Supports – Brackets – Specially mounted or attached
Patent
1985-07-26
1987-05-19
Ramirez, Ramon O.
Supports
Brackets
Specially mounted or attached
2482063, 248363, E04G 300
Patent
active
046661140
DESCRIPTION:
BRIEF SUMMARY
The present invention relates to a device for holdng on a non-horizontal surface an apparatus capable of moving along said surface. More particularly, it relates to an apparatus such as described in Patent application EP-A-0084012. This reference describes a self-contained apparatus capable of moving along a non-horizontal surface and including a first moving system and a second moving system connected to the first system by means affording a relative movement by translation and by rotation in a plane parallel with said surface, and first and second holding means carried by the first and second moving systems, respectively, and capable of removably securing said apparatus on said surface characterized in that the holding means carried by at least one moving system are connected to said moving system through jacks apt to move said moving system with respect to said holding means in a direction perpendicular to said surface. Said holding means are advantageously formed, according to said patent, by several adhesion devices which are magnetic or pneumatic suction cups, and it is contemplated that one suction cup may be replaced by several smaller suction cups which are interconnected. This solution is obviously advantageous, since it affords reduction of the costs. A suction cup of great size is, indeed, more expensive than an assembly of equivalent efficiency including smaller suction cups.
In the parent patent, there is provided, between each jack adapted to move the moving system with respect to the holding means normally to the surface carrying the same and said holding means, a swivel-joint whereby the changes in curvature of said surface may be accomodated.
However, it became apparent that such a swivel-joint is a delicate, expensive instrument, and that a single swivel-joint interposed between a jack and an assembly including several suction cups was not always capable of affording perfect accomodation by the holding means especially when the curvature is not constant on the scale of the holding means.
An object of the present invention is therefore to solve those problems and to provide a connection between a jack and a suction cup assembly which is simultaneously more reliable, cheaper and less delicate than the prior arrangement.
A further object of the invention is to improve the accuracy in the detection of the position of the suction cups with respect to the wall. It is known that the positioning of the jacks is dependent upon the detection of the suction cup positions, so that an improvement in this detection is obviously related to the improvement of the holding means.
The present invention therefore provides an apparatus according to claim 1 of the parent patent wherein the holdng means include at least one assembly comprising at least two suction cups, having the feature that each of said assemblies includes:
a support adapted to move normally to said surface;
a flexible rocking lever pivotally mounted at its central portion on said support, and;
at least two magnetic or pneumatic suction cups close to the ends of the rocking lever, the flexibility of the rocking lever being sufficient to allow the suction cups to accommodate the expected changes in the curvature of the surface, but insufficient to cause detachment of the suction cups under the action of forces liable to result from the operation of the apparatus.
According to advantageous embodiments:
the rocking lever consists of an elongate leaf which carries a suction cup close to each of its ends,
The suction cups are secured on the rocking lever at the central portion of their rear face, which is opposite to their operative face, said rear face having around its edges sufficient convexity or conicity not to impede bending motion of the rocking lever,
the rocking lever is provided, on its face facing the surface which co-acts with the suction cups, with a resilient stop, which is located in its central part and adapted to resist to exagerated bending of said rocking lever,
said rocking lever has at rest at curvature with a concavity faci
REFERENCES:
patent: 1598559 (1926-08-01), Cohen
patent: 3305202 (1967-02-01), Christenson
patent: 3409854 (1968-11-01), Swallert
patent: 3918666 (1975-11-01), Florian
patent: 4197796 (1980-04-01), Salatka
Kroczynski Patrice A.
Moreau Jean-Pierre
International Robotic Engineering, Inc.
Ramirez Ramon O.
Temko Charles E.
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