US3409854A - Device for moving a working apparatus on a support surface - Google Patents

Device for moving a working apparatus on a support surface Download PDF

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Publication number
US3409854A
US3409854A US549708A US54970866A US3409854A US 3409854 A US3409854 A US 3409854A US 549708 A US549708 A US 549708A US 54970866 A US54970866 A US 54970866A US 3409854 A US3409854 A US 3409854A
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Prior art keywords
frame
supporting surface
moving
movement
support surface
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US549708A
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Swallert Sven Arild
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0264—Carriages for supporting the welding or cutting element magnetically attached to the workpiece
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
    • B63B59/06—Cleaning devices for hulls
    • B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F22—STEAM GENERATION
    • F22B—METHODS OF STEAM GENERATION; STEAM BOILERS
    • F22B37/00—Component parts or details of steam boilers
    • F22B37/002—Component parts or details of steam boilers specially adapted for nuclear steam generators, e.g. maintenance, repairing or inspecting equipment not otherwise provided for
    • F22B37/006—Walking equipment, e.g. walking platforms suspended at the tube sheet
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/45—Scale remover or preventor
    • Y10T29/4572—Mechanically powered operator
    • Y10T29/4583—Hammer

Definitions

  • the apparatus includes first and second frames which are reciprocally movable relative to each other in response to a control means.
  • Each of the frames includes a means for selectively securing the respective frame to a supporting surface.
  • the just-moved frame may be secured to the supporting surface and the other one released therefrom so that further movement of a frame relative to the other frame now results in movement of the other frame relative to the supporting surface.
  • the entire apparatus may be moved along the surface.
  • a further means is provided for securing a portion of one of the frames to the supporting surface and then rotating the remainder of that frame together with the other frame, about the secured portion, thereby permitting an effective transverse motion of the entire apparatus over the supporting surface.
  • the object of the present invention is to provide a simple and effective device for automatic moving of such apparatus. along adjustable paths of movement. According to theinvention this is achieved by the fact that the apparatusis supported by two frame members reciprocatingly and linearily movable in relation to each other said frame members being provided with attaching members as eletcromagnets or suction cups capable to alternatingly adhere to the support surface in synchronism with the reciprocating movement of the frame members.
  • the attaching member or members of one of the frame members is arranged, in its adhering state, to be turned an adjustable angle in rleation to said frame member in order to change the direction of movement of the device.
  • Another embodiment of the invention is characterized in that the two frame members are reciprocatingly and linearily movable in relation to each other in an additional direction perpendicular to the first mentioned linear direction of movement and in a plane parallel to the support surface in order to change the direction of movement of the device.
  • FIGURE 1 is a perspective of a rust scaling hammer apparatus
  • FIGURES 2 to 4 illustrate the principle of the movement of the apparatus shown in FIG. 1, and
  • FIGURE 5 illustrates the apparatus in action on a ship's side plating.
  • the device shown on the drawing comprises a metallic frame having end sections 1 and 2 which are provided with electromagnets 3, 4 and 5.
  • Two parallel rods 7 and 8 connect the end sections 1 and 2 and support a platform 6 slidingly mounted on the rods.
  • the platform 6 is provided with a row of pneumatic hammers 9, an electromagnet 10 and a toothed wheel 11.
  • the electromagnet 10 and the toothed wheel 11 are secured coaxially to a shaft 12 which is'rotatably mounted on said platform 6.
  • a rack 13 meshes with the toothed wheel 11.
  • the rack is actuated by a piston running in a cylinder 14 attached to the platform 6 to which cylinder compressed air is supplied through apertures 15 or 16 in order to move the rack in one or the other direction and thus turn the magnet 10.
  • a rod 17 is actuated by a piston running in a cylinder 18 attached to the end section 1 and thus moves the platform 6 along the rods 7, 8.
  • the electromagnets 3, 4, 5 on one hand and on the other hand the electromagnet 10 are connected separately to an AC-current source.
  • the device operates in the following way: After the device has been placed on the ships steel plating and its electromagnets and pneumatic cylinders has been connected to a control box operated by an operator 20, it is possible to move the device optionally in all directions in the following manner:
  • a movement of the platform 6 is achieved when magnet 10 is deenergized and the piston in cylinder 18 is moved in the desired direction (FIG. 2).
  • the platform 6 reaches the end of its stroke abutting on one of the end sections 1 or 2 of the frame magnet 10 is first energized and then magnets 3, 4 and 5 are deenergized and the piston in cylinder 18 is actuated to move in the opposed direction.
  • the frame 1, 2, 7, 8, is thereby moved one step forward and after that the magnets 3, 4, 5 are energized and the magnet 10 is deenergized and so on. In this way it is possible to have the ships side hammered from stem to stern along a path of movement having a width equal to the distance between upper and lower pneumatic hammers 9 on the platform 6.
  • magnet 10 To change direction of movement the magnet 10 is energized, magnets 3, 4, 5 are deenergized and the piston in cylinder 14 is moved so that rack 13 forces the metal frame to turn e.g. as shown in FIG. 3. The frame reaches the position shown in FIG. 4 and then it is possible to move the device in the new direction as described above.
  • magnet 10 in relation to platform 6 can be effected by other means than a rack.
  • electric motors instead of pneumatic pistons and cylinders and suction cups connected to vacuum conduits instead of magnets 3, 4, 5 and 10 thus making it possible to use the device in connection with other kinds of support surfaces than ferromagnetic surfaces, e.g. for painting cisterns coated with aluminium plates.
  • the device on horizontal surfaces in which case the support surface can have a more uneven surface.
  • the magnets or suction cups are resiliently mounted on the frame so that a reliable action is obtained even if the support surface is uneven.
  • Apparatus for moving a working apparatus over a supporting surface comprising in combination, a first frame, a second frame movably engaging said first frame, control means for reciprocally moving said first frame relative to said second frame, and securing means on each of said frames for selectively securing the respective frame to said supporting surface, whereby said second frame may be moved in response to said control means relative to said first frame and relative also to said supporting surface when said securing means secures only said first frame to said supporting surface, and alternatively said first frame may be moved in response to said control means relative to said second frame and relative also to said supporting surface when said securing means secures only said second frame to said supporting surface.
  • said securing means for at least one of said frames comprises at least one electromagnet on said one frame adapted to engage said supporting surface.
  • control means includes a piston operatively connected to one frame and a cooperating cylinder operatively connected to the other frame.
  • the apparatus of claim 1 which further includes means on one frame rotatable with respect to said one frame and means for selectively securing said last-named means to said supporting surface.

Description

'Nov.'5; '1968 s/AL SWALLERT ,40
DEVICE FOR MOVING A WORKING APPARATUS ON A SUPPORT SURFACE Filed May 12. 1966 JYM/Mb Sven A. Swa llerf j mmar United States Patent Claims. (Cl. 335-289) ABSTRACT OF THE DISCLOSURE An apparatus for moving a working apparatus over a supporting surface, particularly where the supporting surface is steeply inclined or even vertical. The apparatus includes first and second frames which are reciprocally movable relative to each other in response to a control means. Each of the frames includes a means for selectively securing the respective frame to a supporting surface. When one of the frames is secured to the supporting surface, movement of one of the frames relative to the other in response to the control means results in movement of such frame relative to the supporting surface as well. Thereafter, the just-moved frame may be secured to the supporting surface and the other one released therefrom so that further movement of a frame relative to the other frame now results in movement of the other frame relative to the supporting surface. As a consequence, the entire apparatus may be moved along the surface. A further means is provided for securing a portion of one of the frames to the supporting surface and then rotating the remainder of that frame together with the other frame, about the secured portion, thereby permitting an effective transverse motion of the entire apparatus over the supporting surface.
In many technical fields of activity it is often necessary to move an apparatus, for instance a rust scaling hammer apparatus, a welding device, a spray painting device, a television camera, an X-ray apparatus, etc. across a large surface. Such working operations are especially difiicult and time consuming if the surface is vertical in which case as a rule scaffolds or movable platforms are necessary.
The object of the present invention is to provide a simple and effective device for automatic moving of such apparatus. along adjustable paths of movement. According to theinvention this is achieved by the fact that the apparatusis supported by two frame members reciprocatingly and linearily movable in relation to each other said frame members being provided with attaching members as eletcromagnets or suction cups capable to alternatingly adhere to the support surface in synchronism with the reciprocating movement of the frame members.
According to an embodiment of the invention the attaching member or members of one of the frame members is arranged, in its adhering state, to be turned an adjustable angle in rleation to said frame member in order to change the direction of movement of the device.
Another embodiment of the invention is characterized in that the two frame members are reciprocatingly and linearily movable in relation to each other in an additional direction perpendicular to the first mentioned linear direction of movement and in a plane parallel to the support surface in order to change the direction of movement of the device.
The invention will be more clearly explained in the following in connection to the accompanying drawing schematically showing an embodiment of the invention chosen as an example, in which FIGURE 1 is a perspective of a rust scaling hammer apparatus,
FIGURES 2 to 4 illustrate the principle of the movement of the apparatus shown in FIG. 1, and
FIGURE 5 illustrates the apparatus in action on a ship's side plating.
The device shown on the drawing comprises a metallic frame having end sections 1 and 2 which are provided with electromagnets 3, 4 and 5. Two parallel rods 7 and 8 connect the end sections 1 and 2 and support a platform 6 slidingly mounted on the rods. The platform 6 is provided with a row of pneumatic hammers 9, an electromagnet 10 and a toothed wheel 11. The electromagnet 10 and the toothed wheel 11 are secured coaxially to a shaft 12 which is'rotatably mounted on said platform 6. A rack 13 meshes with the toothed wheel 11. The rack is actuated by a piston running in a cylinder 14 attached to the platform 6 to which cylinder compressed air is supplied through apertures 15 or 16 in order to move the rack in one or the other direction and thus turn the magnet 10. A rod 17 is actuated by a piston running in a cylinder 18 attached to the end section 1 and thus moves the platform 6 along the rods 7, 8.
The electromagnets 3, 4, 5 on one hand and on the other hand the electromagnet 10 are connected separately to an AC-current source.
The device operates in the following way: After the device has been placed on the ships steel plating and its electromagnets and pneumatic cylinders has been connected to a control box operated by an operator 20, it is possible to move the device optionally in all directions in the following manner:
A movement of the platform 6 is achieved when magnet 10 is deenergized and the piston in cylinder 18 is moved in the desired direction (FIG. 2). When the platform 6 reaches the end of its stroke abutting on one of the end sections 1 or 2 of the frame magnet 10 is first energized and then magnets 3, 4 and 5 are deenergized and the piston in cylinder 18 is actuated to move in the opposed direction. The frame 1, 2, 7, 8, is thereby moved one step forward and after that the magnets 3, 4, 5 are energized and the magnet 10 is deenergized and so on. In this way it is possible to have the ships side hammered from stem to stern along a path of movement having a width equal to the distance between upper and lower pneumatic hammers 9 on the platform 6.
To change direction of movement the magnet 10 is energized, magnets 3, 4, 5 are deenergized and the piston in cylinder 14 is moved so that rack 13 forces the metal frame to turn e.g. as shown in FIG. 3. The frame reaches the position shown in FIG. 4 and then it is possible to move the device in the new direction as described above.
The invention is of course not limited to the embodiment shown but different modifications are possible Within the scope of the invention. Thus the turning of magnet 10 in relation to platform 6 can be effected by other means than a rack. Moreover it is possible to use electric motors instead of pneumatic pistons and cylinders and suction cups connected to vacuum conduits instead of magnets 3, 4, 5 and 10 thus making it possible to use the device in connection with other kinds of support surfaces than ferromagnetic surfaces, e.g. for painting cisterns coated with aluminium plates. It is of course also possible to use the device on horizontal surfaces in which case the support surface can have a more uneven surface. Suitably the magnets or suction cups are resiliently mounted on the frame so that a reliable action is obtained even if the support surface is uneven.
What is claimed is:
1. Apparatus for moving a working apparatus over a supporting surface and comprising in combination, a first frame, a second frame movably engaging said first frame, control means for reciprocally moving said first frame relative to said second frame, and securing means on each of said frames for selectively securing the respective frame to said supporting surface, whereby said second frame may be moved in response to said control means relative to said first frame and relative also to said supporting surface when said securing means secures only said first frame to said supporting surface, and alternatively said first frame may be moved in response to said control means relative to said second frame and relative also to said supporting surface when said securing means secures only said second frame to said supporting surface.
2. The apparatus of claim 1 in which said securing means for at least one of said frames comprises at least one electromagnet on said one frame adapted to engage said supporting surface.
3. The apparatus of claim 2 in which said electromagnet comprises a substantially planar portion adapted to make surface contact with said supporting surface.
4. The apparatus of claim 1 in which said control means includes a piston operatively connected to one frame and a cooperating cylinder operatively connected to the other frame.
5. The apparatus of claim 1 which further includes means on one frame rotatable with respect to said one frame and means for selectively securing said last-named means to said supporting surface.
References Cited UNITED STATES PATENTS 2,104,062 1/ 1938 Temple 335-290 XR 2,132,661 10/1938 Temple. 2,543,348 2/1951 Briese. I
BERNARD A. GILHEANY, Primary Examiner.
GEORGE HARRIS, JR., Assistant Examiner.
US549708A 1965-05-14 1966-05-12 Device for moving a working apparatus on a support surface Expired - Lifetime US3409854A (en)

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Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3811320A (en) * 1973-03-12 1974-05-21 Rockwell International Corp Surface scaler apparatus
US3900968A (en) * 1971-12-10 1975-08-26 Genshichi Shigyo Mobile cleaning and polishing device
US3958652A (en) * 1973-12-11 1976-05-25 Sanko Co., Ltd. Apparatus movably adhering to a wall and adapted to carry a cleaning apparatus
US4043134A (en) * 1976-05-13 1977-08-23 Burton Hoster Mason Guide arm clamp mechanism for submergible chamber
DE2920541A1 (en) * 1978-06-01 1979-12-06 Lundberg Marinkonsult DEVICE FOR TREATING SHIPS BODIES
FR2519576A1 (en) * 1982-01-11 1983-07-18 Kroczynski Patrice ROBOT WITH CLIPPERS
FR2529131A1 (en) * 1982-06-23 1983-12-30 Int Robotic Eng ROBOT CAPABLE OF MOVING ON INCLINED OR VERTICAL WALLS
FR2538743A1 (en) * 1982-12-29 1984-07-06 Renault Robot
WO1984004733A1 (en) * 1983-05-20 1984-12-06 John Cameron Robertson Remotely-operable vehicles for use in the cleaning and inspection of marine contact surfaces
FR2550984A1 (en) * 1983-07-07 1985-03-01 Inst Rech Const Navale Flexible installation of robot-carrier pairs
FR2555491A2 (en) * 1983-11-28 1985-05-31 Int Robotic Eng ROBOT WITH CLIPPERS
EP0186488A2 (en) * 1984-12-28 1986-07-02 Westinghouse Electric Corporation Controllable vehicle for inspecting limited access areas
US4697239A (en) * 1984-12-27 1987-09-29 Institut De Recherches De La Construction Navale Automated installation for processing large objects
GB2218398A (en) * 1988-05-11 1989-11-15 Danzoe Eng Ltd Crane mounted on rail chassis
US5339573A (en) * 1991-08-27 1994-08-23 Chubu Electric Power Co., Inc. Floor surface blasting apparatus
US5716261A (en) * 1994-01-14 1998-02-10 The Wheelabrator Corporation, Oscillating blast cleaner
WO2010142044A1 (en) * 2009-06-10 2010-12-16 Robotinc.Ch Ag Wall climbing apparatus
NO20161367A1 (en) * 2016-08-26 2018-02-12 Bri Norhull As Holding means for holding an apparatus against a metallic surface
US20190016367A1 (en) * 2017-07-13 2019-01-17 Inuktun Services Ltd. Magnetically adhering robot

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4018345A (en) * 1975-11-18 1977-04-19 Combustion Engineering, Inc. Surface traversing apparatus

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2104062A (en) * 1935-10-28 1938-01-04 John C Temple Surfacing machine
US2132661A (en) * 1935-11-29 1938-10-11 John C Temple Surfacing machine
US2543348A (en) * 1948-12-21 1951-02-27 Todd Shipyards Corp Scaling machine for cleaning the sides of a ship

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2104062A (en) * 1935-10-28 1938-01-04 John C Temple Surfacing machine
US2132661A (en) * 1935-11-29 1938-10-11 John C Temple Surfacing machine
US2543348A (en) * 1948-12-21 1951-02-27 Todd Shipyards Corp Scaling machine for cleaning the sides of a ship

Cited By (33)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3900968A (en) * 1971-12-10 1975-08-26 Genshichi Shigyo Mobile cleaning and polishing device
US3811320A (en) * 1973-03-12 1974-05-21 Rockwell International Corp Surface scaler apparatus
US3958652A (en) * 1973-12-11 1976-05-25 Sanko Co., Ltd. Apparatus movably adhering to a wall and adapted to carry a cleaning apparatus
US4043134A (en) * 1976-05-13 1977-08-23 Burton Hoster Mason Guide arm clamp mechanism for submergible chamber
DE2920541A1 (en) * 1978-06-01 1979-12-06 Lundberg Marinkonsult DEVICE FOR TREATING SHIPS BODIES
EP0084012A1 (en) * 1982-01-11 1983-07-20 International Robotic Engineering Inc. Robot with climbing members
FR2519576A1 (en) * 1982-01-11 1983-07-18 Kroczynski Patrice ROBOT WITH CLIPPERS
WO1983002419A1 (en) * 1982-01-11 1983-07-21 Patrice Alain Kroczynski Climber leg robot
US4674949A (en) * 1982-01-11 1987-06-23 International Robotic Engineering, Inc. Robot with climbing feet
FR2529131A1 (en) * 1982-06-23 1983-12-30 Int Robotic Eng ROBOT CAPABLE OF MOVING ON INCLINED OR VERTICAL WALLS
EP0106709A2 (en) * 1982-06-23 1984-04-25 International Robotic Engineering Inc. Robot capable of moving on inclined or vertical surfaces
EP0106709A3 (en) * 1982-06-23 1984-05-30 International Robotic Engineering Inc. Robot capable of moving on inclined or vertical surfaces
FR2538743A1 (en) * 1982-12-29 1984-07-06 Renault Robot
GB2150512A (en) * 1983-05-20 1985-07-03 John Cameron Robertson Remotely-operable vehicles for use in the cleaning and inspection of marine contact surfaces
WO1984004733A1 (en) * 1983-05-20 1984-12-06 John Cameron Robertson Remotely-operable vehicles for use in the cleaning and inspection of marine contact surfaces
FR2550984A1 (en) * 1983-07-07 1985-03-01 Inst Rech Const Navale Flexible installation of robot-carrier pairs
WO1985002360A1 (en) * 1983-11-28 1985-06-06 International Robotic Engineering Inc. Apparatus with legs adhering to a non horizontal surface
FR2555491A2 (en) * 1983-11-28 1985-05-31 Int Robotic Eng ROBOT WITH CLIPPERS
US4666114A (en) * 1983-11-28 1987-05-19 International Robotic Engineering, Inc. Device for holding on a non-horizontal surface an apparatus capable of moving along said surface
US4697239A (en) * 1984-12-27 1987-09-29 Institut De Recherches De La Construction Navale Automated installation for processing large objects
US4703817A (en) * 1984-12-28 1987-11-03 Westinghouse Electric Corp. Controllable vehicle for inspecting limited access areas
EP0186488A3 (en) * 1984-12-28 1987-07-01 Westinghouse Electric Corporation Controllable vehicle for inspecting limited access areas
EP0186488A2 (en) * 1984-12-28 1986-07-02 Westinghouse Electric Corporation Controllable vehicle for inspecting limited access areas
GB2218398A (en) * 1988-05-11 1989-11-15 Danzoe Eng Ltd Crane mounted on rail chassis
US5339573A (en) * 1991-08-27 1994-08-23 Chubu Electric Power Co., Inc. Floor surface blasting apparatus
US5435773A (en) * 1991-08-27 1995-07-25 Chubu Electric Power Co., Inc. Floor surface blasting apparatus
US5667429A (en) * 1991-08-27 1997-09-16 Chubu Electric Power Company, Inc. Floor surface blasting apparatus
US5716261A (en) * 1994-01-14 1998-02-10 The Wheelabrator Corporation, Oscillating blast cleaner
WO2010142044A1 (en) * 2009-06-10 2010-12-16 Robotinc.Ch Ag Wall climbing apparatus
NO20161367A1 (en) * 2016-08-26 2018-02-12 Bri Norhull As Holding means for holding an apparatus against a metallic surface
NO341869B1 (en) * 2016-08-26 2018-02-12 Bri Norhull As Holding means for holding an apparatus against a metallic surface
US20190016367A1 (en) * 2017-07-13 2019-01-17 Inuktun Services Ltd. Magnetically adhering robot
US10518800B2 (en) * 2017-07-13 2019-12-31 Inuktun Services Ltd. Magnetically adhering robot

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