WO1992004269A1 - Pole climbing robot - Google Patents
Pole climbing robot Download PDFInfo
- Publication number
- WO1992004269A1 WO1992004269A1 PCT/CA1990/000272 CA9000272W WO9204269A1 WO 1992004269 A1 WO1992004269 A1 WO 1992004269A1 CA 9000272 W CA9000272 W CA 9000272W WO 9204269 A1 WO9204269 A1 WO 9204269A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- pole
- remote controlled
- drive means
- drive
- controlled apparatus
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B9/00—Kinds or types of lifts in, or associated with, buildings or other structures
- B66B9/02—Kinds or types of lifts in, or associated with, buildings or other structures actuated mechanically otherwise than by rope or cable
Definitions
- This invention relates to a robot climbing system for climbing tall structures such as poles and particularly tapering structures.
- a further object of this invention is the provision of a light weight portable pole climbing robot capable of carrying equipment such as sprayers and sandblasters which require pneumatic hoses.
- a further object of the invention is the provision of pole engaging wheels or track means to improve the frictional engagement between the device and the pole.
- a still further object is the provision of fail safe means to prevent downward movement of the device in the event of power failure.
- a still further object is the provision of self-centering means to maintain a constant distance between an equipment carrying platform and the pole.
- the present invention provides a remote controlled apparatus for climbing poles, the apparatus comprising carriage including a two piece ring capable of opening to encircle the pole, at least three opposed pole engaging drive means, or. the ring, and means for moving each track drive means into engagement with the pole.
- Figure 1 is a side elevational view cf the portable remote controlled pole climbing apparatus of this invention.
- Figures 1A and IB are side elevational views of pivot and latch means provided on the apparatus.
- Figure 2 is a top plan view of the pole climbing apparatus on Figure 1.
- Figure 3 is a top plan view of an alternative pcle climbing apparatus.
- SUBSTITUTESHEET Figure 4 is a side view of the pole engaging wheels of Figure 3, and;
- Figure 4A is an alternative drive means for the wheel assemblies of Figure 4.
- a remote controlled apparatus for climbing poles shown generally at 10 in Figure 1 includes a frame or carriage 12 having upper and lower rings 14 and 16 respectively.
- the rings 14 and 16 are substantially identical and are capable of opening to encircle a pole 20.
- the rings 14 and 16 have pivots at 22 and couplings at 26 to facilitate opening to encircle the pole 20.
- At least three motor driven tracked devices 24 are mounted on the carriage to move the carriage 12 axially with respect to the pole 20.
- Each of the tracked devices includes a fractional horsepower reversible DC motor 30.
- a resilient track or belt 3*+ entrains a pair of rollers 32 mounted on a U shaped channel member 33 and each of the rollers 32 has a sprocket 36.
- the track is driven by a chain 37 which entrains the sprockets 36 and a drive sprocket 38 on the shaft of the DC motor 30.
- One of the rollers 32 is moveable as by means of screw 35 to facilitate tensioning cf the track 34.
- each of the tracked devices 24 i secured to pistons 40 of pneumatic piston cylinder assemblies 42 and 46 which are in turn secured to the carriage 12 in a manner to be described below.
- the rings 14 and 16 are spaced apart and held in superimposed relationship by upright plates 50 and tubular spacers 51 bolted therebetween.
- the rings 14 and 16 are substantially identical and therefore onlv one need to be described in detail.
- each of the rings 14 and 16 comprise two segments 52 and 54 which are held together by a pivot pin 56.
- the free ends of the segments 52 and 54 are releasable held in place by a lock pin 58 extending through aligned apertures in latch plates 60 and the segment 54 of both of the rings 14 and 16.
- a sensor (not shown) allows operation of the apparatus 10.
- the tracked devices 24 are substantially identical as well as being easily removable and inter-changeable. Therefore only one will be described in detail. It will be appreciated that it is desirable to provide a guide or ram to resist lateral forces which could effect the pistons 40 of the piston cylinder assemblies 42 and 46.
- the pair of assemblies 42 and 46 are housed in telescoping inner and outer tubular members 70 and 72 respectively are preferably of rectangular cross section.
- the tubular members 70 and 72 are pivotally mounted between the upright plates 50 by an axle 74 extending through the plates and the outer tubular members 72 so that limited travel of the inner tubular member 70 is possible. It should be noted that pivotally mounting the track assemblies 24 compensates for tapered poles as well as the irregularities in the surface of any pole.
- the piston cylinder assemblies 42 are preferably pneumatically operated and provided with one way valves or other fail safe provisions, one end of each of the cylinders 42 being attached to the outer tubular member 72 in a conventional manner as be clevis pin 76. The other ends of the pistons 42 are secured to the tracked device 24 by similar clevis pins 78.
- the piston cylinder assemblies 42 are interconnected by air lines 80 and couplings 82 are provided to connect the assemblies 42 to a suitable source of compressed air through pneumatic hoses (not shown) .
- each assembly 24 includes a pair of rack gears 86 adapted to mesh with pinion gears 88 provided on the axles 74.
- the axles 74 are interconnected by a flexible drive cable 90 (see Fig. 1) so that movement of the tracked drive assemblies 24 toward the pole will be co-ordinated.
- the cable 90 preferably has a rotable inner flexible member in a stationary sheath. This provides an additional safety factor in that if one of the track assemblies 24 should fail the mechanical linkage 90 maintains the assembly in position on the pole 20.
- the piston cylinder assemblies 42 and 46 may be eliminated and the pinion gears are then driven by an electric motor through suitable linkage.
- the tracked devices 24 are replaced by assemblies 124 having wheels 134 preferably driven by a gear train 136 including gears on the axles which engage a drive gear 138 on the shaft of an electric motor 130.
- the chain and sprocket drive system described with reference to Figs. 1 and 2 can be used to drive the wheels 134 as shown in Figure 4A.
- the wheels 134 are mounted on three or more axles 135 eacn having four wheels 134 mounted thereon. It will be noted that one of the assemblies 124 can be provided with a pneumatic piston cylinder system 42 and that the other two assemblies 124 are moved by the electric motors 140 which drive linear actuators 142 known as ball screw actuators. A coupling 146 on the actuator 142 engages an inner one of the telescoping members 170 to move the wheel assemblies 124 into engagement with the pole 20.
- the linear actuators 142 have coil spring shock mounts 150 at their other ends.
- the DC electric motors 130 and 140 are preferrably provided with a portable power supply such as batteries and are capable of being remotely controlled as by RF signals from a suitable transmitter.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
A remote controlled apparatus for movement along pipes or poles to carry equipment for sand blasting or painting includes a carriage (12) comprising two piece rings (14, 16) which open and close to encircle the pole, at least three pole engaging track equipped drive assemblies (24) mounted on the carriage and pneumatic cylinders (42, 46) for moving the drive assemblies toward the pole. The pneumatic cylinders are connected to rack gears (86) and pinion gears (88) to coordinate their movement and facilitate centering of the carriage on the pole.
Description
POLE CLIMBING ROBOT
This invention relates to a robot climbing system for climbing tall structures such as poles and particularly tapering structures.
The use of such climbing systems has come about due to traditional wooden poles being supplanted with concrete and steel poles and by poles of greater height.
The steel and concrete poles cannot be climbed by a worker wearing traditional spikes. Furthermore the increased height requires greater investment in hydraulicly raised platforms. Finally there is always risk of injury where workmen are required tc climb poles.
There is therefore a need for a portable remote controlled robot pole climbing systems to provide a platfom for mounting sand blasting, spray painting, cleaning, drilling, recording, surveying equipment or the like. Prior attempts tc provide pole climbing devices have not been directed to remote controlled devices suitable for use on tapered concrete or steel posts.
It is also important to provide a remote control device which is self centering so that equipment and particularly spray painting guns can be maintained at a constant distance from the pole.
In order to overcome the foregoing difficulties it is the general object of this invention to provide an improved device capable of being controlled from the ground.
A further object of this invention is the provision of a light weight portable pole climbing robot capable of carrying equipment such as sprayers and sandblasters which require pneumatic hoses.
SUBSTITUTE SHEET
A further object of the invention is the provision of pole engaging wheels or track means to improve the frictional engagement between the device and the pole.
A still further object is the provision of fail safe means to prevent downward movement of the device in the event of power failure.
A still further object is the provision of self-centering means to maintain a constant distance between an equipment carrying platform and the pole.
Accordingly the present invention provides a remote controlled apparatus for climbing poles, the apparatus comprising carriage including a two piece ring capable of opening to encircle the pole, at least three opposed pole engaging drive means, or. the ring, and means for moving each track drive means into engagement with the pole.
In the drawings which illustrate a preferred embodiment cf the invention.
Figure 1 is a side elevational view cf the portable remote controlled pole climbing apparatus of this invention.
Figures 1A and IB are side elevational views of pivot and latch means provided on the apparatus.
Figure 2 is a top plan view of the pole climbing apparatus on Figure 1.
Figure 3 is a top plan view of an alternative pcle climbing apparatus.
SUBSTITUTESHEET
Figure 4 is a side view of the pole engaging wheels of Figure 3, and;
Figure 4A is an alternative drive means for the wheel assemblies of Figure 4.
Referring now in detail to the drawing a remote controlled apparatus for climbing poles shown generally at 10 in Figure 1 includes a frame or carriage 12 having upper and lower rings 14 and 16 respectively. The rings 14 and 16 are substantially identical and are capable of opening to encircle a pole 20. The rings 14 and 16 have pivots at 22 and couplings at 26 to facilitate opening to encircle the pole 20.
At least three motor driven tracked devices 24 are mounted on the carriage to move the carriage 12 axially with respect to the pole 20. Each of the tracked devices includes a fractional horsepower reversible DC motor 30. A resilient track or belt 3*+ entrains a pair of rollers 32 mounted on a U shaped channel member 33 and each of the rollers 32 has a sprocket 36. The track is driven by a chain 37 which entrains the sprockets 36 and a drive sprocket 38 on the shaft of the DC motor 30. One of the rollers 32 is moveable as by means of screw 35 to facilitate tensioning cf the track 34.
In order to compensate for the variation in diameter of the pole 20 each of the tracked devices 24 i» secured to pistons 40 of pneumatic piston cylinder assemblies 42 and 46 which are in turn secured to the carriage 12 in a manner to be described below.
The rings 14 and 16 are spaced apart and held in superimposed relationship by upright plates 50 and tubular spacers 51 bolted therebetween. The rings 14 and 16 are substantially identical and therefore onlv one need to be described in detail.
SUBSTITUTESHEET
As shown more clearly in Fig. 1A and IB each of the rings 14 and 16 comprise two segments 52 and 54 which are held together by a pivot pin 56. The free ends of the segments 52 and 54 are releasable held in place by a lock pin 58 extending through aligned apertures in latch plates 60 and the segment 54 of both of the rings 14 and 16. When the pin 58 is in place a sensor (not shown) allows operation of the apparatus 10.
The tracked devices 24 are substantially identical as well as being easily removable and inter-changeable. Therefore only one will be described in detail. It will be appreciated that it is desirable to provide a guide or ram to resist lateral forces which could effect the pistons 40 of the piston cylinder assemblies 42 and 46. The pair of assemblies 42 and 46 are housed in telescoping inner and outer tubular members 70 and 72 respectively are preferably of rectangular cross section. The tubular members 70 and 72 are pivotally mounted between the upright plates 50 by an axle 74 extending through the plates and the outer tubular members 72 so that limited travel of the inner tubular member 70 is possible. It should be noted that pivotally mounting the track assemblies 24 compensates for tapered poles as well as the irregularities in the surface of any pole.
The piston cylinder assemblies 42 are preferably pneumatically operated and provided with one way valves or other fail safe provisions, one end of each of the cylinders 42 being attached to the outer tubular member 72 in a conventional manner as be clevis pin 76. The other ends of the pistons 42 are secured to the tracked device 24 by similar clevis pins 78.
The piston cylinder assemblies 42 are interconnected by air lines 80 and couplings 82 are provided to connect the assemblies 42 to a suitable source of compressed air through pneumatic hoses (not shown) .
SUBSTITUTE SHEET
In order to maintain the desired centering of the carriage 12 with respect to the pole 20, each assembly 24 includes a pair of rack gears 86 adapted to mesh with pinion gears 88 provided on the axles 74. The axles 74 are interconnected by a flexible drive cable 90 (see Fig. 1) so that movement of the tracked drive assemblies 24 toward the pole will be co-ordinated. The cable 90 preferably has a rotable inner flexible member in a stationary sheath. This provides an additional safety factor in that if one of the track assemblies 24 should fail the mechanical linkage 90 maintains the assembly in position on the pole 20. Alternatively, the piston cylinder assemblies 42 and 46 may be eliminated and the pinion gears are then driven by an electric motor through suitable linkage.
Alternatively as shown in Fig. 3 and Fig. ■* the tracked devices 24 are replaced by assemblies 124 having wheels 134 preferably driven by a gear train 136 including gears on the axles which engage a drive gear 138 on the shaft of an electric motor 130. The chain and sprocket drive system described with reference to Figs. 1 and 2 can be used to drive the wheels 134 as shown in Figure 4A.
The wheels 134 are mounted on three or more axles 135 eacn having four wheels 134 mounted thereon. It will be noted that one of the assemblies 124 can be provided with a pneumatic piston cylinder system 42 and that the other two assemblies 124 are moved by the electric motors 140 which drive linear actuators 142 known as ball screw actuators. A coupling 146 on the actuator 142 engages an inner one of the telescoping members 170 to move the wheel assemblies 124 into engagement with the pole 20. The linear actuators 142 have coil spring shock mounts 150 at their other ends.
The DC electric motors 130 and 140 are preferrably provided with a portable power supply such as batteries and are capable of being remotely controlled as by RF signals from a suitable transmitter.
SUBSTITUTE SHEET
The operation assuming all electrical and pneumatic connections have been made properly, the carriage 10 is positioned at the base of the pole 20 with the ring segments encircling the pole and coupled together. The necessary equipment is installed on the carriage and the electrical and pneumatic drive means is activated.
SUBSTITUTE SHEET
Claims
1. A remote controlled apparatus for climbing poles said apparatus comprising a carriage including a two piece ring capable of opening to encircle said pole at least three pole engaging opposed drive means on said ring and means for moving each said tracked drive means into engagement with said pole.
- 2. A remote controlled apparatus as claimed in claim 1 wherein each said drive means is equipped with means for interconnecting said means for moving said drive means into engagement with said pole so as to co-ordinate movement thereby facilitating centering said ring with respect to said pole.
3. A remote controlled apparatus as claimed in claim 1 wherein each said means for moving each said drive means is a piston cylinder assembly.
4. A remote controlled device as claimed in claim 2 wherein said means for interconnecting and controlling movement cf said drive means comprises a rack and pinion gears said pinion gears being interconnected by drive shaft means.
5. A remote control device as claimed in claim -* wherein said drive shaft means is flexible having a flexible core in an outer sheath.
6. A remote control device as claimed is claim wherein telescoping tubular supports are provided on said piston cylinder assemblies.
7. A remote controlled apparatus as claimed in claim 1 wherein said pole engaging means comprise tracked drive means.
SUBSTITUTE SHEET
8. A remote controlled apparatus as claimed in claim 1 wherein said means for moving each said drive means is a ball screw linear actuator.
9. A remote controlled apparatus as claimed in claim 1 wherein said pole engaging means comprises a plurality of wheels.
10. an apparatus as claimed in claim 1 wherein said wheels are driven by gears.
SUBSTITUTE SHEET
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CA1990/000272 WO1992004269A1 (en) | 1990-08-31 | 1990-08-31 | Pole climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CA1990/000272 WO1992004269A1 (en) | 1990-08-31 | 1990-08-31 | Pole climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO1992004269A1 true WO1992004269A1 (en) | 1992-03-19 |
Family
ID=4172856
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CA1990/000272 WO1992004269A1 (en) | 1990-08-31 | 1990-08-31 | Pole climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO1992004269A1 (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5542496A (en) * | 1994-12-15 | 1996-08-06 | St. Denis; Carroll R. | Robotic centering device |
| ES2125126A1 (en) * | 1995-01-25 | 1999-02-16 | Ez Conde Enrique Luis Iba | Automotive movable apparatus assembly equipped with an electrostatic spraying unit for painting tubular structures |
| GB2357277A (en) * | 1999-12-16 | 2001-06-20 | Tecsec Europ Ltd | Equipment assembly deployment method and apparatus |
| WO2009118409A1 (en) * | 2008-03-28 | 2009-10-01 | Thales | Robot for climbing posts |
| ES2352930A1 (en) * | 2010-11-23 | 2011-02-24 | Universidad De Oviedo | Robot platform for climbing posts |
| CN102059692A (en) * | 2009-11-17 | 2011-05-18 | 赵德志 | Mechanical stopping pole-climbing robot |
| CN104310283A (en) * | 2014-08-25 | 2015-01-28 | 侯小雨 | Automatic pole climbing device |
| CN107161229A (en) * | 2017-03-24 | 2017-09-15 | 广西大学 | One kind becomes cell type stepping and climbed tree monitoring sniffing robot |
| WO2021022906A1 (en) * | 2019-08-02 | 2021-02-11 | 国网安徽省电力有限公司淮南供电公司 | Pole holding mechanism and manned pole climbing operation platform |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2482392A (en) * | 1945-12-15 | 1949-09-20 | Rolfe E Whitaker | Machine for trimming branches from standing trees |
| US2581479A (en) * | 1948-04-19 | 1952-01-08 | Charles W Grasham | Palm tree pruner |
| DE1295780B (en) * | 1967-04-17 | 1969-05-22 | Loeoeck Willi | Climbing device for masts, trees and chimneys |
| FR2345389A1 (en) * | 1976-03-23 | 1977-10-21 | Havre Chantiers | Puller head for handling and laying pipes - has three interconnected powered tracked units equally spaced around pipe circumference |
| EP0006076A1 (en) * | 1978-05-31 | 1979-12-12 | Isotube S.A. | Lifting device with independently moving cage for climbing a mast |
| EP0200805A1 (en) * | 1985-05-08 | 1986-11-12 | KAAZ MACHINERY Company, Limited | Elevating device for automatic branch cut-off machines |
| DE3634061A1 (en) * | 1986-10-07 | 1988-04-14 | Ludwig Wenker | Universal multi-purpose lift for travelling mainly vertically, encircling sectional girders of different cross-sections |
-
1990
- 1990-08-31 WO PCT/CA1990/000272 patent/WO1992004269A1/en unknown
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2482392A (en) * | 1945-12-15 | 1949-09-20 | Rolfe E Whitaker | Machine for trimming branches from standing trees |
| US2581479A (en) * | 1948-04-19 | 1952-01-08 | Charles W Grasham | Palm tree pruner |
| DE1295780B (en) * | 1967-04-17 | 1969-05-22 | Loeoeck Willi | Climbing device for masts, trees and chimneys |
| FR2345389A1 (en) * | 1976-03-23 | 1977-10-21 | Havre Chantiers | Puller head for handling and laying pipes - has three interconnected powered tracked units equally spaced around pipe circumference |
| EP0006076A1 (en) * | 1978-05-31 | 1979-12-12 | Isotube S.A. | Lifting device with independently moving cage for climbing a mast |
| EP0200805A1 (en) * | 1985-05-08 | 1986-11-12 | KAAZ MACHINERY Company, Limited | Elevating device for automatic branch cut-off machines |
| DE3634061A1 (en) * | 1986-10-07 | 1988-04-14 | Ludwig Wenker | Universal multi-purpose lift for travelling mainly vertically, encircling sectional girders of different cross-sections |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5542496A (en) * | 1994-12-15 | 1996-08-06 | St. Denis; Carroll R. | Robotic centering device |
| ES2125126A1 (en) * | 1995-01-25 | 1999-02-16 | Ez Conde Enrique Luis Iba | Automotive movable apparatus assembly equipped with an electrostatic spraying unit for painting tubular structures |
| GB2357277A (en) * | 1999-12-16 | 2001-06-20 | Tecsec Europ Ltd | Equipment assembly deployment method and apparatus |
| GB2357277B (en) * | 1999-12-16 | 2002-06-19 | Tecsec Europ Ltd | Equipment deployment method and apparatus |
| US6868598B2 (en) | 1999-12-16 | 2005-03-22 | Tecsec Europe Limited | Equipment deployment method and apparatus |
| FR2929228A1 (en) * | 2008-03-28 | 2009-10-02 | Thales Sa | POKER ROBOT ROBOT. |
| WO2009118409A1 (en) * | 2008-03-28 | 2009-10-01 | Thales | Robot for climbing posts |
| US8978792B2 (en) | 2008-03-28 | 2015-03-17 | Thales | Robot for climbing posts |
| CN102059692A (en) * | 2009-11-17 | 2011-05-18 | 赵德志 | Mechanical stopping pole-climbing robot |
| ES2352930A1 (en) * | 2010-11-23 | 2011-02-24 | Universidad De Oviedo | Robot platform for climbing posts |
| WO2012069676A1 (en) * | 2010-11-23 | 2012-05-31 | Universidad De Oviedo | Robot platform for climbing posts |
| CN104310283A (en) * | 2014-08-25 | 2015-01-28 | 侯小雨 | Automatic pole climbing device |
| CN107161229A (en) * | 2017-03-24 | 2017-09-15 | 广西大学 | One kind becomes cell type stepping and climbed tree monitoring sniffing robot |
| WO2021022906A1 (en) * | 2019-08-02 | 2021-02-11 | 国网安徽省电力有限公司淮南供电公司 | Pole holding mechanism and manned pole climbing operation platform |
| US12042699B2 (en) | 2019-08-02 | 2024-07-23 | State Grid Anhui Electric Power Co., Ltd. Huainan Power Supply Company | Pole-gripping mechanism and manned pole- climbing work platform |
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