Material or article handling – Load carried along a horizontal linear path – Having gripper means
Patent
1984-02-15
1987-06-23
Werner, Frank E.
Material or article handling
Load carried along a horizontal linear path
Having gripper means
114222, 414 1, 414730, 414732, 414753, 414744A, 414626, 901 1, 901 50, 901 30, 180901, 180 85, 180 86, 248363, B25J 500
Patent
active
046749497
DESCRIPTION:
BRIEF SUMMARY
This invention relates to an independent apparatus capable of moving along a non-horizontal surface, for example along a vertical surface or on a ceiling.
One application of such equipment relates to the painting or the scraping of ships' hulls.
Document U.S. Pat. No. 3,409,854 describes an apparatus intended for such uses; it comprises a first train equipped with three electro-magnets, a second train equipped with one single electro-magnet and connecting means comprising an intermediate element capable of gliding in relation to the first train and capable of rotating in relation to the second train. This intermediate element is supporting the tools for treating the surface. It will be understood that by actuating separately and successively the electro-magnets of the first train and of the second train while allowing the intermediate element to slide or to rotate, the apparatus is capable of moving at will along a flat surface. Such an apparatus can only operate on surfaces the curvature of which is very slight as it is in fact only on account of the clearances between the various elements of the apparatus that correct contact between the electro-magnets and the supporting surface is obtained if the latter is not absolutely flat; if said clearances are too considerable they can, during displacement, bring one of the electro-magnets at a distance of the supporting surface such that there is no adhesion and the apparatus is not supported in a suitable manner. The fact that the second train is equipped with only one electro-magnet increases this risk as it ensures only reduced stability, if a too considerable weight is to be avoided.
The fact that the tools are integral with the intermediate element results in the disadvantage that the tools can only be displaced to treat the surface at the same time as the one of the trains. They can only effect a translation movement or at most a rotating movement, thus causing waste of time if the forces brought into play are not very considerable; furthermore the holding force of the two trains cannot be used at the same time; this is a limitation in the case of considerable forces.
Patent FR-A-2.221.243 describes an apparatus which comprises two trains which can move in relation to each other by a relative translation in two directions, with no rotation. Each train is equipped with two electro-magnets. The trains may be articulated or curved beforehand to adapt to the curvature of a surface. This apparatus offers the same disadvantages at the previous one as far as its stability is concerned when moving; it is, on the other hand ill-adapted to displacements or surfaces the curvature of which varies, such as a ship's hull, as the presence of articulations harms its rigidity and make the system heavier; it is also impractical to have to change train each time the surface changes.
The trains can furthermore not change their direction as no rotation is possible for a treatment tool supported by one or the other train which therefore also keeps the same direction, or--if it can oscillate around an average position, its possible directions are limited by the angle of its oscillations.
In FR.-A-1.205.668 there is described a transport device intended for displacements on horizontal ground; its structure is more or less the same as that describe in FR.-A-2.22.243 with the exception that each train supports four extensible feet. This device is therefore capable of moving on irregular ground but is devoid of means enabling it to grip onto a high gradient slope; it also is not equipped with any tools.
Thus there does not exist--as far as the inventor is concerned--any apparatus which is capable of easily and independently move along a curved, high gradient slope for purposes of inspection and/or treatment.
The aim of this invention is to provide such an apparatus, which would be of a very simple construction and would offer great safety.
Another aim of the invention is to provide such an apparatus capable of being used both rapidly for rapidly sweeping considerable surfaces while
REFERENCES:
patent: 3409854 (1968-11-01), Swallert
patent: 3612201 (1971-10-01), Smith
patent: 4119900 (1978-10-01), Kremnitz
patent: 4227853 (1980-10-01), Woodford et al.
International Robotic Engineering, Inc.
Temko Charles E.
Werner Frank E.
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