CA1281349C - Robotic crawling device - Google Patents
Robotic crawling deviceInfo
- Publication number
- CA1281349C CA1281349C CA000536811A CA536811A CA1281349C CA 1281349 C CA1281349 C CA 1281349C CA 000536811 A CA000536811 A CA 000536811A CA 536811 A CA536811 A CA 536811A CA 1281349 C CA1281349 C CA 1281349C
- Authority
- CA
- Canada
- Prior art keywords
- cam
- platform
- housing
- robotic
- inner housing
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Lifetime
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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Abstract A robotic crawling device that can traverse vertical and overhead surfaces while carrying other equipment. The device preferably includes a platform (10) that remains a substantially fixed distance from the surface. The platform (10) rides on a crawling mechanism which includes an outer housing (56) and an inner housing (46) positioned within the outer housing (56). A turning mechanism can be mounted with the inner housing (46) to allow the device to be advanced in any direction.
Description
~28~3~9 Application for Paten~
Inventor. Spencer D. Cottam Title: Robotic Crawling Device Specification Field o~ the I~vention Thi~ invention relates generally to robotic devices for accessing vertical and overhead surfacesO More specifically, the invention relates to such robotic 5 . devices tha~ can carr~ other equipment such ~s surface cleaning devices, Background of the Invention .~
ny industrial activities require access to surfaces ~hat ca~ ~ot be e~sily accessed by workers. ~or example/
19 . large storage tanks and ships require occasional surfacing cleaning and are difficult to access without costly scaffoldi~g or lift devicesO Furthermore, some surfaces such as walls and ceilings within storage tanks and nuclear reactors require elaborate and costly safety 1~ precautions or ~ccess by workers.
Remote controlled robots are replacing workers in a number of industrial activities and thus reducing the risk of injury or dea~h to the work for~e. A robot that could carr~ equipment across a wide variety o~ vertical and ~0 o~erhead surfaces could be used for many industrial activi~ies such as surface cleaning.
- Express kbil l~o. B95174516 . ~' '. ~ .
, , . ~ -2-Summary of the Invention The robotic crawling device of ~he present invention can traverse vertical and overhead sur~aces and comprises outer gripping means for gripping the surface, inner S grippiny means for gripping the ~urface, ~he i~er gripping means being positioned withln the outer gripping means~ and cr~wling means for raising~ advancing, and lowering ~he ou~er and inner gripping means in sequence.
In a preferred embodiment, the robotic cxawling device further comprises a platform for mounting o~her devices~ The platform is mounted to the crawling device such that the platform remains a su~stantially fi~ed distance from the surface.
Another aspect of the preferred embodiment is the u~e of suction to grip the surface by maintaining a low pressure between the surface and the platform.
Alternati~ely, the crawling device can be adapted to grip metal surfaces with electromagnets. P~rther, the crawling device can includ~ a turning mechanism for changing th~
~0 direction o~ movement acro~s ~he surface~
.
Brief Description of ~ e ~rawin~s Figure 1 i~ a top view of a preferred embodiment of the robotic crawling device of ~he pressent invention~ the preferred embodiment using suction to grip the surface and ~5 having ~ pla~fonn for mounting other devices and a turnin . mech~nism;
Figure 2 is a sectional view of ~h~ xobotic crawlin~ .
device of Figure 1 as indicated by line 2 2 on Figure 1;
Figure 3 is an enl~rged view of ~he righk end of Figure ~;
Figure 4 is a top view of the robotic crawling device of Figure 1 wikh ~he platform removed as shown by line 4-4 on Figure 2, . Figures 5A, 5B, 5Ct SD, and 5E pxesent schematic represenkations of the crawling motion for the robotic crawling device of Figure lt ~8~L:34~
Figure 6 is a sectional view of the robotic crawling device of Figure l as indicated by line 6-6 on Figure 1 and better shows the details of a preferred crawling mechanism;
Figures 7 and 8 are detailed views of components of ~he preferred crawling mechan.sm of Figure 6;
Figure 9 is a sectional view o a preferred mechanism for maintaining low pressure within the crawling device;
and Figures lOA, lOB, lOC, lOD, and lOE present further schematic representations of the preferred crawling motion which correspond to Figures 5A, 5B, 5C, 5D, and 5E, respectively.
Detailed Description of a Preferred Embodiment In the drawings, a platform 10 i5 provided for mounting other devices thereon (not shown), such as Applicant's surface cleaning device which is described in U.S. Patent No. 4,531,253. The attac~nt of the cleaning device orother 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 suction to hold the platform lO to the surface S allows use of the device with a variety of surfaces such as concrete or steel. When the device is used predominantly on one type of surface, other mechanisms for holding the platform to the surface S can be used such as electromagnets (not shown) for gripping steel as further mentioned below.
1~ 3~9 ~",, d, Reerring to Fig. 2, the platform 10 is fastened by screws 14 or other fasteniny means ,to mounting blocks 16.
The mounting ~loc~s'16 mount vertical shafts 18 wh ch are pressed into holes 19 in ~he mounting ~loc~s 16. A
mounting frame ~0 slidably eng~ages the vertical ~hafts 18 using linear b~arings 22. Mov~merlt vf the mounting frame ~0 o~ the vertical shafts 18 is preferably limited by clamps ~3 fastened ~o the free ends ( lower ends AS viewed in ~ig. 23 o~ the vertical shafts 180 C~ shafts 24 are rotat~)ly mounted in bearings 25 (Fig. 43 wilth the mounting fxame 20~ Football=shaped cams ~6 are fixed to the cam shafts 24 usiIlg keyways and set screws or othex fastening means (not shown~O The footballrshaped cams 26 are spaced from the mounting fra~e 20 by spacer sleeYes 27 mounted on ~b.e shafts 24 on eàch side vf the bearings 25 (Fig. 6). The football-shaped cams 26 engage rollers 28 (Fiy. 2) th.at are mounted with the mounting blocks 16. The cam shafts 24 are rotated by a drive motor 30 (FigsO 2 and 4) which is mounted to the mounting frame 20 by a motor support 32O The drive motor 30 has a drive shaft 34 (FigO 4) th~t is in driYing connection with the cam shafts 24 thr~ugh a dri~e gearbox ~:
36. The gearbox 36 has a central chal~bex 38 that holds a plurality of gears ~hat transfer power from the drive shaft 34 to the cam shafts 240 As will be explained, when the plakform 10 adheres to the surface S by suction, the rollers 28 ride upo~ the rotating football shaped cams 26~ As explained below, the football-~haped cams 26 and cam shafts 24 move toward and away from the surface S (FigO 2)~ but: the shape o~ the foo~ball-shaped cams 26 causes t.he roller~ 28 and the platform 10 to remain a substantiaily fixed diskance fxom the surface.
Referring to Figs~ 6, 7 and 8, lnner circular cams 40 (Fig. 8) are eccentrically mounted to the cam shafts 24 outside the :Eootball cams 26 by keyways and set screws or other fasten:ing means (not shown)0 The inner circular i~313~9 .~ . I
cams 40 are rotatably mounted in bearings 44 within inner support brac~ets 42 The inner support brackets 42 axe attached h~ screws 6r other fastening means ~not shown) to an inner housing ~6. The inner housing 46 preferably includes a turning mechanism as described belowO With the turning mechanisrn, the inner housing 46 is indirectly connected to an inner annular seal 48 which engages the surface S when the inner housi.ng 46 is pressed against the surface S as described belowO
. Outer circular cams 50 (Fig. 73 are eccentrically mounted to the cam shafts 24 outside the inner circular cams 40 using Xeyways and set screws or o~her fastenin~
means ~no-t sho~l). The outex cam~ 50 are similar to th&
inner cams 40 except that -the outer cams 50 are offset dn the shafts 24, 180 degrees with respect to the inner cams 40 when fixed to the cam shafts 24 ~compare FigsO 7 and 8). The outer c~ms 50 are rotatably mounted in bearings 54 within outer support brackets 52. The outer support brackets 52 are fastened by screws or other -fastening ~0 means ~no~ shown) ~o an out~r housing 56 (FigO 6~.
Referring to Fig. 3, ~he outer housing 56 is connected to an outer annular seal 58 which engages the surface S when the outer housins 56 is pressed against the surface S, as described belowO The outer housing 56 is connected to a housing body 60 by sc~ews 62 or other fastening me~ns. The housing body 60 is connected to a housing body retaining ring 64 by screws 66 or other fas~eniny means. The function of the re~aining ring 6~ is described in more detail below. The outer an~ular seal 58 is ~i~e~ ~o -the retaining ring 64 by glue or other suitable known ~astening means~ Alternatively, ~he outer seal 58 can be fixed to a removable ring ~not shown) which can be fastenled to ~he retaining ring 64 by screws or other fastening means for easy replacement of the outer 3~ seal 58.
~ n upper chamber U (Figs. 3 and 5A) is formed within the outer housing 56 by con~ecting the outer housing 56 to ~ ~6-the platform 10 and to the inner housing 46 by flexible annular diaphragms 70 and 80, respectively. A first flexible annular d.~aphxagm 70 is connected ko the outer housing 56 with an out~r housing retaining ring 72 using screws 6~, and is ~urther connected to the platform 10 by a platform retaining ring 74 usiny screws 76 or other fastening means. An annular notch 78 in ~he outer housing ~6 allows movement of the flexible annular diaphxagm 70 as the outer housing 56 moves relative to the platform 10 as described below>
The outer housing body 60 and ~he outer housing retaining ring 64 hold a second flexi~le annular diaphra~m 80 which is connected to the inner housing 46 by an inn~r housing retaining ring 81 using screws 82 or o~her t fa~ten~ng means. The second flexible annular diaphragm 80 splits the interior of the outer houslng 56 into ~he upper chamber U, which is s~bstantially disposed between the platform 10 and the inner housing 4~i, and an annul ar j;
ch~nber A ~see Figs. 3 and lOA3, whirh is substantially ~0 disposed between the inner annular se!al 48 and the outer annular seal 58.
The preferred embodiment of the invention inc~udes a turning mechanism as part of the iI~er housing 46~
Referring to Figs. 2 and 3, a ring gear 84 rotatably engages ~he inner housing 46 by slidi.ng within a teflon ring bearing 8~ which is mounted between ~he ring gear 84 and the inner retaining ring 810 The ring gear 84 is held in place ~y friction, and rotates within the inner housing .
-retaining ring 81. An O ring 87 (FigO 3~ iS mounted between the re~aining ring 81 an~ the ring gear 84 ~o minimize leakage ~or reasons ~hat are more apparent below~
The ring gear 8~ is further retained by a cover plate 88 which is connected to the inner housing 46 by a screw 89 (Fig. 23 or othex fastening means. ~ pinion gear 90 is rotatably mounted between ~he i~ner housing 46 and ~he cover plate 88 and engages the ring gear 840 The pi~ion gear 90 is fixed to a shaft 92 which is rotatably mounted L3~
~ 7- .
on ~e inner housing 46. A conventional turning motor 94 and a turning gea.r box 96 are mounted on the inner housing 4~ to .rotate -~he prnion gear 90. Rotation of the pinion gear 90 causes the inner housing 46 to rotate relative to the riny gear 84 and is capable of changing the direction of travel or lateral movement of the inner housing 46 when the ring year 84 is in contact with the surface through the inner annular seal 48, The~ inner seal 48 is fixed to ~he ring gear ~ by glue or other fastening meansO
19 Alternati~ely, the inner seal 4~ can be fixed to a removable ring (not shown~ which can be fastened to the ring gear 84 by screws or other faste~ling means for easy replacement of the i~ner seal 480 An inner ch~mber I ~FigsO 2 and lOA) is formed by a~d 1~ contained withi~ the inner housing 4~i when the i~ner annular seal 48 is in contact with thP surface S. The inner chamber I i~ in fluid communicat:ion with the upper chamber U, through holes 47 (FigO 2) in the inner housing 46 if necessary, so tha~ suction applied to either the inner chambPr I or the upper chambeI U reduces the pressure within both chambersO The inner chamber I and - upper chamber U are not in fluid commlmication with the ~
annular chamber A when ~he inner seal 48 is in contact with the surfares (as shown in Figures lOA~ lOC, lOD and lOE) although there may be some leakage therebetween, as 2xplained below~ All three chambers A, U, and I are in fluid communication when the inner seal 48 is raised from the surface ~as sho~n in Figure lOB).
Referriny to Fig. 9, the source of suction is preferably in direct fluid communication with the i~ner chamber I. A hole 100 in the inr,er-housing ~6 mounts a ho~e fitting 102 which is secured to the inner housing 46 by screws 10~ or other fastening means. ~ short tube 106 is connected to the hose fitting 102 between the inner ~5 housing 46 and the cover plate 88. The short tube 106 terminates above a hole 108 in the cover plat~ 88. A
second hose fitting 110 is mounted in the hole 1~ in the ~:8~3~9 ~8~
platform 10 using screws 112 or other fastening means.
flexible suction hose 114 is fastened between the first and second hose fi~tings 102 and 110 by clamps or cther fa~tening means. Attachment o the ~uction source to the inner chamber I is preferred because wate~ and other foreign substances sn the surface S are drawn into the suction source without passing t~rou~h the upper chamber U
which contai~s most of the mec:hanical partsO
The suction source is preferably of a sufficient capacit~ ~o adhere ~he platform 10 to a porous surface such as concrete by lowering the pressure in the upper and inner chambers U and I relative to the pressure which i8 acting externally of t~e apparatusO The suctio~ sourc&
must also lower the pressure in the annular chamber A ea~h time the outer housing 56 is lowered t:o ~he surface S and the inner housing 46 is raised from the surface SO A
suitable suction source is shown in ~'igure 9. A short pipe 116 is threaded or otherwise fast:e~ed to the hole 12 in ~he platfonm 10 and mounts a venturi ~alve 118. The venturi valve 118 pre~erably has mllltiple venturi restrictions for creating suction within ~he pipe 116 when a flui~, such a~ air, from a fluid source-12Q., ~uch as an ~-air compressor, is passed through the venturi valv~ 1180 The suction source reduces the pressure within the suctio~ hose 114 which reduces ~he pressure or creates a partial Yacuum in the inner chamber I betwPen the surface and the cover plate 88. A second hole 130 in the cover plate 88 helps to reduce the pressure between the cover plate 88 and the inner housing 46 so khat the pressure is guickly reduced wi~hin ~he inner chamber Io A filter 132 is mounted ovex ~he hole 130 in the cover plate 88 to prevent particles from passing through the hole ~30 when the source of suction is shut off.
When used on a porous surface, the inner annular seal 48 and the outer annular seal 58 will not prevent leakage. However, leaXage around the seals 48 and 58 may assist in ra:ising the inner housing 46 and -the outer ~ 9-.
housing ~6 ~y helping to equalize the pressure on both sides of each seal as it is raised. If the inner seal 48 ~nd ~he outer seal ~8 are used on a surface ~lat does not allow suf~icient leakage around the seals to the point that ~he ~eals are difficult to raise~ compressible vents 148 and 158 ~Figs. 2 and S) i:n the seals 48 and 58, respective:Ly, pxovide adequate leakage. The compressible ~ents 148 and 158 are preferably small horizontal slots in ~h~ seals 48 and 58. The vent~s 148 and 15a are closed when the seals 48 and 58 are press~d against the surface as described below and opened to equalize the pressur~ on ~o~h side~ of the seals as the force pressing against each seal is lelieved as described beluwO Alternatively, ~h~
device can be pro~ided wi~h other mechanisms for 1~ equalizing the pressu.re on both sides of each seal 48.and . . .
In operation, the fluid source 120 and venturi valv~
118 create a low pressure or partial vacuum in the pipe 116 which in turn creates a low pressure in ~he upper ~0 chamber U and the inner chamber I so that atmospheric pressure acts on the platform 10 to hoLd it or move it - toward the sur~ace ~. ~he pla~form 1~) pushes the cam ~-shafts ~4 toward the surface S through the rollers 28 and ~he foo~ball-shaped cams 260 The cam shafts 24 are po~itioned relative to the surf~ce S by the inner housing 46 or thP outex housing 56 through the inner cams 40 and -the inner suppor-t brackets 42 or the outer cams 50 and the outer support brackets 52, respectively. As shown by Figs. 5A-E and Figs. lOA-E, rotation of ~he cam shafts 24 ~y the drive motor 30 causes the cam shaft~ 24 to shift the atmospheric force applied sn the platform 10 between the inner housing 46 and the outer housing 56 as the inner cams 40 and ~he outer cams 50 sequentially raise and lower the inner housing 46 and the outer housing 560 The inner cams 40 and the outer cams 50 also advance the inner housing 46 ancl the outer housing 56, respectively, as each housi~g is rai~ed and lower~d. Thus, the inner housing 46 ~ L3~
~ ~10--and the outer housing 56 move across the surface with a crawling motion whereby the housings 46 and 56 are sequentiall~ raised, advanced, and lowered.
The crawling motion for the inner housing 46 and the 5 outer housirrg 56 is schematically diagramed in Figs. 5A, 5B, 5C, 5D, 5E, lOA, lOB, lOC, lOD, and lOE. In FigsO 5A
and lOA, both ~he inner annular seal 48 and khe outer annular ~eal 58 are in contact; wi~h the surface S and a - low pressure exists in the upper chamber U, the iDner chamber I, and the annular ch.lmber Ao In ~hi~
configura~ion, ~he outer housing 56 has been advanced to the left with respect to the inner housing 46 and ~he outer cams 50 an~ the inner cams 40 are in ~he relativ~
positions shown in Fig. 5A. I
lSIn Figs. 5B and lOB, the carn shafts 24 have been rotated ninet~ degrees ( counterclockw.ise ) . The rotation of the cam shaft~ 24 causes the outer cams 50 and the inner c~ns 40 lto rotate within ~he ou-ter support brackets 52 and the inner support brackets 42~ respectively. T~e outer support ~rackets 52 r~nai~ in a. fixed position due to contact with the surf~ce S and ~he counterclockwise rotation of the outer cams 50 and the inner c~n~ 40 raises and ad~ances the inner housing 46 and th~ inner annul~r seal 48 to the position shown in FigO lOXo The movement of the inner c.~ms 40 and the outer c~ns 50 rais~s the cam shafts 24 wi~h respect to the surface S; howeverJ the rotation of the football-shaped cams 26 by the cam shafts ~4 allows the platform 10 to remain a substantially fixed .
-distance from the surface SO The low pressure remains in the upper chamber U, the inner chambex I, and the an~ular chamber A for the positio~ of the device shown in Fig.
lOB.
In Figs. 5C and lOC, the cam shafts 24 are fur~her rotated ninety degrees (counterclockwise) from the position sho~n in ~ig. SB, which causes further rotation of the outer cams 50 and the inner cams 40 in the outer support brackets 52 and the inner support bracket~ 42, respectively. As the outer suppor-t brackets 52 remain in fixed positions due to contact with the surface S, the inner cams 40 and t~e inner annular seal 48 move to the let from the position shown in FigO 5B to ~he position shown in Fig. 5~. The movement o~ the inner cams 40 lowers and ad~ances the inner housing 46 until the inner annular seal 48 again contacts the surface S a~ shown in Fig~ 10~'. The movemant of ~he inner cams 40 an~ the outer cams SO lowers the c~m ~haEts. ~4 wit~ respect to the surface S; however, rotation of the football-shaped cams 26 by the cam shafts 24 causes the platform 10 to remain a substantiall~ fixed distance from-the surface S. The low pressure remains in the upp~r chamber U, the inner ch ~ er I, and the annular chamber ~.
In ~'igs. 5D and lOD, th ~am shafts 24 are further rotated ninety degrees ~countercloc}cwise3 from the .
position shown in Fig. 5C, causing further rotation of the outer cams 50 and the inner cams 40 within the outer .
support brackets 52 and t~e inner support bracke ts 42, ~0 respectively. Th~ inner support brackets 42 remain in a Eixed posi-tion due to contact with the surface S . The - counterclockwise rotation of the innel~ cams 4~ within the inner support brackPts 42 causes the outer cams 50 to move from the positio~ shown in FigO 5C to the position shown 25 - in Fig. SDo The movement of the outer cams 50 raises and adYances the auter housing 56 ~nd the outer annular ring 58 from the position sho~n in Fig. lOC to ~he position shown in Fig. lOD, The movement of the inner cams 40 and .
the outer cams 50 raises ~he cam shafts 24 with respect to the surface S; however, the rotation of the - oo~ball~shaped cams 26 by the ~am shafts 24 allows the platform 10 to remain a substantially fixed distance from the surace S. For the position of thP device shown in Figs. SD and lOD, a low pressure remains in the upper chamber U and the i~ner chamber I al~hough the raising of the outer annular seal 58 raises the pressure in the annular ch~er Ao 3 ~g ~ -12 In Figs. 5E and lOE, ~he cam shafts 24 are further rotated nine~y degrees ~counterclockwise~ from the position shown in F~g. 5D, causing ~he outer cams SO and ~he inner cams ~0 to further rotate wikhi~ the outer support brackets ~2 and the ilmer support brackets 42, respectiYely. The inner support brackets ~2 remai~ in a fixed position ~ue to contact with the surface SO The counterclocXwise rotation of ~le inner cams 40 moves the ou~er cams 50 fxom the position shown in Fig. 5D to the - 10 position shown in Fig. 5E which is the same as the starting position~ Fig. 5Ao The movement of the outer cams 50 lowers and advances the outer housing 56 until the outer annular seal 58 contacts ~he surface S. Th~
movement of ~he in~er cams 40 and the outer cams 50 low~rs 1~ the cam shafts 24 with respect to the suxface S; however, rotation o~ the ootball-shaped cams 2.6 by ~he cam shafts ~4 causes the platform 10 to remain a substantially fi~ed distance from the surface S. For the position of the device shown in Figs. 5E and lOE~ the :low pressure remains in the upper chamber U and the i~ner chamber I. A high pressure remains in the annular chamber A until rotatio~
of the cam shafts 24 shifts the atmospheric force applied on the platform 10 rom ~he inner annular seal 48 to the outer annular seal 5 and allows suEficient leakage ~5 between the inner an~ular sPal 48 and the surface S for the suction source to reduce the pressure in the annular chamber A, thus returning the device to the configuration and condition de~cribed for Figs. 5A and lOAo - . While the robotic crawling device is advancing, if it is desired to change its direction of movement, a switch (not shown) to ~he turning motor 94 is turned on or activated so as to cause the motor 94 to cha~ge ~he direction of ~ravel by rotating the innex housing 46 about the ring gear 840 When the desired ~irection is reached, the switch is turned off ~o deac~ivate the motor 94~ The illustrated embodiment of the device will turn only while the inner a~lular seal 48 grips the surface S and ~he ~2~3~3~
~ -13 outer annular seal 58 is not grippins the surace S. A
circuit control mechani~m (not shown) for contr~lliny the turning motor 9~ cah be used to pre~ent excessive wear on the turning motor 94 which migh~ otherwise occur if ~he S mo~or is operat~d when both ~he inner and outer seals 48 and ~8 are gripping the surface~ S~
'~hen usecl with a metal ~urface, the illustrated device can ba easily con~erted from suction gripping to magneti~ gripping by replacing the inner seal 48 and ~he outer seal 58 with inner and outer electromagnekic rings having substantially the same shape as the seals. The electromagnetic .rings would then be se~uentially energized to seguentiall~ hold the cam shafts ~4 to the surface through the iI~ner housing 46 and the outer housing 56.
Springs (not shown) could be mountad on ~he vertical shafts 18 between the mounting frame 20 and the clamps 23 or between the mounting frame 20 and the mounting blocks 16, to hold the rollers 28 against the football-shaped ,~
cams ~
The foregoing disclosure and description of the invention are illustrativa and explanatory thereo~, and - various changes in the size, shape ~nd materials, as well as in the details of the illustrated construction may be made withou~ departlng fxom the spirit of the invention.
Inventor. Spencer D. Cottam Title: Robotic Crawling Device Specification Field o~ the I~vention Thi~ invention relates generally to robotic devices for accessing vertical and overhead surfacesO More specifically, the invention relates to such robotic 5 . devices tha~ can carr~ other equipment such ~s surface cleaning devices, Background of the Invention .~
ny industrial activities require access to surfaces ~hat ca~ ~ot be e~sily accessed by workers. ~or example/
19 . large storage tanks and ships require occasional surfacing cleaning and are difficult to access without costly scaffoldi~g or lift devicesO Furthermore, some surfaces such as walls and ceilings within storage tanks and nuclear reactors require elaborate and costly safety 1~ precautions or ~ccess by workers.
Remote controlled robots are replacing workers in a number of industrial activities and thus reducing the risk of injury or dea~h to the work for~e. A robot that could carr~ equipment across a wide variety o~ vertical and ~0 o~erhead surfaces could be used for many industrial activi~ies such as surface cleaning.
- Express kbil l~o. B95174516 . ~' '. ~ .
, , . ~ -2-Summary of the Invention The robotic crawling device of ~he present invention can traverse vertical and overhead sur~aces and comprises outer gripping means for gripping the surface, inner S grippiny means for gripping the ~urface, ~he i~er gripping means being positioned withln the outer gripping means~ and cr~wling means for raising~ advancing, and lowering ~he ou~er and inner gripping means in sequence.
In a preferred embodiment, the robotic cxawling device further comprises a platform for mounting o~her devices~ The platform is mounted to the crawling device such that the platform remains a su~stantially fi~ed distance from the surface.
Another aspect of the preferred embodiment is the u~e of suction to grip the surface by maintaining a low pressure between the surface and the platform.
Alternati~ely, the crawling device can be adapted to grip metal surfaces with electromagnets. P~rther, the crawling device can includ~ a turning mechanism for changing th~
~0 direction o~ movement acro~s ~he surface~
.
Brief Description of ~ e ~rawin~s Figure 1 i~ a top view of a preferred embodiment of the robotic crawling device of ~he pressent invention~ the preferred embodiment using suction to grip the surface and ~5 having ~ pla~fonn for mounting other devices and a turnin . mech~nism;
Figure 2 is a sectional view of ~h~ xobotic crawlin~ .
device of Figure 1 as indicated by line 2 2 on Figure 1;
Figure 3 is an enl~rged view of ~he righk end of Figure ~;
Figure 4 is a top view of the robotic crawling device of Figure 1 wikh ~he platform removed as shown by line 4-4 on Figure 2, . Figures 5A, 5B, 5Ct SD, and 5E pxesent schematic represenkations of the crawling motion for the robotic crawling device of Figure lt ~8~L:34~
Figure 6 is a sectional view of the robotic crawling device of Figure l as indicated by line 6-6 on Figure 1 and better shows the details of a preferred crawling mechanism;
Figures 7 and 8 are detailed views of components of ~he preferred crawling mechan.sm of Figure 6;
Figure 9 is a sectional view o a preferred mechanism for maintaining low pressure within the crawling device;
and Figures lOA, lOB, lOC, lOD, and lOE present further schematic representations of the preferred crawling motion which correspond to Figures 5A, 5B, 5C, 5D, and 5E, respectively.
Detailed Description of a Preferred Embodiment In the drawings, a platform 10 i5 provided for mounting other devices thereon (not shown), such as Applicant's surface cleaning device which is described in U.S. Patent No. 4,531,253. The attac~nt of the cleaning device orother 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 suction to hold the platform lO to the surface S allows use of the device with a variety of surfaces such as concrete or steel. When the device is used predominantly on one type of surface, other mechanisms for holding the platform to the surface S can be used such as electromagnets (not shown) for gripping steel as further mentioned below.
1~ 3~9 ~",, d, Reerring to Fig. 2, the platform 10 is fastened by screws 14 or other fasteniny means ,to mounting blocks 16.
The mounting ~loc~s'16 mount vertical shafts 18 wh ch are pressed into holes 19 in ~he mounting ~loc~s 16. A
mounting frame ~0 slidably eng~ages the vertical ~hafts 18 using linear b~arings 22. Mov~merlt vf the mounting frame ~0 o~ the vertical shafts 18 is preferably limited by clamps ~3 fastened ~o the free ends ( lower ends AS viewed in ~ig. 23 o~ the vertical shafts 180 C~ shafts 24 are rotat~)ly mounted in bearings 25 (Fig. 43 wilth the mounting fxame 20~ Football=shaped cams ~6 are fixed to the cam shafts 24 usiIlg keyways and set screws or othex fastening means (not shown~O The footballrshaped cams 26 are spaced from the mounting fra~e 20 by spacer sleeYes 27 mounted on ~b.e shafts 24 on eàch side vf the bearings 25 (Fig. 6). The football-shaped cams 26 engage rollers 28 (Fiy. 2) th.at are mounted with the mounting blocks 16. The cam shafts 24 are rotated by a drive motor 30 (FigsO 2 and 4) which is mounted to the mounting frame 20 by a motor support 32O The drive motor 30 has a drive shaft 34 (FigO 4) th~t is in driYing connection with the cam shafts 24 thr~ugh a dri~e gearbox ~:
36. The gearbox 36 has a central chal~bex 38 that holds a plurality of gears ~hat transfer power from the drive shaft 34 to the cam shafts 240 As will be explained, when the plakform 10 adheres to the surface S by suction, the rollers 28 ride upo~ the rotating football shaped cams 26~ As explained below, the football-~haped cams 26 and cam shafts 24 move toward and away from the surface S (FigO 2)~ but: the shape o~ the foo~ball-shaped cams 26 causes t.he roller~ 28 and the platform 10 to remain a substantiaily fixed diskance fxom the surface.
Referring to Figs~ 6, 7 and 8, lnner circular cams 40 (Fig. 8) are eccentrically mounted to the cam shafts 24 outside the :Eootball cams 26 by keyways and set screws or other fasten:ing means (not shown)0 The inner circular i~313~9 .~ . I
cams 40 are rotatably mounted in bearings 44 within inner support brac~ets 42 The inner support brackets 42 axe attached h~ screws 6r other fastening means ~not shown) to an inner housing ~6. The inner housing 46 preferably includes a turning mechanism as described belowO With the turning mechanisrn, the inner housing 46 is indirectly connected to an inner annular seal 48 which engages the surface S when the inner housi.ng 46 is pressed against the surface S as described belowO
. Outer circular cams 50 (Fig. 73 are eccentrically mounted to the cam shafts 24 outside the inner circular cams 40 using Xeyways and set screws or o~her fastenin~
means ~no-t sho~l). The outex cam~ 50 are similar to th&
inner cams 40 except that -the outer cams 50 are offset dn the shafts 24, 180 degrees with respect to the inner cams 40 when fixed to the cam shafts 24 ~compare FigsO 7 and 8). The outer c~ms 50 are rotatably mounted in bearings 54 within outer support brackets 52. The outer support brackets 52 are fastened by screws or other -fastening ~0 means ~no~ shown) ~o an out~r housing 56 (FigO 6~.
Referring to Fig. 3, ~he outer housing 56 is connected to an outer annular seal 58 which engages the surface S when the outer housins 56 is pressed against the surface S, as described belowO The outer housing 56 is connected to a housing body 60 by sc~ews 62 or other fastening me~ns. The housing body 60 is connected to a housing body retaining ring 64 by screws 66 or other fas~eniny means. The function of the re~aining ring 6~ is described in more detail below. The outer an~ular seal 58 is ~i~e~ ~o -the retaining ring 64 by glue or other suitable known ~astening means~ Alternatively, ~he outer seal 58 can be fixed to a removable ring ~not shown) which can be fastenled to ~he retaining ring 64 by screws or other fastening means for easy replacement of the outer 3~ seal 58.
~ n upper chamber U (Figs. 3 and 5A) is formed within the outer housing 56 by con~ecting the outer housing 56 to ~ ~6-the platform 10 and to the inner housing 46 by flexible annular diaphragms 70 and 80, respectively. A first flexible annular d.~aphxagm 70 is connected ko the outer housing 56 with an out~r housing retaining ring 72 using screws 6~, and is ~urther connected to the platform 10 by a platform retaining ring 74 usiny screws 76 or other fastening means. An annular notch 78 in ~he outer housing ~6 allows movement of the flexible annular diaphxagm 70 as the outer housing 56 moves relative to the platform 10 as described below>
The outer housing body 60 and ~he outer housing retaining ring 64 hold a second flexi~le annular diaphra~m 80 which is connected to the inner housing 46 by an inn~r housing retaining ring 81 using screws 82 or o~her t fa~ten~ng means. The second flexible annular diaphragm 80 splits the interior of the outer houslng 56 into ~he upper chamber U, which is s~bstantially disposed between the platform 10 and the inner housing 4~i, and an annul ar j;
ch~nber A ~see Figs. 3 and lOA3, whirh is substantially ~0 disposed between the inner annular se!al 48 and the outer annular seal 58.
The preferred embodiment of the invention inc~udes a turning mechanism as part of the iI~er housing 46~
Referring to Figs. 2 and 3, a ring gear 84 rotatably engages ~he inner housing 46 by slidi.ng within a teflon ring bearing 8~ which is mounted between ~he ring gear 84 and the inner retaining ring 810 The ring gear 84 is held in place ~y friction, and rotates within the inner housing .
-retaining ring 81. An O ring 87 (FigO 3~ iS mounted between the re~aining ring 81 an~ the ring gear 84 ~o minimize leakage ~or reasons ~hat are more apparent below~
The ring gear 8~ is further retained by a cover plate 88 which is connected to the inner housing 46 by a screw 89 (Fig. 23 or othex fastening means. ~ pinion gear 90 is rotatably mounted between ~he i~ner housing 46 and ~he cover plate 88 and engages the ring gear 840 The pi~ion gear 90 is fixed to a shaft 92 which is rotatably mounted L3~
~ 7- .
on ~e inner housing 46. A conventional turning motor 94 and a turning gea.r box 96 are mounted on the inner housing 4~ to .rotate -~he prnion gear 90. Rotation of the pinion gear 90 causes the inner housing 46 to rotate relative to the riny gear 84 and is capable of changing the direction of travel or lateral movement of the inner housing 46 when the ring year 84 is in contact with the surface through the inner annular seal 48, The~ inner seal 48 is fixed to ~he ring gear ~ by glue or other fastening meansO
19 Alternati~ely, the inner seal 4~ can be fixed to a removable ring (not shown~ which can be fastened to the ring gear 84 by screws or other faste~ling means for easy replacement of the i~ner seal 480 An inner ch~mber I ~FigsO 2 and lOA) is formed by a~d 1~ contained withi~ the inner housing 4~i when the i~ner annular seal 48 is in contact with thP surface S. The inner chamber I i~ in fluid communicat:ion with the upper chamber U, through holes 47 (FigO 2) in the inner housing 46 if necessary, so tha~ suction applied to either the inner chambPr I or the upper chambeI U reduces the pressure within both chambersO The inner chamber I and - upper chamber U are not in fluid commlmication with the ~
annular chamber A when ~he inner seal 48 is in contact with the surfares (as shown in Figures lOA~ lOC, lOD and lOE) although there may be some leakage therebetween, as 2xplained below~ All three chambers A, U, and I are in fluid communication when the inner seal 48 is raised from the surface ~as sho~n in Figure lOB).
Referriny to Fig. 9, the source of suction is preferably in direct fluid communication with the i~ner chamber I. A hole 100 in the inr,er-housing ~6 mounts a ho~e fitting 102 which is secured to the inner housing 46 by screws 10~ or other fastening means. ~ short tube 106 is connected to the hose fitting 102 between the inner ~5 housing 46 and the cover plate 88. The short tube 106 terminates above a hole 108 in the cover plat~ 88. A
second hose fitting 110 is mounted in the hole 1~ in the ~:8~3~9 ~8~
platform 10 using screws 112 or other fastening means.
flexible suction hose 114 is fastened between the first and second hose fi~tings 102 and 110 by clamps or cther fa~tening means. Attachment o the ~uction source to the inner chamber I is preferred because wate~ and other foreign substances sn the surface S are drawn into the suction source without passing t~rou~h the upper chamber U
which contai~s most of the mec:hanical partsO
The suction source is preferably of a sufficient capacit~ ~o adhere ~he platform 10 to a porous surface such as concrete by lowering the pressure in the upper and inner chambers U and I relative to the pressure which i8 acting externally of t~e apparatusO The suctio~ sourc&
must also lower the pressure in the annular chamber A ea~h time the outer housing 56 is lowered t:o ~he surface S and the inner housing 46 is raised from the surface SO A
suitable suction source is shown in ~'igure 9. A short pipe 116 is threaded or otherwise fast:e~ed to the hole 12 in ~he platfonm 10 and mounts a venturi ~alve 118. The venturi valve 118 pre~erably has mllltiple venturi restrictions for creating suction within ~he pipe 116 when a flui~, such a~ air, from a fluid source-12Q., ~uch as an ~-air compressor, is passed through the venturi valv~ 1180 The suction source reduces the pressure within the suctio~ hose 114 which reduces ~he pressure or creates a partial Yacuum in the inner chamber I betwPen the surface and the cover plate 88. A second hole 130 in the cover plate 88 helps to reduce the pressure between the cover plate 88 and the inner housing 46 so khat the pressure is guickly reduced wi~hin ~he inner chamber Io A filter 132 is mounted ovex ~he hole 130 in the cover plate 88 to prevent particles from passing through the hole ~30 when the source of suction is shut off.
When used on a porous surface, the inner annular seal 48 and the outer annular seal 58 will not prevent leakage. However, leaXage around the seals 48 and 58 may assist in ra:ising the inner housing 46 and -the outer ~ 9-.
housing ~6 ~y helping to equalize the pressure on both sides of each seal as it is raised. If the inner seal 48 ~nd ~he outer seal ~8 are used on a surface ~lat does not allow suf~icient leakage around the seals to the point that ~he ~eals are difficult to raise~ compressible vents 148 and 158 ~Figs. 2 and S) i:n the seals 48 and 58, respective:Ly, pxovide adequate leakage. The compressible ~ents 148 and 158 are preferably small horizontal slots in ~h~ seals 48 and 58. The vent~s 148 and 15a are closed when the seals 48 and 58 are press~d against the surface as described below and opened to equalize the pressur~ on ~o~h side~ of the seals as the force pressing against each seal is lelieved as described beluwO Alternatively, ~h~
device can be pro~ided wi~h other mechanisms for 1~ equalizing the pressu.re on both sides of each seal 48.and . . .
In operation, the fluid source 120 and venturi valv~
118 create a low pressure or partial vacuum in the pipe 116 which in turn creates a low pressure in ~he upper ~0 chamber U and the inner chamber I so that atmospheric pressure acts on the platform 10 to hoLd it or move it - toward the sur~ace ~. ~he pla~form 1~) pushes the cam ~-shafts ~4 toward the surface S through the rollers 28 and ~he foo~ball-shaped cams 260 The cam shafts 24 are po~itioned relative to the surf~ce S by the inner housing 46 or thP outex housing 56 through the inner cams 40 and -the inner suppor-t brackets 42 or the outer cams 50 and the outer support brackets 52, respectively. As shown by Figs. 5A-E and Figs. lOA-E, rotation of ~he cam shafts 24 ~y the drive motor 30 causes the cam shaft~ 24 to shift the atmospheric force applied sn the platform 10 between the inner housing 46 and the outer housing 56 as the inner cams 40 and ~he outer cams 50 sequentially raise and lower the inner housing 46 and the outer housing 560 The inner cams 40 and the outer cams 50 also advance the inner housing 46 ancl the outer housing 56, respectively, as each housi~g is rai~ed and lower~d. Thus, the inner housing 46 ~ L3~
~ ~10--and the outer housing 56 move across the surface with a crawling motion whereby the housings 46 and 56 are sequentiall~ raised, advanced, and lowered.
The crawling motion for the inner housing 46 and the 5 outer housirrg 56 is schematically diagramed in Figs. 5A, 5B, 5C, 5D, 5E, lOA, lOB, lOC, lOD, and lOE. In FigsO 5A
and lOA, both ~he inner annular seal 48 and khe outer annular ~eal 58 are in contact; wi~h the surface S and a - low pressure exists in the upper chamber U, the iDner chamber I, and the annular ch.lmber Ao In ~hi~
configura~ion, ~he outer housing 56 has been advanced to the left with respect to the inner housing 46 and ~he outer cams 50 an~ the inner cams 40 are in ~he relativ~
positions shown in Fig. 5A. I
lSIn Figs. 5B and lOB, the carn shafts 24 have been rotated ninet~ degrees ( counterclockw.ise ) . The rotation of the cam shaft~ 24 causes the outer cams 50 and the inner c~ns 40 lto rotate within ~he ou-ter support brackets 52 and the inner support brackets 42~ respectively. T~e outer support ~rackets 52 r~nai~ in a. fixed position due to contact with the surf~ce S and ~he counterclockwise rotation of the outer cams 50 and the inner c~n~ 40 raises and ad~ances the inner housing 46 and th~ inner annul~r seal 48 to the position shown in FigO lOXo The movement of the inner c.~ms 40 and the outer c~ns 50 rais~s the cam shafts 24 wi~h respect to the surface S; howeverJ the rotation of the football-shaped cams 26 by the cam shafts ~4 allows the platform 10 to remain a substantially fixed .
-distance from the surface SO The low pressure remains in the upper chamber U, the inner chambex I, and the an~ular chamber A for the positio~ of the device shown in Fig.
lOB.
In Figs. 5C and lOC, the cam shafts 24 are fur~her rotated ninety degrees (counterclockwise) from the position sho~n in ~ig. SB, which causes further rotation of the outer cams 50 and the inner cams 40 in the outer support brackets 52 and the inner support bracket~ 42, respectively. As the outer suppor-t brackets 52 remain in fixed positions due to contact with the surface S, the inner cams 40 and t~e inner annular seal 48 move to the let from the position shown in FigO 5B to ~he position shown in Fig. 5~. The movement o~ the inner cams 40 lowers and ad~ances the inner housing 46 until the inner annular seal 48 again contacts the surface S a~ shown in Fig~ 10~'. The movemant of ~he inner cams 40 an~ the outer cams SO lowers the c~m ~haEts. ~4 wit~ respect to the surface S; however, rotation of the football-shaped cams 26 by the cam shafts 24 causes the platform 10 to remain a substantiall~ fixed distance from-the surface S. The low pressure remains in the upp~r chamber U, the inner ch ~ er I, and the annular chamber ~.
In ~'igs. 5D and lOD, th ~am shafts 24 are further rotated ninety degrees ~countercloc}cwise3 from the .
position shown in Fig. 5C, causing further rotation of the outer cams 50 and the inner cams 40 within the outer .
support brackets 52 and t~e inner support bracke ts 42, ~0 respectively. Th~ inner support brackets 42 remain in a Eixed posi-tion due to contact with the surface S . The - counterclockwise rotation of the innel~ cams 4~ within the inner support brackPts 42 causes the outer cams 50 to move from the positio~ shown in FigO 5C to the position shown 25 - in Fig. SDo The movement of the outer cams 50 raises and adYances the auter housing 56 ~nd the outer annular ring 58 from the position sho~n in Fig. lOC to ~he position shown in Fig. lOD, The movement of the inner cams 40 and .
the outer cams 50 raises ~he cam shafts 24 with respect to the surface S; however, the rotation of the - oo~ball~shaped cams 26 by the ~am shafts 24 allows the platform 10 to remain a substantially fixed distance from the surace S. For the position of thP device shown in Figs. SD and lOD, a low pressure remains in the upper chamber U and the i~ner chamber I al~hough the raising of the outer annular seal 58 raises the pressure in the annular ch~er Ao 3 ~g ~ -12 In Figs. 5E and lOE, ~he cam shafts 24 are further rotated nine~y degrees ~counterclockwise~ from the position shown in F~g. 5D, causing ~he outer cams SO and ~he inner cams ~0 to further rotate wikhi~ the outer support brackets ~2 and the ilmer support brackets 42, respectiYely. The inner support brackets ~2 remai~ in a fixed position ~ue to contact with the surface SO The counterclocXwise rotation of ~le inner cams 40 moves the ou~er cams 50 fxom the position shown in Fig. 5D to the - 10 position shown in Fig. 5E which is the same as the starting position~ Fig. 5Ao The movement of the outer cams 50 lowers and advances the outer housing 56 until the outer annular seal 58 contacts ~he surface S. Th~
movement of ~he in~er cams 40 and the outer cams 50 low~rs 1~ the cam shafts 24 with respect to the suxface S; however, rotation o~ the ootball-shaped cams 2.6 by ~he cam shafts ~4 causes the platform 10 to remain a substantially fi~ed distance from the surface S. For the position of the device shown in Figs. 5E and lOE~ the :low pressure remains in the upper chamber U and the i~ner chamber I. A high pressure remains in the annular chamber A until rotatio~
of the cam shafts 24 shifts the atmospheric force applied on the platform 10 rom ~he inner annular seal 48 to the outer annular seal 5 and allows suEficient leakage ~5 between the inner an~ular sPal 48 and the surface S for the suction source to reduce the pressure in the annular chamber A, thus returning the device to the configuration and condition de~cribed for Figs. 5A and lOAo - . While the robotic crawling device is advancing, if it is desired to change its direction of movement, a switch (not shown) to ~he turning motor 94 is turned on or activated so as to cause the motor 94 to cha~ge ~he direction of ~ravel by rotating the innex housing 46 about the ring gear 840 When the desired ~irection is reached, the switch is turned off ~o deac~ivate the motor 94~ The illustrated embodiment of the device will turn only while the inner a~lular seal 48 grips the surface S and ~he ~2~3~3~
~ -13 outer annular seal 58 is not grippins the surace S. A
circuit control mechani~m (not shown) for contr~lliny the turning motor 9~ cah be used to pre~ent excessive wear on the turning motor 94 which migh~ otherwise occur if ~he S mo~or is operat~d when both ~he inner and outer seals 48 and ~8 are gripping the surface~ S~
'~hen usecl with a metal ~urface, the illustrated device can ba easily con~erted from suction gripping to magneti~ gripping by replacing the inner seal 48 and ~he outer seal 58 with inner and outer electromagnekic rings having substantially the same shape as the seals. The electromagnetic .rings would then be se~uentially energized to seguentiall~ hold the cam shafts ~4 to the surface through the iI~ner housing 46 and the outer housing 56.
Springs (not shown) could be mountad on ~he vertical shafts 18 between the mounting frame 20 and the clamps 23 or between the mounting frame 20 and the mounting blocks 16, to hold the rollers 28 against the football-shaped ,~
cams ~
The foregoing disclosure and description of the invention are illustrativa and explanatory thereo~, and - various changes in the size, shape ~nd materials, as well as in the details of the illustrated construction may be made withou~ departlng fxom the spirit of the invention.
Claims (20)
1. A robotic crawling device that can traverse a vertical or overhead surface, comprising:
outer gripping means for gripping the surface;
inner gripping means for qrippiny 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.
outer gripping means for gripping the surface;
inner gripping means for qrippiny 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.
2. The robotic crawling device of claim 1, further comprising turning means for changing the direction of the crawling means.
3. The robotic crawling device of claim 1, further comprising.
a platform for mounting other devices therewith;
and means for connecting the platform to the crawling means so that the platform remains a substantially fixed distance from the surface.
a platform for mounting other devices therewith;
and means for connecting the platform to the crawling means so that the platform remains a substantially fixed distance from the surface.
4. The robotic crawling device of claim 3, wherein the inner and outer gripping means comprises suction means for maintaining a low pressure between the surface and the platform,
5. The robotic crawling device of claim 1, wherein the inner and outer gripping means comprises electromagnets that sequentially grip the surface.
6. The robotic crawling device of claim 1, wherein the crawling means comprises:
a cam shaft rotatably mounted to a mounting frame;
a first circular cam eccentrically mounted on the cam shaft;
first cam engaging means mounted with the outer gripping means and rotatably engaging the first cam;
a second circular cam eccentrically mounted on the cam shaft;
second cam engaging means mounted with the inner gripping means and rotatably engaging the second cam; and drive means mounted with the mounting frame for rotating the cam shaft.
a cam shaft rotatably mounted to a mounting frame;
a first circular cam eccentrically mounted on the cam shaft;
first cam engaging means mounted with the outer gripping means and rotatably engaging the first cam;
a second circular cam eccentrically mounted on the cam shaft;
second cam engaging means mounted with the inner gripping means and rotatably engaging the second cam; and drive means mounted with the mounting frame for rotating the cam shaft.
7. A robotic crawling device that can traverse a vertical or overhead surface, comprising:
an outer housing having first annular sealing means for sealing with the surface when pressed against the surface;
an inner housing having second annular sealing means for sealing with the surface when pressed against the surface, the inner housing being positioned within the outer housing;
suction means for pressing the inner and outer housings toward the surface;
crawling means for raising, advancing, and lowering the outer and inner housings in sequence;
a platform for mounting other devices therewith;
and means for connecting the platform to the crawling means so that the platform remains a substantially fixed distance from the surface.
an outer housing having first annular sealing means for sealing with the surface when pressed against the surface;
an inner housing having second annular sealing means for sealing with the surface when pressed against the surface, the inner housing being positioned within the outer housing;
suction means for pressing the inner and outer housings toward the surface;
crawling means for raising, advancing, and lowering the outer and inner housings in sequence;
a platform for mounting other devices therewith;
and means for connecting the platform to the crawling means so that the platform remains a substantially fixed distance from the surface.
8. The robotic crawling device of claim 7, wherein the suction means comprises:
an inner chamber within the inner housing;
an annular chamber between the inner and outer housings;
an upper chamber between the inner housing and the platform, the upper chamber being in fluid communication with the inner chamber; and a source of suction in fluid communication with the inner and upper chambers.
an inner chamber within the inner housing;
an annular chamber between the inner and outer housings;
an upper chamber between the inner housing and the platform, the upper chamber being in fluid communication with the inner chamber; and a source of suction in fluid communication with the inner and upper chambers.
9. The robotic crawling device of claim 7, wherein the crawling means comprises:
a cam shaft rotatably mounted to a mounting frame;
a first circular cam eccentrically mounted on the cam shaft;
first cam engaging means mounted of the outer housing and rotatably engaging the first cam;
a second circular cam eccentrically mounted on the cam shaft;
second cam engaging means mounted with the inner housing and rotatably engaging the second cam; and drive means mounted with the mounting frame for rotating the cam shaft.
a cam shaft rotatably mounted to a mounting frame;
a first circular cam eccentrically mounted on the cam shaft;
first cam engaging means mounted of the outer housing and rotatably engaging the first cam;
a second circular cam eccentrically mounted on the cam shaft;
second cam engaging means mounted with the inner housing and rotatably engaging the second cam; and drive means mounted with the mounting frame for rotating the cam shaft.
10. The robotic crawling device of claim 9, further comprising turning means for changing the direction of advancing the inner and outer housings,
11. The robotic crawling device of claim 10, wherein the turning means comprises:
a pinion gear rotatably and eccentrically mounted with a first portion of the inner housing, the first portion of the inner housing including the second cam engaging means;
a ring gear mounted with a second portion of the inner housing and engaging the pinion gear, the second portion of the inner housing including the second annular sealing means;
connecting means for connecting the first and second portions of the inner housing to allow turning of the first portion with respect to the second portion; and means for rotating the pinion gear.
a pinion gear rotatably and eccentrically mounted with a first portion of the inner housing, the first portion of the inner housing including the second cam engaging means;
a ring gear mounted with a second portion of the inner housing and engaging the pinion gear, the second portion of the inner housing including the second annular sealing means;
connecting means for connecting the first and second portions of the inner housing to allow turning of the first portion with respect to the second portion; and means for rotating the pinion gear.
12. The robotic crawling device of claim 7, further comprising venting means for equalizing the pressure around the first and second sealing means.
13. The robotic crawling device of claim 12, wherein the venting means comprises compressible vents in the first and second sealing means.
14. A robotic crawling device that can traverse vertical or overhead surface, comprising:
an outer housing having first annular sealing means for sealing with the surface when pressed against the surface;
an inner housing positioned within the outer housing and having second annular sealing means for sealing with the surface when pressed against the surface, the inner housing forming an inner chamber;
a cam shaft rotatably mounted to a mounting frame;
a first circular cam eccentrically mounted on the cam shaft;
first cam engaging means mounted with the outer housing and rotatably engaging the first cam;
a second circular cam eccentrically mounted on the cam shaft;
second cam engaging means mounted with the inner housing and rotatably engaging the second cam;
drive means mounted with the mounting frame for rotating the cam shaft;
a platform for mounting other devices therewith;
means for connecting the platform to the cam shaft so that the platform remains a substantially fixed distance from the surface;
means for connecting the inner housing to the outer housing so that an annular chamber is formed between the inner and outer housings;
means for connecting the platform to the outer housing so that, an upper chamber is formed within the outer housing, the upper chamber being in fluid communication with the inner chamber; and a source of suction in fluid communication with the inner and upper chambers for maintaining a low pressure between the platform and the surface.
an outer housing having first annular sealing means for sealing with the surface when pressed against the surface;
an inner housing positioned within the outer housing and having second annular sealing means for sealing with the surface when pressed against the surface, the inner housing forming an inner chamber;
a cam shaft rotatably mounted to a mounting frame;
a first circular cam eccentrically mounted on the cam shaft;
first cam engaging means mounted with the outer housing and rotatably engaging the first cam;
a second circular cam eccentrically mounted on the cam shaft;
second cam engaging means mounted with the inner housing and rotatably engaging the second cam;
drive means mounted with the mounting frame for rotating the cam shaft;
a platform for mounting other devices therewith;
means for connecting the platform to the cam shaft so that the platform remains a substantially fixed distance from the surface;
means for connecting the inner housing to the outer housing so that an annular chamber is formed between the inner and outer housings;
means for connecting the platform to the outer housing so that, an upper chamber is formed within the outer housing, the upper chamber being in fluid communication with the inner chamber; and a source of suction in fluid communication with the inner and upper chambers for maintaining a low pressure between the platform and the surface.
15. The robotic crawling device of claims 14, further comprising turning means for changing the direction of advancing the inner and outer housings.
16. The robotic crawling device of claim 15, wherein the turning means comprises:
a pinion gear rotatably and eccentrically mounted with a first portion of the inner housing, the first portion of the inner housing including the second cam engaging means;
a ring gear mounted with a second portion of the inner housing and engaging the pinion gear, the second portion of the inner housing including the second annular sealing means;
connecting means for connecting the first and second portions of the inner housing to allow turning of the first portion with respect to the second portion; and means for rotating the pinion gear.
a pinion gear rotatably and eccentrically mounted with a first portion of the inner housing, the first portion of the inner housing including the second cam engaging means;
a ring gear mounted with a second portion of the inner housing and engaging the pinion gear, the second portion of the inner housing including the second annular sealing means;
connecting means for connecting the first and second portions of the inner housing to allow turning of the first portion with respect to the second portion; and means for rotating the pinion gear.
17. The robotic crawling device of claim 14, further comprising venting means for equalizing the pressure around the first and second sealing means.
18. The robotic crawling device of claim 17, wherein the venting means comprises compressible vents in the first and second sealing means.
19. The robotic crawling device of claim 14, wherein the means for connecting the platform to the cam shaft comprises.
a football-shaped cam mounted on the cam shaft;
a roller mounted with the platform and engaging the football-shaped cam; and means for slidably connecting the platform to the mounting frame.
a football-shaped cam mounted on the cam shaft;
a roller mounted with the platform and engaging the football-shaped cam; and means for slidably connecting the platform to the mounting frame.
20. The robotic crawling device of claim 14, wherein the means for connecting the inner housing to the outer housing to form the annular chamber and the means for connecting the platform to the outer housing to form the upper chamber comprises flexible annular diaphragms.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| USPCT/US86/01102 | 1986-05-19 | ||
| PCT/US1986/001102 WO1987007227A1 (en) | 1986-05-19 | 1986-05-19 | Robotic crawling device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1281349C true CA1281349C (en) | 1991-03-12 |
Family
ID=22195512
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000536811A Expired - Lifetime CA1281349C (en) | 1986-05-19 | 1987-05-12 | Robotic crawling device |
Country Status (2)
| Country | Link |
|---|---|
| CA (1) | CA1281349C (en) |
| WO (1) | WO1987007227A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115123417B (en) * | 2022-06-22 | 2024-03-15 | 国网天津市电力公司建设分公司 | Electric iron tower-oriented robot climbing clamping mechanism |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1286203A (en) * | 1969-05-16 | 1972-08-23 | Hitachi Metals Ltd | Vehicle |
| JPS5179497A (en) * | 1974-12-28 | 1976-07-10 | Sanko Co Inc | |
| FR2437341A1 (en) * | 1978-09-29 | 1980-04-25 | Commissariat Energie Atomique | VEHICLE CAPABLE OF MOVING WITH ADHESION ON ANY SURFACE |
| GB2057697B (en) * | 1979-07-25 | 1984-02-01 | Nuclear Power Co Ltd | Remote surface testing and inspection vehicle |
| US4333259A (en) * | 1980-11-13 | 1982-06-08 | Chen Te-Son | Wall-clambering toy space bug |
-
1986
- 1986-05-19 WO PCT/US1986/001102 patent/WO1987007227A1/en unknown
-
1987
- 1987-05-12 CA CA000536811A patent/CA1281349C/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| WO1987007227A1 (en) | 1987-12-03 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| MKLA | Lapsed |