Air gap magnetic mobile robot

• US 6,564,815 B2
• Filed: 03/16/2001
• Issued: 05/20/2003
• Est. Priority Date: 03/16/2001
• Status: Active Grant

• Current Assignee: DCP Waterjet Holdings, Inc.
• Original Assignee: Ultrastrip Systems, Inc. (Ecosphere Technologies, Inc.)
• Inventors: McGuire, Dennis
• Primary Examiner(s): Stinson, Frankie L.
• Application Number:
  US09/809,800
• Publication Number:
  US 20020129841A1
• Time in Patent Office: 795 Days
• Field of Search: 15/17, 144/222, 134/172, 134/181, 134/198, 134/200, 134/201, 134/104.4
• US Class Current: 134/104.4
• CPC Class Codes: B62D 57/024 specially adapted for moving on inclined or vertical surfaces endless-track vehicles for ascending or descending stairs B62D55/075; hand-carts with provision for travelling up or down stairs B62B5/02
• CPC Class Codes: B63B 2231/30 Magnetic materials
• CPC Class Codes: B63B 59/10 using trolleys or the like driven along the surface

Abstract

A mobile robot for cleaning, stripping, reconditioning or refurbishing a coating on a metal work piece has a remote controlled power module for locomotion and a working head for removing the coating. The robot is held on the metal work piece by magnets mounted on the robot but spaced from the work piece.

Claims

1. A mobile magnetic robot for altering a coating of a ferro-magnetic work piece comprising a chassis, said chassis connected to a power module and to at least one stripping unit, said power module and said at least one stripping unit connected to a remote controller, said stripping unit adapted to supply energy to the coating of said work piece, said power module operatively connected to at least one wheel for rotating said at least one wheel, at least one magnet attached to said robot for magnetically attracting said robot to said ferro-magnetic work piece with sufficient magnetic force to maintain said robot in operative relationship with said work piece, said magnet spaced from said ferro-magnetic work piece to prevent damage to the coating wherein said at least one wheel is made of at least one magnet, said at least one wheel being surrounded by a non-magnetic tire, said tire being of sufficient thickness to prevent contact between said wheel and said work piece.

2. A mobile magnetic robot of claim 1 wherein said at least one wheel is made of a plurality of permanent magnets, said permanent magnets having opposite poles, said poles of said magnets oriented to provide a continuous magnetic attraction between said robot and said work piece during rotation of said at least one wheel.

3. A mobile magnetic robot of claim 2 wherein said non-magnetic tire is in the form of spaced apart discrete bands.

4. A mobile magnetic robot for altering a coating of a ferro-magnetic work piece comprising a chassis, said chassis connected to a power module and to at least one stripping unit, said power module and said at least one stripping unit connected to a remote controller, said stripping unit supplying energy from about 20,000 to about 60,000 pounds per square inch to the coating of said work piece, said power module operatively connected to at least one wheel for rotating said at least one wheel, at least one magnet attached to said robot for magnetically attracting said robot to said ferro-magnetic work piece with sufficient magnetic force to maintain said robot in operative relationship with said work piece, said magnet spaced from said ferro-magnetic work piece to prevent damage to the coating wherein said at least one magnet is a bar magnet, said bar magnet operatively connected to said power module, said bar magnet disposed in a plane parallel with the surface of said ferro-magnetic work piece.

5. A mobile magnetic robot of claim 4 wherein said bar magnet is a permanent magnet having opposite poles, said poles disposed to provide the strongest magnetic attraction between said magnet and said work piece.

6. A mobile magnetic robot of claim 5 wherein the space between said bar magnet and said work piece is an air gap.

7. A mobile magnetic robot for altering a coating of a ferro-magnetic work piece comprising a chassis, said chassis connected to a power module and to at least one stripping unit, said power module and said at least one stripping unit connected to a remote controller, said stripping unit adapted to supply energy to the coating of said work piece, said power module operatively connected to at least one wheel for rotating said at least one wheel, at least one magnet attached to said robot for magnetically attracting said robot to said ferro-magnetic work piece with sufficient magnetic force to maintain said robot in operative relationship with said work piece, said magnet spaced from said ferro-magnetic work piece to prevent damage to the coating wherein said at least one stripping unit includes a shroud, said shroud having a peripheral seal adapted to contact said work piece, said seal for preventing escape of debris from said at least one working head, said at least one magnet attached to said shroud between said shroud and said peripheral seal.

8. A mobile magnetic robot for removing a portion of a coating from a ferro-magnetic work piece comprising at least two wheels supporting a chassis, a power module connected to said chassis, said power module connected to a remote controller providing command and control of said robot, at least one stripping unit attached to said chassis for directing ultra high pressure fluid onto said work piece, one of said at least two wheels attached on one side of said power module, the other of said at least two wheels attached on the opposite side of said power module, said at least two wheels disposed for powered parallel rotation, permanent magnets mounted on said robot for magnetically attracting and holding said robot to said work piece, said at least two wheels having non-magnetic tires mounted thereon for spacing said at least two wheels from said work piece to prevent damage to said work piece by said at least two wheels wherein said permanent magnets are formed as said at least two wheels, said at least two wheels having non-magnetic tires fixed thereabout, said non-magnetic tires providing spacing between said at least two wheels and said work piece to prevent damage to said work piece by said at least two wheels, each of said at least two wheels have a stripping unit juxtaposed thereto, said stripping units have shrouds enclosing rotating working heads, exhaust guides in said shrouds for directing said fluid away from said working head.

9. A mobile magnetic robot of claim 8 wherein said permanent magnets are formed as an elongated bar, said bar spaced from said work piece.

10. A mobile magnetic robot of claim 8 wherein said at least one stripping unit includes a shroud to contain debris from said work piece, said shroud having a peripheral seal contacting said work piece, said permanent magnets are mounted in said shrouds, said peripheral seal spacing said magnets from said work piece.

11. A mobile magnetic robot of any of claims 8 or 9 or 10 wherein said magnets are electro-magnets.

12. An environmentally safe system for cleaning a protective coating on a ferro-magnetic work piece and reducing the protective coating by-products comprising a robot having a chassis, magnets attached to said robot magnetically attracting said robot to said work piece, said magnets spaced from said work piece, a power module providing direction and movement connected to said chassis, at least one stripping unit for cleaning said work piece attached to said chassis, said stripping unit having a shroud enclosing a rotatable working head, said working head connected to a pump for supplying ultra high pressure fluid, said pump connected to a source of fluid, said working head carrying orifices for delivery of ultra high pressure fluid onto said work piece and rotating said working head, said shroud having a peripheral seal about said working head, said peripheral seal for contacting said work piece and confining said fluid, said shroud having an exhaust guide for removing said fluid and said by-products by centrifuge action, said exhaust guide connected to a container, said container including a separator for removing said by-products from said fluid, a converter connected to said container, said converter reducing said by-products in an enclosed atmosphere, said container connected to said source of fluid, said robot, said pump, said container, said separator, said converter and said source of fluid operatively connected to a controller for monitoring and commanding said system.

13. The system of claim 12 wherein said controller is manual.

14. The system of claim 12 wherein said controller is computer driven.

15. The system of claim 12 wherein a plurality of stripping units are attached to said chassis.

16. A system of claim 12 wherein said direction and movement of said robot is directed by said controller.

17. A system of claim 12 wherein said power module includes powered wheels, said wheels formed as said magnets, said wheels having non-magnetic tires mounted thereon to space said magnets from said work piece.

18. A system of claim 12 wherein said magnets are in the form of a bar magnet, said bar magnet connected to said power module spaced above said work piece.

19. A system of claim 12 wherein said magnets are fixed in said shroud above said peripheral seal.