be connected in a similar manner.
  • These motorised transmissions are directly or indirectly connected to motors. The motors can pull the cables in such a manner that the main body may be positioned at any position of the surface.
  • the planning of the movement of the motors is controlled by means of a control unit.
  • the position of the main body of the inspection and repair machine is determined using position and sensors, revolution counters, inertial sensors, image sensors or equivalent systems.
  • the machine also comprises at least one assembly of omnidirectional wheels which is fixed, in one example of embodiment, to the edge of the main body.
  • the omnidirectional wheels may be wheels with rollers joined to their circumference (said rollers being arranged on rotation axes arranged at an angle of 45° to the plane of the wheel and at an angle of 45° to a line that passes through the roller parallel to the rotation axis of the wheel), ball-type wheels or equivalent wheels.
  • the sets of wheels have a star or equivalent configuration, with three wheels in each set of wheels. This star-shaped configuration allows the device to overcome obstacles.
  • the machine comprises at least one camera or sensor to carry out the inspection work. In order to make repairs, the machine has a mechanised product applicator. In addition, the machine can be operated autonomously or remotely.
  • the main objective of this invention is to position the machine for inspecting and repairing walls at any position on the surface of a wall of a building.
  • the securing device can provide a stable support for the machine for inspecting and repairing, even in the case of winds and drafts.
  • Another objective is for the machine to be able to carry the necessary load weight of the inspection and repair equipment and supplies.
  • Another objective of the inspection and repair machine is to overcome any obstacle or irregularity in the surface of the wall.
  • FIGURE 1 a Shows a front view of the machine for inspecting and repairing walls arranged on the wall of a building;
  • FIGURE 1 b Shows a zoom view of the main body in the position of the machine for inspecting and repairing walls shown in figure 1 a;
  • FIGURE 2a Shows an upper view of the machine for inspecting and repairing walls installed on the wall of a building shown in figure 1 a;
  • FIGURE 2b Shows a zoom view of the main body of the machine for inspecting and repairing walls shown in figure 2a;
  • FIGURE 3a Shows a side view of the machine for inspecting and repairing walls shown in figure 1a;
  • FIGURE 3b Shows a zoom view of the main body of the machine for inspecting and repairing walls shown in figure 3a with internal details;
  • FIGURE 4 Shows a zoom view of the main body of the machine for inspecting and repairing walls wherein the side that is opposed to the wall can be observed;
  • FIGURE 5 Shows a detailed view of the assembly of omnidirectional wheels arranged in a star-shaped configuration
  • FIGURE 6a Shows a side view of the machine for inspecting and repairing walls before overcoming an obstacle
  • FIGURE 6b Shows a side view of the machine for inspecting and repairing walls after overcoming an obstacle
  • FIGURE 7a Shows a front view of the machine for inspecting and repairing walls installed on the wall of a building shown in figure 1 a after having moved up the wall;
  • FIGURE 7b Shows a front view of the machine for inspecting and repairing walls installed on the wall of a building shown in figure 7a after having moved laterally along the wall.
  • Figure 1a shows a machine for inspecting and repairing walls, comprising at least one main body (1) with means for inspecting and repairing the wall, a securing device that comprises a plurality of cables (2) and at least one assembly of omnidirectional wheels (7) that make it possible to rest and move the main body (1) on the wall.
  • the securing device comprises a plurality of cables through which it is joined to the main body (1) and a plurality of motors (3) to which the cables are joined by means of a mechanical transmission and/or a pulley (4) to wind or release said cables in accordance with the position in which the main body is arranged.
  • Figure 1 a shows the cables (2) of the securing device.
  • the upper left support cable (2) passes through the upper left pulley (4) and connects to the mechanical transmission and upper left motor (3).
  • the upper right securing cable (2) passes through the upper right pulley (4) and is connected to the mechanical transmission and upper right motor (3).
  • the lower left securing cable (2) passes through the lower left pulley (4) and connects to the mechanical transmission and lower left motor (3).
  • the lower right securing cable (2) passes through the lower right pulley (4) and connects to the mechanical transmission and lower right motor (3).
  • the upper motors (3) and lower motors (3) pull or loosen the securing cables (2) to obtain the necessary length of each cable.
  • Figure 1 b shows a zoom view of the main body (1) of the inspection and repair machine of figure 1a. It can be observed that the cables (2) comprises springs (8) at the ends with which they are joined to the main body (1). Additionally, the cable supports (9) can be observed, whereby said cables (2) are joined to the main body (1).
  • Figures 2a and 2b shows the inspection and repair machine in an upper view.
  • Figure 3a represents a side view of the machine for inspecting and repairing the wall on which work is being carried out.
  • Figure 3b shows a zoom view of the main body (1) wherein the elements arranged therein can be observed.
  • Brushes (5) have been represented, which may be arranged on the main body, a repair product nozzle (10), a repair product tank (11), at least one sensor (19), a brush motor system (6) and a control unit (12).
  • the repair product tank (1 1) may also comprise a product applicator.
  • Figure 4 represents the face of the main body (1), which is arranged in opposition to the wall.
  • the brushes (5), the repair product nozzle (10) and the inspection camera (13) can be observed.
  • Figure 5 shows a detail of the star-shaped configuration of the sets of wheels (7) with a central rotation shaft (18).
  • the star-shaped configuration makes it possible to overcome obstacles (22) on the wall, as shown in figures 6a and 6b.
  • Figures 7a and 7b show the main body after having moved up the wall. To this end, the upper cables (2) have been pulled and the lower cables extended in a coordinated manner until reaching the desired position.
  • Figure 7b represents a movement towards the right. In order to perform this movement the cables (2) on the right have been pulled and the cables on the left have been extended in a coordinated manner.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Transportation (AREA)
  • Working Measures On Existing Buildindgs (AREA)
  • Bridges Or Land Bridges (AREA)

Abstract

L'invention concerne une machine d'inspection et de réparation de parois de bâtiments, de navires, d'avions, de réservoirs, etc. Elle comprend un corps principal ayant un moyen d'inspection et de réparation de parois, un dispositif de fixation, et au moins un ensemble de roues omnidirectionnelles qui lui permet de se déplacer sur n'importe quel obstacle ou irrégularité de la paroi. Le dispositif de fixation comprend de multiples câbles et permet au corps principal d'être positionné à n'importe quel point sur la surface.
PCT/IB2016/055376 2016-06-24 2016-09-09 Machine d'inspection et de réparation de parois WO2017042722A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
PA91200 2016-06-24
PA9120001 2016-06-24

Publications (1)

Publication Number Publication Date
WO2017042722A1 true WO2017042722A1 (fr) 2017-03-16

Family

ID=62791450

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2016/055376 WO2017042722A1 (fr) 2016-06-24 2016-09-09 Machine d'inspection et de réparation de parois

Country Status (1)

Country Link
WO (1) WO2017042722A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109828568A (zh) * 2019-02-15 2019-05-31 武汉理工大学 对RoboCup比赛的NAO机器人寻球步态优化方法
CN113006525A (zh) * 2021-04-19 2021-06-22 南京林业大学 一种高空外墙修缮喷绘装置

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4709772A (en) * 1985-01-31 1987-12-01 Pierre Brunet Motorized moving device
US20020070514A1 (en) * 2000-12-12 2002-06-13 Costa Ronald D. Omnidirectional spherical roller caster
US20060048800A1 (en) * 2004-09-09 2006-03-09 Rast Rodger H Automated building exterior cleaning apparatus
US7035758B1 (en) * 2003-06-19 2006-04-25 George Jerome Inspection system and method of inspection utilizing data acquisition and spatial correlation
US20080295265A1 (en) * 2007-05-29 2008-12-04 Gorman Daniel J Remote controlled apparatus for cleaning of outer window surfaces of high rise buildings and building facades
US20100011522A1 (en) * 2008-07-18 2010-01-21 Kim Gyung-Sub Apparatus for visually inspecting and removing foreign substance from gap of heat tube bundle in upper part of tube sheet of second side of steam generator
US20100187779A1 (en) * 2009-01-26 2010-07-29 Potter Steven D Omni-directional wheel

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4709772A (en) * 1985-01-31 1987-12-01 Pierre Brunet Motorized moving device
US20020070514A1 (en) * 2000-12-12 2002-06-13 Costa Ronald D. Omnidirectional spherical roller caster
US7035758B1 (en) * 2003-06-19 2006-04-25 George Jerome Inspection system and method of inspection utilizing data acquisition and spatial correlation
US20060048800A1 (en) * 2004-09-09 2006-03-09 Rast Rodger H Automated building exterior cleaning apparatus
US20080295265A1 (en) * 2007-05-29 2008-12-04 Gorman Daniel J Remote controlled apparatus for cleaning of outer window surfaces of high rise buildings and building facades
US20100011522A1 (en) * 2008-07-18 2010-01-21 Kim Gyung-Sub Apparatus for visually inspecting and removing foreign substance from gap of heat tube bundle in upper part of tube sheet of second side of steam generator
US20100187779A1 (en) * 2009-01-26 2010-07-29 Potter Steven D Omni-directional wheel

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109828568A (zh) * 2019-02-15 2019-05-31 武汉理工大学 对RoboCup比赛的NAO机器人寻球步态优化方法
CN109828568B (zh) * 2019-02-15 2022-04-15 武汉理工大学 对RoboCup比赛的NAO机器人寻球步态优化方法
CN113006525A (zh) * 2021-04-19 2021-06-22 南京林业大学 一种高空外墙修缮喷绘装置

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