Motor vehicles – Special driving device – Stepper
Patent
1988-01-15
1989-09-12
Pekar, John A.
Motor vehicles
Special driving device
Stepper
180 86, 180901, B62D 5702
Patent
active
048651400
DESCRIPTION:
BRIEF SUMMARY
FIELD OF THE INVENTION
This invention relates generally to robotic devices for accessing vertical and overhead surfaces. More specifically, the invention relates to such robotic devices that can carry other equipment such as surface cleaning devices.
BACKGROUND OF THE INVENTION
Many industrial activities require access to surfaces that can not be easily accessed by workers. For example, large storage tanks and ships require occasional surfacing cleaning and are difficult to access without costly scaffolding or lift devices. Furthermore, some surfaces such as walls and ceilings within storage tanks and nuclear reactors require elaborate and costly safety precautions for access by workers.
Remote controlled robots are replacing workers in a number of industrial activities and thus reducing the risk of injury or death to the work force. A robot that could carry equipment across a wide variety of vertical and overhead surfaces could be used for many industrial activities such as surface cleaning.
SUMMARY OF THE INVENTION
The robotic crawling device of the present invention can traverse vertical and overhead surfaces and comprises outer gripping means for gripping the surface, inner gripping means for gripping the surface, the inner gripping means being positioned within the outer gripping means, and crawling means for raising, advancing, and lowering the outer and inner gripping means in sequence.
In a preferred embodiment, the robotic crawling device further comprises a platform for mounting other devices. The platform is mounted to the crawling device such that the platform remains a substantially fixed distance from the surface.
Another aspect of the preferred embodiment is the use of suction to grip the surface by maintaining a low pressure between the surface and the platform. Alternatively, the crawling device can be adapted to grip metal surfaces with electromagnets. Further, the crawling device can include a turning mechanism for changing the direction of movement across the surface.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a top view of a preferred embodiment of the robotic crawling device of the present invention, the preferred embodiment using suction to grip the surface and having a platform for mounting other devices and a turning mechanism;
FIG. 2 is a sectional view of the robotic crawling device of FIG. 1 as indicated by line 2--2 on FIG. 1;
FIG. 3 is an enlarged view of the right end of FIG. 2;
FIG. 4 is a top view of the robotic crawling device of FIG. 1 with the platform removed as shown by line 4--4 on FIG. 2;
FIGS. 5A, 5B, 5C, 5D, and 5E present schematic representations of the crawling motion for the robotic crawling device of FIG. 1;
FIG. 6 is a sectional view of the robotic crawling device of FIG. 1 as indicated by line 6--6 on FIG. 1 and better shows the details of a preferred crawling mechanism;
FIGS. 7 and 8 are detailed views of components of the preferred crawling mechanism of FIG. 6;
FIG. 9 is a sectional view of a preferred mechanism for maintaining low pressure within the crawling device; and
FIGS. 10A, 10B, 10C, 10D, and 10E present further schematic representations of the preferred crawling motion which correspond to FIGS. 5A, 5B, 5C, 5D, and 5E, respectively.
DETAILED DESCRIPTION OF A PREFERRED EMBODIMENT
In the drawings, a platform 10 is provided for mounting other devices thereon (not shown), such as Applicant's surface cleaning device which is described in U.S. Pat. No. 4,531,253 and is hereby incorporated by reference. The attachment of the cleaning device or other equipment to the platform 10 may be by any conventional means such as bolts, or by welding. The platform 10 is capable of traversing horizontal and vertical surfaces, including overhead surfaces, while the platform 10 remains a substantially fixed distance from the surface S as described below. The platform 10 adheres to the surface S by suction and is connected to a suction source as described below. A hole 12 in the platform 10 is provided for connection with the suction source.
The use of suc
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patent: 4330865 (1982-05-01), Hyde et al.
patent: 4333259 (1982-06-01), Pin-Huang
patent: 4345658 (1982-08-01), Danel et al.
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