Wall-crawling machine

• US 4,828,059 A
• Filed: 10/05/1987
• Issued: 05/09/1989
• Est. Priority Date: 10/03/1986
• Status: Expired due to Term

• Current Assignee: Babcock-Hitachi Kabushiki Kaisha (Hitachi, Ltd.)
• Original Assignee: Babcock-Hitachi Kabushiki Kaisha (Hitachi, Ltd.)
• Inventors: Sato, Chikara, Naito, Shinji, Ichikawa, Yoshiaki, Tsuchita, Kenji, Kajiyama, Shigeru
• Primary Examiner(s): Marmor, Charles A.
• Assistant Examiner(s): NOT, DEFINED
• Application Number:
  US07/104,269
• Time in Patent Office: 582 Days
• Field of Search: 180/119, 180/117, 180/116, 180/120, 180/901, 180/9.5, 180/9.52, 180/9, 180/9.1, 114/222, 305/36, 305/35 EB
• US Class Current: 180/119
• CPC Class Codes: B62D 55/265 having magnetic or pneumatic adhesion
• CPC Class Codes: Y10S 180/901 Devices for traversing vertical surfaces

Abstract

A wall-crawling machine comprises a body, a plurality of guide wheels rotatably mounted on the body, at least one crawler track extending around the guide wheels, a plurality of permanent magnets disposed on an outer surface of each of the crawler tracks, and a guide device provided on the respective crawler tracks for selectively restraining or releasing the crawler track from moving relative to the body in a direction perpendicular to a plane on which the permanent magnets travel.

Claims

1. A wall-crawling machine comprising:

a body;

a plurality of guide wheels rotatably mounted on said body;

at least one crawler track extending around said guide wheels;

a plurality of permanent magnets secured to an outer surface of each of said crawler tracks, each of said permanent magnets including a connecting member; and

guide means associated with the respective crawler tracks and means for selectively moving said guide means between first and second positions for, in said first position, engaging a plurality of said connecting members to combine;

some of said permanent magnets, which face a plane on which said permanent magnets travel, into an integrated magnet means against a force acting on said integrated magnet means in a direction perpendicular to said plane and in said second position, said connecting members being freely movable relative to said guide means for separating said integrated magnet means into permanent magnets which individually act in a direction perpendicular to said plane.

2. A wall-crawling machine according to claim 1, wherein said crawler track comprising a plurality of links each of which carries a permanent magnet through its associated connecting member, and wherein said means for selectively moving said guide means includes at least one fluidic cylinder connected at one end thereof to said body, and wherein said guide means includes a rigid bar to which said fluidic cylinder is connected at the other end thereof, so that said rigid bar is capable of engaging with said connecting members to combine some of said permanent magnets, which face a plane on which said permanent magnets travel, into said integrated magnet means against a force acting on the integrated magnet means in a direction perpendicular to said plane.

3. A wall-crawling machine according to claim 1, wherein a plurality of pairs of crawler tracks are provided, one of each of said pairs is swingable relative to the other.

4. A wall-crawling machine according to claim 1, wherein said machine further comprises supporting means which is magnetically energized or de-energized, and driving means for making said crawler track swing about a swing axis, and wherein said guide means includes a first guide means provided along a first part of said crawler track and a second guide means provided along a part of said crawler track opposite to said first part of said crawler track.

5. A wall-crawling machine according to claim 1, wherein a plurality of crawler tracks are provided parallel to each other, and wherein each of said crawler tracks is movable close to and apart from the adjacent one in a direction perpendicular to a traveling direction of said machine.

6. A wall-crawling machine according to claim 1, wherein said machine further comprises inspecting means for inspecting a condition of a part of said plane around said machine.