Patent Application
20240308605
The presently disclosed subject matter relates, in general, to a caterpillar apparatus for moving along a surface, and more particularly to a caterpillar apparatus having vacuum grippers for moving along an inclined/vertical and/or slippery surface.
A caterpillar apparatus of the above kind can be used for a plurality of applications, of which most popular and challenging is cleaning the exteriors, e.g., walls and window panels, of high-rise buildings.
Most of the conventional methods used for cleaning the exteriors of a high-rise building include window washers rappelling down the building and manually cleaning the exteriors thereof.
These methods put in risk the lives of window washers, and more so where there is probability of strong unexpected gusts of wind. Such conventional methods, especially due to the risks involved and the related cautions required, are time consuming, and thereby costly.
Some other devices and methods used for this purpose include window cleaning platforms, also known as suspended gondolas or scaffolds, enabling the window washers to walk therealong and to be secured thereto, or semi/fully automatic systems such as robots and drones.
WO 2019/165859 discloses a cleaning robot comprising a pair of caterpillar tracks arranged opposite to one another, having a plurality of caterpillar track suction cups arranged on the outer surface of the caterpillar tracks, and a negative pressure assembly in communication with the caterpillar track suction cups. The output connector and the caterpillar track suction pads of the cleaning robot rotate synchronously, avoiding the situation of the connecting tubes connecting the caterpillar track suction cups and the negative pressure assembly becoming intertwined.
CN 102631173 discloses a miniature robot capable of walking along and cleaning vertical surfaces such as a glass wall and a ceramic outer wall. The robot walks through a track provided with a sucker connected with a vacuum pump.
U.S. Pat. No. 9,688,326 discloses a drive unit for driving a robot along an inclined surface. An endless tread engages a pair of wheels to define a planar bottom surface of the endless tread, and a vacuum motor pulls air through holes in the endless tread when the holes are aligned with a vacuum opening.
CN205094341 discloses a wall cleaning robot using vacuum adsorption tracks.
Acknowledgement of the above references herein is not to be inferred as meaning that these are in any way relevant to the patentability of the presently disclosed subject matter.
Optionally, each of the vacuum grippers of the caterpillar assembly can be configured for maintaining the vacuum after termination of operation of the vacuum pump, during the time when the gripping face of the vacuum gripper is attached to the surface, whereby the gripper can be configured to have the following operational modes: a suction mode when the vacuum is created by the vacuum pump and a vacuum mode when the vacuum is maintained after the termination of operation of the vacuum pump.
Optionally, each vacuum gripper can comprise a pump manipulator configured to initiate the operation of the vacuum pump once the vacuum gripper reaches a predetermined starting position.
Optionally, each vacuum gripper can comprise a vacuum releaser configured to release the vacuum maintained in the vacuum gripper once the vacuum gripper reaches a predetermined finishing position.
Optionally, the caterpillar assembly can further comprise at least one starting position indicator configured for signaling to the pump manipulator of each gripper when the gripper reaches the predetermined starting position.
Optionally, the caterpillar assembly can further comprise at least one finishing position indicator configured for signaling to the vacuum releaser of each gripper when the gripper reaches the predetermined finishing position.
The moving system can comprise one or more moving mechanisms operable to move the vacuum grippers or to move a component/components of the moving system to which the vacuum grippers are fixedly connected, so as to bring each gripper from one side to the other side of the central reference plane along the longitudinal reference plane.
For example, the moving system can comprise a movable track drivable by at least one driving mechanism, and each gripper can be fixedly connected to the movable track at locations spaced apart therealong. For example, the moving mechanism can comprise at least one gear configured for movingly engaging the movable track and a driving mechanism, e.g. motor, configured for moving the at least one gear, so as to move the vacuum grippers.
The movable track can be in the form of a continuous conveyor flexible strap or in the form of a succession of discrete elements connected or not connected to each other, each of which at least one vacuum grippers can be mounted to the discrete elements. The discrete elements can be connected therebetween by a plurality of pivot axles.
Optionally, the moving system can comprise a stationary track and wherein each gripper is configured for slidingly engaging the stationary track. Optionally, the stationary track and each gripper can further comprise gears configured for movingly engaging each other securely moving each vacuum gripper along the stationary track.
Optionally, each gripper can further comprise a driving mechanism, e.g. motor configured for moving the gears of gripper along the stationary track.
Optionally, the caterpillar assembly can constitute a part of a caterpillar apparatus comprising at least two caterpillar assemblies and a plane of symmetry, optionally parallel to the longitudinal planes of the two assemblies, such that at least one caterpillar assembly is positioned on each one of the two sides of the plane of symmetry. Optionally, the caterpillar apparatus can comprise at least two caterpillar assemblies as defined hereinabove.
Optionally, the caterpillar assemblies can comprise an equal number of the vacuum grippers which can be arranged such that at each moment the gripping faces of the same number of grippers of the two assemblies define the surface gripping faces of the two assemblies, and constitute a surface gripping face of the apparatus.
Optionally, the apparatus can comprise a base to which the moving system is securely mounted, at least a part of the moving system being rigid to form a structural support for the vacuum grippers.
Optionally, each vacuum gripper can be provided with a mounting portion by which the gripper can be mounted to the moving system and an adjusting device which can be configured for enabling adjustment of the distance between the vacuum gripper, its gripping face or gripping portion and the moving system.
Optionally, the adjusting device can be configured for orienting the vacuum gripper at an adjustable angle with respect to the central reference plane.
Optionally, the individual vacuum pump is two or more individual vacuum pumps configured for selectively creating vacuum within the gripper.
Optionally, the caterpillar apparatus can further comprise a controller configured to control the movement of each one of the vacuum grippers. Optionally, the controller can be configured to control the movement of the moving system.
Optionally, each vacuum gripper can further comprise at least one sensor configured to provide indication of at least the operational mode of the vacuum gripper and, optionally, its malfunction.
Optionally, the caterpillar apparatus can further comprise a pivoting assembly comprising at least one vacuum gripper, and configured to secure the caterpillar apparatus to the surface and pivot the caterpillar apparatus along a central plane of the apparatus perpendicular to the plane of symmetry, at least when the moving systems are inoperative.
Optionally, the controller can further be configured to control the securement and releasement of the caterpillar apparatus to and from said surface via the at least one vacuum gripper of the pivoting assembly. Optionally, the controller can further be configured to control the pivoting of the caterpillar apparatus via said pivoting assembly.
According to another aspect of the presently disclosed subject matter, there is provided a caterpillar assembly for moving along a surface, the caterpillar assembly having a longitudinal reference plane comprising a longitudinal axis and a central reference plane perpendicular to the longitudinal reference plane and comprising the longitudinal axis and a central axis perpendicular to the longitudinal axis, the assembly having at least one surface gripping face, at least a portion of which is parallel to the central reference plane and which is configured, when in operation, to face said surface, the caterpillar assembly comprising:
Optionally, the caterpillar assembly can further comprise a vacuum system configured for selectively applying vacuum to the vacuum grippers so that, at each time, vacuum can be simultaneously maintained within each of the at least two vacuum grippers whose gripping faces define the surface gripping face. Optionally, each vacuum gripper can be provided with an individual vacuum pump configured for selectively creating vacuum within the gripper.
Optionally, each of the vacuum grippers of the caterpillar assembly can be configured for maintaining the vacuum after termination of operation of the vacuum pump, during the time when the gripping face of the vacuum gripper needs to be attached to the surface, whereby the gripper is configured to have at least the following operational modes: a suction mode when the vacuum is created by the vacuum pump, and a vacuum mode when the vacuum is maintained after the termination of operation of the vacuum pump.
Optionally, each vacuum gripper can comprise a pump manipulator configured to initiate the operation of the pump once the vacuum gripper reaches a predetermined starting position.
Optionally, each vacuum gripper can comprise a vacuum releaser configured to release the vacuum maintained in the gripper once the vacuum gripper reaches a predetermined finishing position.
Optionally, the caterpillar assembly can further comprise at least one starting position indicator configured for signaling to the pump manipulator of each gripper when the gripper reaches the predetermined starting position.
Optionally, the caterpillar assembly can further comprise at least one finishing position indicator configured for signaling to the vacuum releaser of each gripper when the gripper reaches the predetermined finishing position.
Optionally, the caterpillar assembly can constitute a part of a caterpillar apparatus comprising at least two caterpillar assemblies, the apparatus comprising a plane of symmetry, optionally parallel to the longitudinal planes of the two assemblies, such that at least one caterpillar assembly is positioned on each one of the two sides of the plane of symmetry. Optionally, the caterpillar apparatus can comprise at least two caterpillar assemblies as defined hereinabove.
Optionally, the caterpillar assemblies can comprise an equal number of the vacuum grippers which can be arranged such that at each moment the gripping faces of the same number of grippers of the two assemblies define the surface gripping faces of the two assemblies, and constitute a surface gripping face of the apparatus.
Optionally, the caterpillar assembly can further comprise a base to which the stationary track is securely mounted, the track being rigid to form a structural support for the vacuum grippers.
Optionally, each vacuum gripper can be provided with a mounting portion by which the gripper is mounted to the stationary track and an adjusting device which is configured for enabling adjustment of the distance between the vacuum gripper, its gripping face or gripping portion and the stationary track.
Optionally, the adjusting device can be configured for orienting the vacuum gripper at an adjustable angle with respect to the central reference plane.
Optionally the individual vacuum pump is two or more individual vacuum pumps configured for selectively creating vacuum within the gripper.
Optionally, each vacuum gripper can further comprise at least one sensor configured to provide indication of at least the operational mode of the vacuum gripper and, optionally, its malfunction.
Optionally, a caterpillar apparatus can comprise at least two caterpillar assemblies, each as defined hereinabove.
Optionally, the caterpillar apparatus can further comprise a controller configured at least to control the movement of the movable tracks of the caterpillar assemblies.
Optionally, the caterpillar apparatus can further comprise a pivoting assembly comprising at least one vacuum gripper, and configured to secure the caterpillar apparatus to the surface and pivot the caterpillar apparatus along a central plane of the apparatus perpendicular to the plane of symmetry, at least when the movable tracks are inoperative.
Optionally, the controller can further be configured to control the securement and releasement of the caterpillar apparatus to and from the surface via the at least one vacuum gripper of the pivoting assembly. Optionally, the controller can further be configured to control the pivoting of the caterpillar apparatus via the pivoting assembly.
The moving system of any caterpillar assembly according to the presently disclosed subject matter can comprise one or more moving mechanisms operable to move the vacuum grippers at least indirectly, so as to bring each gripper from one side to the other side of the central reference plane along the longitudinal reference plane.
For example, the moving system can comprise a movable track drivable by at least one driving mechanism, and each gripper can be fixedly connected to the movable track. For example, the driving mechanism can comprise at least one gear configured for movingly engaging the movable track and a driving mechanism, e.g. motor, configured for moving the at least one gear, so as to move the vacuum grippers.
The movable track can be in the form of a continuous conveyor flexible strap or in the form of a succession of discrete track elements pivotably mounted relative to adjacent track elements, to each of which at least one vacuum grippers can be mounted to the discrete elements. The discrete elements can be connected therebetween by a plurality of pivot axles.
Optionally, the moving system can comprise a stationary track and the at least one attachment element is configured for slidingly engaging the stationary track.
According to another aspect of the presently disclosed subject matter, there is provided a vacuum gripper unit for use in a movable assembly having a moving system, for gripping attachment of the assembly to a surface, the vacuum gripper comprising:
According to another aspect of the presently disclosed subject matter, there is provided a vacuum gripper unit for use in a movable assembly having a moving system, for gripping attachment of the assembly to a surface, the vacuum gripper comprising:
According to still further aspect of the presently disclosed subject matter, there is provided a vacuum gripper unit for use in a caterpillar assembly, the assembly comprising a plurality of vacuum grippers for gripping attachment of the assembly to a surface and a moving system for moving the grippers to successively bring them into contact with said surface, the moving system comprising an endless movable track constituted a plurality of discrete track elements, each associated with a vacuum gripper, and a plurality of pivot axles via which the track elements are pivotally connected to each other, the vacuum gripper having a central axis and comprising:
Optionally, the attachment extension can have two attachment extension portions extending in opposite directions from the central axis of the gripper, each having a proximal end adjacent the central axis and a distal end spaced from the central axis and pivotally connectable to a pivot axle.
Optionally, the vacuum gripper of any of the above aspects can further comprise an individual vacuum pump configured for selectively creating vacuum within the gripper.
Optionally, the adjusting device can be configured for enabling an orientation of the gripping portion at an adjustable angle with respect to the moving system.
Optionally, the vacuum gripper unit of any of the above aspects can further comprise at least one sensor configured to sense if the gripping portion touches a surface.
Optionally, the vacuum gripper unit of any of the above aspects can further comprise a controller configured to adjust the distance of the adjusting device based on indication received from the at least one sensor.
Optionally, the adjusting device can be a spring, a piston, a telescopic rod, a hydraulic mechanism, other distance adjustable element or any combination thereof.
Optionally, the at least one mounting portion can further comprise gears configured for movingly engaging corresponding gears of the stationary track so as to enable the movement of the vacuum gripper unit.
Optionally, the vacuum gripper unit can further comprise a driving mechanism, e.g. a motor configured for moving the gears of the vacuum gripper along the stationary track.
Optionally, the at least one attachment element can further comprise a detachably attachable mechanism configured for enabling attachment or detachment of the vacuum gripper unit to or from the moving system.
According to still further aspect of the presently disclosed subject matter, there is provided a movable assembly for attaching to a non-horizontal advancement surface and moving therealong; said assembly comprising:
For the purposes of the understanding of this application, the horizon is to be understood as the imaginary horizontal line where the earth and the sky appear to meet. Also, the horizon is to be understood as being in the same vertical plane as that of the longitudinal or the lateral axis when an angle between any one of the them and the horizon is referred to. Furthermore, the angles, whether acute or obtuse, are to be understood as being seen from the direction opposite to the advancement surface with respect to the movable assembly.
The movable assembly can have a moving system similar in structure and operation to any of the moving systems described above according various aspects of the presently disclosed subject matter. The gripper units can also be configured to operate in a manner similar to that of any of the gripper units escribed above according various aspects of the presently disclosed subject matter. The gripping portion can be configured to be fixedly attached to said advancement surface, optionally by virtue of vacuum.
Optionally, the at least one side sliding arrangement are two side sliding arrangement configured to be disposed on either side, and slidingly engage opposite sideward facing sliding surfaces of said track.
Optionally, the upper sliding arrangement are two upper sliding arrangement configured to be disposed on either side, and slidingly engage two separate upward facing sliding surfaces disposed on either side of said track.
Optionally, the lower sliding arrangement are two lower sliding arrangement configured to be disposed on either side, and slidingly engage two separate downward facing sliding surfaces disposed on either side of said track.
In some examples, the two portions of any or each of the upward and the downward facing sliding surfaces can be formed as single continuous surface. In other examples, the two portions of any or each of the upward and the downward facing sliding surfaces can be formed as separate portions of upward and the downward facing sliding surfaces.
Although the movable assembly is configured to constitute a part of a caterpillar apparatus having two or more such movable assemblies and thus the movable assembly can have only one side sliding arrangement to support the apparatus during tilting in one direction. During tilting in the opposite direction, the side sliding arrangement of the other assembly can support the whole apparatus. In some examples, the single side sliding arrangement can be disposed between a width of the track of the movable assembly to support the movable assembly and the apparatus during tilting in any direction. In some examples, the upper, lower, and side sliding arrangement can be constituted by a single sliding arrangement having portions supporting the track in each of its orientations. Optionally, the side sliding arrangement is disposed laterally and between said lower and upper sliding arrangements.
For the purposes of understanding of this application, the term support is to be understood as carrying the weigh and/or to hold firmly in place. For instance, the sliding arrangement supporting the track is to be understood as the sliding arrangement configured to firmly hold the track in place and to bear at least half of the weight of the movable assembly if the sliding arrangement were the only thing holding the movable assembly.
Optionally, the mounting portion further comprises a support structure on which said lower and upper sliding arrangements are disposed. The side sliding arrangement can also be disposed on said support structure. In some examples, the upper, lower, and side sliding arrangements can be fixedly disposed on said support structure.
Optionally, the mounting portion comprises at least one support element connected to said gripping portion and slidingly mounted to said support structure, configured to enable transmission of load forces therethrough, at least from said side sliding arrangement to said gripping portion, so as to facilitate said support for said movable assembly.
Optionally, the downward facing sliding surface defines a sliding path for said gripper units along said track, and said gripping portion of each of said units is movable with respect to said mounting portion thereof, perpendicularly to said sliding path.
Optionally, the mounting portion further comprises an auxiliary sliding arrangement movable with respect to at least said lower sliding arrangement, said auxiliary sliding arrangement being slidingly engageable with an auxiliary sliding surface of the track, spaced to a varying distance from said downward facing sliding surface, said auxiliary sliding arrangement being connected to said gripping portion so as to move said gripping portion with respect to said downward facing sliding surface, as its respective unit moves along said track, in response to the variation in said distance between said first and second sliding surfaces. The auxiliary sliding arrangement can be mounted on said support element.
Optionally, the gripper unit further comprises a biasing member disposed between said gripping portion, and said lower sliding arrangement, said biasing member being configured to bias said gripping portion away from said lower sliding arrangement. The auxiliary sliding arrangement can be connected to said gripping portion such that it is urged by said biasing member towards tight engagement with said auxiliary sliding surface, thereby enabling said auxiliary sliding arrangement to follow a curvature of said auxiliary sliding surface.
According to still further aspect of the presently disclosed subject matter, there is provided a caterpillar assembly movable on a non-horizontal advancement surface, said assembly comprising:
Optionally, the caterpillar assembly, the track, and the unit can be same as the movable assembly, the track, and the gripper unit, respectively, and can operate in the same manner as those of the previous aspect. In some examples, the caterpillar assembly, the track, and the unit can be realized in a different manner and with different structure as compared to the movable assembly.
Optionally, the engaging portion comprises an engaging face defining an engaging plane coinciding with said moving surface during engagement of said engaging portion therewith, and said track comprises a central reference plane, disposed above and parallel to said engaging plane during said engagement, dividing said track to an upper and lower portions, and wherein during said movement of said units along said track, each of which flips between a lower side and an upper side of the central reference plane, at least twice, at two respective flipping areas on the track, the two flipping areas being symmetrically disposed on either side of a central crossing plane defined perpendicularly to said central reference plane.
The unit moves along the track and on the lower portion of track can have different locations. Each of these locations have a different distance between the first and the second sliding surfaces. At a first location of the lower portion of the track disposed proximal to one of said flipping areas with respect to said central crossing plane, said second sliding surface is spaced to a first distance from said first sliding surface, and at a second location of the lower portion of the track disposed further from said one of said flipping areas than said first location, said second sliding surface is spaced from said first sliding surface to a second distance being smaller than said first distance. The one of said flipping areas, can be either one of said flipping areas.
Optionally, at said lower portion of said track, said first surface comprises a planner portion intersecting with said central crossing plane, and an inclined portion adjacent said one of said flipping areas, and wherein said first location is disposed at said inclined portion, and said second location is disposed at said planner portion.
At a third location of the lower portion of the track disposed at said planner portion of the first surface, adjacent said inclined portion thereof, said second sliding surface is spaced to a third distance from said first sliding surface, said third distance being greater than said second distance, yet equal to or smaller than said first distance. In some examples, the third distance can be smaller than the first distance.
At a fourth location of the lower portion of the track disposed at said planner portion of the first surface, disposed closer to said central crossing plane than said second location, said second sliding surface is spaced to a fourth distance from said first sliding surface, said fourth distance being greater than said second distance, yet equal to or smaller than said first distance.
Optionally, the distance between the first and second sliding surfaces gradually decreases from said first location to said second location. Optionally, the distance between the first and second sliding surfaces remains constant throughout said inclined portion.
In some examples, during the operation of the caterpillar assembly, when the unit moves along the track and crosses the flipping area, and arrives at the first location, the unit remains closer to the track by virtue of the large first distance between the first sliding surface and the second sliding surface. The unit remains closer to the track until it reaches the second location where the engaging face becomes parallel to the advancement surface (not shown). This is important because if the unit is distant from the track (as it is at the second location), the engaging face (or at least a corner thereof) can possibly hit the advancement surface during transition of the unit from the inclined portion to the planner portion. The variation in distance enables the smooth movement of the unit along the track during operation of the caterpillar assembly.
Once the unit reaches the second location, the engaging portion moves further from the track by virtue of the second distance being smaller than the first distance, and the engaging face engages the advancement surface. In some examples, the unit is a gripper unit and grips the advancement surface upon reaching at the second location. As described in above aspects, with respect to the moving system, the track is then moved with respect to the fixed unit. As the track moves and the unit reaches the fourth location, the fourth distance being greater than the second distance causes the track to move with respect to the engaging portion and towards the engaging portion, thereby bringing the track and thus the whole caterpillar assembly closer to the advancement surface thereby providing more stability to the caterpillar assembly with respect to the advancement surface.
Optionally, unit is constituted by a gripper unit according to any one of aspects described above.
According to still further aspect of the presently disclosed subject matter, there is provided a gripper unit for use in a caterpillar assembly according to any one of the aspects described above.
According to still further aspect of the presently disclosed subject matter, there is provided track for use in a caterpillar assembly according to any one of the aspects described above.
Further aspects of the presently disclosed subject matter are described below with reference to the accompanying drawings.
In order to better understand the subject matter that is disclosed herein and to exemplify how it may be carried out in practice, embodiments will now be described, by way of non-limiting examples only, with reference to the accompanying drawings, in which:
A caterpillar apparatus according to the presently disclosed subject matter, can be configured for moving along on an exterior surface of a building or the like, having any orientation (inclined, vertical, horizontal), and any surface texture/quality (slippery or non-slippery) allowing a vacuum gripper to be attached thereto.
The caterpillar apparatus, according to the presently disclosed subject matter, can be used as a movable base platform for mounting thereto equipment for numerous applications. For example, by mounting a cleaning device to the caterpillar apparatus, the apparatus can be used for cleaning windows of a skyscraper, by mounting a cargo unit thereto the apparatus can be used for delivery purposes, or by mounting a rescue pod thereto the apparatus can even be used as a rescue device for rescuing people from high story buildings, e.g., in case of a fire, the apparatus along with the rescue pod may rescue people from the building by using the exterior of the building as an escape route.
In general, the caterpillar apparatus can comprise at least one caterpillar assembly with an array of vacuum grippers which are movable, by means of a moving system, so as to bring each of the grippers successively into a gripping position in which the gripper can be attached, when vacuum is applied thereto, to a surface along which the apparatus is to be moved, thereby enabling the advancement of the caterpillar apparatus along the surface. The caterpillar assembly can have any number of grippers and they can be arranged therein in any manner so that there are always at least two vacuum grippers in their gripping position.
Each vacuum gripper has a gripping face, at which the vacuum gripper is configured to be attached to a surface when vacuum is applied thereto, and a mounting portion at which the gripper is mounted to the caterpillar assembly. The caterpillar assembly thus has a surface gripping face constituted by the gripping faces of those vacuum grippers which are in the gripping position. Thus, the length of the surface gripping face of the caterpillar assembly along the direction of movement of the apparatus, depends on the number of vacuum grippers that are simultaneously in their gripping position.
To allow the successive movement of the vacuum grippers along the moving direction, the moving system of the caterpillar assembly can comprise at least one continuous/endless, i.e., closed loop, track, to which the grippers are mounted at their mounting portions. The track can be movable by at least one driving mechanism, in which case the vacuum grippers are fixedly mounted thereto so as to be movable therewith successively into their gripping positions. Alternatively, the track can be stationary, in which case the vacuum grippers are slidably mounted to the track and the assembly comprises other means for moving each vacuum gripper along the stationary track. One example of such other means is an additional, movable track parallel to the stationary track, drivable by at least one driving mechanism. The track(s) of the caterpillar assembly can have any shape. One of these shapes is an oblong shape, e.g. a rectangular or oval shape, or shape similar to a rectangle in that it has two parallel long sides and similar to oval in that it has two short curved sides, e.g., in the form of semicircles, continuously merging with the long sides.
The moving system of the caterpillar assembly can comprise, in addition to the movable track or as an alternative thereto, individual driving means associated with each of the vacuum grippers, for moving each of the grippers along the stationary track.
In case the moving system comprises the endless movable track, it can further comprise at least one gear, configured for movingly engaging the movable track operable by a driving mechanism, to move the track and thereby the vacuum grippers fixed thereto, so as to bring each gripper from one side to the other side of the central reference plane along the longitudinal reference plane. In case the caterpillar assembly comprises only one track, which is the stationary track, the moving system can comprise individual driving means for each vacuum gripper, which e.g. can comprise gears operable by driving mechanisms/motors, and the stationary track can have respective gears, or a zigzag surface to cooperate with the gears of the vacuum grippers. The gears of those vacuum grippers whose gripping faces are attached to the surface, along which the apparatus is to be moved, when rotated would cause the stationary track to be linearly displaced relative to those grippers in the direction of movement. Simultaneously, other vacuum grippers (not attached to the surface), with the operation of their gears, move along the stationary track to arrive at the gripping position.
In any case, the system of the caterpillar assembly that is responsible for moving the vacuum grippers (hereinafter ‘the moving system’) along the movement direction has to be such as to allow bringing the grippers successively into their gripping positions while making sure that there are always at least two vacuum grippers that are in such position, i.e. that there are always at least two vacuum grippers whose gripping faces define the surface gripping face of the apparatus.
The moving system of the caterpillar assembly can comprise or be associated with a rigid structure to form a structural support for the continuous track and the vacuum grippers.
To increase the overall safety during operation of the caterpillar apparatus, it is configured to ensure that vacuum is supplied simultaneously at least to two of those vacuum grippers that are in their gripping position, to make sure that gripping faces of these grippers are simultaneously attached to the surface along which the apparatus is to be moved. Thus, even though the use of one vacuum gripper may be sufficient for securing the apparatus to the surface, the at least one additional vacuum gripper can act as a backup for the former vacuum gripper, preventing the apparatus from being detached from the surface.
The caterpillar assembly can comprise a vacuum system configured to apply vacuum to selected grippers. The system can comprise a plurality of individual vacuum pumps each associated with a single vacuum gripper and configured for selectively creating vacuum therewithin. By having each vacuum gripper equipped with such individual vacuum pump, the overall safety of the apparatus is increased, e.g., by preventing it from detachment from the surface or slipping if a malfunction occurs in the vacuum pump of any other vacuum gripper. Since each vacuum gripper creates its own vacuum without being dependent on a common vacuum pump or the function of the other grippers, the overall safety of the apparatus is increased.
To further increase the overall safety and efficiency of the apparatus, each vacuum gripper can be equipped with two or more individual vacuum pumps configured for selectively creating vacuum within the gripper, thereby ensuring that each vacuum pump has a backup pump.
Reference is now made to
The caterpillar assembly 100 according to the presently disclosed subject matter has a longitudinal reference plane LP comprising a longitudinal axis LA parallel to the direction along which the assembly is expected to move, and a central reference plane CP perpendicular to the longitudinal reference plane LP and comprising the longitudinal axis LA and a central axis CA perpendicular to the longitudinal axis LA.
In the caterpillar assembly 100 shown in
As seen in
The endless track 120 of the caterpillar assembly 100 comprises a distal section 122 disposed further than the central plane CP from the surface along which the caterpillar apparatus is to be moved, a proximal section 124 disposed closer to that surface than the central plane CP, a front section 126 disposed on one side of the longitudinal plane LP, and a rear section 128 disposed on an opposite side of the longitudinal plane, behind the front section with respect to the direction MD. The distal and proximal sections of the track can extend substantially parallel to the longitudinal axis LA of the assembly, whilst the side sections can be curved with respect to the axis LA, or be vertical thereto, and be essentially shorter than the distal and proximal sections. The common areas of each of the side sections and the distal/proximal sections can be smooth, i.e., such that a tangent thereto is perpendicular to the central plane of the assembly.
The moving system of the caterpillar assembly according to the presently disclosed subject matter can thus be configured to move the vacuum grippers 130 from the distal 122 to the proximal 124 section of the track 120 via the front section 126 of the track 120 and from the proximal 124 to the distal 122 sections via the rear section 128 of the track 120.
The track 120 can constitute a part of a moving system 160 of the assembly 100, in which case it can be movable about the central axis CA, and the vacuum grippers can be fixedly mounted thereto. Alternatively, the track 120 can be stationary, and the moving system of the assembly can comprise any other suitable means for slidingly moving the vacuum grippers along the stationary track 120.
During their operation, the vacuum grippers 130 can support the assembly 100 through the stationary track 120 connecting therebetween, as the grippers 130 cling on the surface on which the assembly 100 is moving.
In the caterpillar assembly 100, the track 120 is in the form of a continuous conveyor belt having an oblong shape with elongated distal section 122 (disposed above the central plane CP in
Thus, the vacuum grippers 130 are movable, in the counterclockwise direction with respect to the axis CA between the different sections in that order-front-proximal-rear-distal. The direction of movement of the grippers along the distal section 122 is opposite to the expected direction of movement MD of the entire apparatus. It should be noted that the apparatus 100 can move in the opposite direction to the direction of movement MD, e.g., when the vacuum grippers 130 are moved in a clockwise direction (not illustrated).
Each of the grippers 130 has a proximal end 132 at which the gripper is mounted to the track 120 and a distal end 134 comprising a gripping face 135 of the gripper 130, which is configured to be brought into contact with a surface on which the apparatus 100 is to be moved. When the vacuum gripper 130 crosses the front end 124A of the proximal section 124 of the track during the above described movement, its gripping face is generally oriented parallel to the central plane CP of the assembly.
The gripping faces 135 of the grippers 130 disposed in their gripping positions at the proximal section of track 120 constitute a surface gripping face 165 of the caterpillar assembly 100, which in the described example, lies in a single plane parallel to the central plane CP and referred to hereinafter as a grip plane GP of the caterpillar assembly. However, this does not have to be the case.
In the described example, along the length of the proximal section of the track along the longitudinal axis LA, the number of the vacuum grippers and the spacing between them are such that three grippers, 130b to 130d, are disposed simultaneously in their gripping position in which their gripping faces 135b to 135d lie in the plane GP and constitute the surface gripping face 165. However, this does not have to be the case and the number of grippers disposed simultaneously in their gripping position can be less, i.e. two as mentioned above or more than three.
In general, the vacuum grippers in a caterpillar assembly according to the presently disclosed subject matter, can each take, during its movement, the following positions along different sections of the track: a remote position at the distal section of the track, at which the gripping face of the vacuum gripper is spaced to a maximal distance from the grip plane GP, an intermediate position at each of the front and rear sections of the track, when the gripping face of the vacuum gripper is spaced from the front and rear ends of the proximal track section, a grip entering position at the area of merger of the front section with the front end of the proximal section of the track, in which the gripping face of the vacuum gripper forms an obtuse angle, facing the track, with the grip plane GP, a plurality of gripping positions along the proximal section of the track between its front and rear ends, in which the gripping face of the vacuum gripper lies in the grip plane GP, and a grip exiting position at the area of merger of the rear end of the proximal section of the track with the rear section of the track, in which the gripping face of the vacuum gripper forms an obtuse angle, facing the track, with the grip plane GP.
In the present example, the positions of the vacuum grippers in the state of the assembly 100 as shown in
The rotation of the gears 136A′ of the vacuum grippers 130, which are not attached to the surface on which the assembly is to be moved, causes those grippers to move along the track 120′. The rotation of the gears 136A′ of the vacuum grippers 130, which are attached to the surface on which the assembly is to be moved, causes the stationary track 120′ to move in the direction of movement, thereby forwarding the assembly 100′.
The caterpillar apparatus according to the presently disclosed subject matter further comprises a vacuum system, which can be configured so as to make sure that vacuum is applied to each vacuum gripper when it takes the grip entering position or when it faces the grip plane, and it can be maintained within the vacuum gripper until the vacuum is released. The vacuum system can also be configured to release the vacuum maintained when the vacuum gripper reaches the rear end of the proximal section of the track. In the present example, the vacuum system comprises a plurality of vacuum pumps, each associated with or disposed within a corresponding vacuum gripper. Some examples of such vacuum gripper are described below with reference to
To save energy and to further increase the overall safety during operation of the caterpillar apparatus, each vacuum gripper can be configured for maintaining the vacuum created therein after termination of operation of its vacuum pump, e.g., at least during the time when the gripping face of the vacuum gripper is to be attached to the surface along which the apparatus is to be moved. Accordingly, each vacuum gripper is configured to have the following operational modes: a suction mode when the vacuum is created by the vacuum pump and an optional vacuum mode when the vacuum is maintained after the termination of operation of the vacuum pump, and a non-operational mode when the vacuum pump is not operated, and the vacuum is released from the vacuum gripper. Thus, each gripper is configured to be in its suction mode or vacuum mode in at least one gripping position thereof. Each vacuum gripper that can be used in a caterpillar assembly according to the presently disclosed subject matter, can comprise or have associated therewith a pump manipulator configured to initiate the operation of the pump once the vacuum gripper reaches a pre-determined starting position, e.g. the grip entering position or the first gripping position adjacent the front end of the proximal section of the track. Accordingly, the caterpillar assembly can comprise at least one starting position indicator, e.g., disposed in the vicinity of the front end of the proximal section of the track, configured for signaling to the pump manipulator of each gripper when the gripper reaches the predetermined starting position in which it has to enter its suction mode. The starting position indicator can be any one of a visual, a mechanical and/or an electronic switch and/or indicator configured to signal the pump manipulator. The pump manipulator can be an optic/image processing unit, a mechanic trigger, a laser sensor or any other sensor which can receive feedback from the starting position indicator to initiate the operation of the pump.
Each vacuum gripper can further comprise or have associated therewith a vacuum releaser which is configured to release the vacuum maintained in the gripper once the vacuum gripper reaches a predetermined finishing position. Accordingly, the caterpillar assembly can comprise at least one finishing position indicator, e.g., disposed in the vicinity of the rear end of the proximal section of the track, configured for signaling to the vacuum releaser of the gripper when the gripper reaches the predetermined finishing position, in which vacuum should be released from the vacuum gripper to release grip thereof from the surface, thereby enabling the vacuum gripper to be moved to the rear section of the track. Similarly to the starting position indicator, the finishing position indicator can be any one of a visual, a mechanical and/or an electronical switch and/or indicator, configured to trigger the vacuum releaser. The vacuum releaser can be an optic/image processing unit, a mechanic trigger, a laser sensor or any other sensor which can receive feedback from the finishing position indicator to release the vacuum maintained in the vacuum gripper.
Additionally, each vacuum gripper can comprise at least one sensor configured to indicate whether the vacuum gripper is in an operational mode, i.e., suction mode or vacuum mode, or in a non-operational mode, and, optionally, its malfunction. This indication may help assess the overall safety of the apparatus indicating at each moment the number of vacuum grippers that are attached to the surface.
The position indicator 225 has a start indication area 225a allowing the indicator 225 to function as a starting position indicator, and an end indication area 225b allowing the indicator 225 to function as a finishing position indicator, such that each time a vacuum gripper 230 comes in contact with or arrives at a position on the track common with the start indication area 225a, the pump manipulator of the vacuum gripper causes the vacuum pump of the vacuum gripper to operate and the gripper thus to enter its suction mode, optionally succeeded with the vacuum mode, and when the vacuum gripper comes in contact with or arrives at a position on the track common with the end indication area 225b, the vacuum releaser is caused to release vacuum from the vacuum gripper thereby bringing the vacuum gripper into the non-operational mode, where vacuum is released.
The position indicator 225 can trigger the pump manipulator or the vacuum releaser by a respective front or end distance sensing device, such as an optic/laser, a mechanic or an electronic sensor. The distance sensing device (detailed hereinbelow with respect to
To increase the overall safety of operation of the assembly, in the present example the position indicator 225 extends along a majority of the proximal section of the track 220. Thus, if, for any reason, the vacuum gets released from the vacuum gripper while it is still required to be secured to the surface, the position indicator 225 acting as the position indicator, signals to reinitiate the suction mode of the vacuum gripper. In this example, the position indicator 225 extends along the entire proximal section 224 of the track 220 that faces the surface gripping face 265 in a continuous manner. Alternatively, the position indicator can comprise a plurality of discrete protrusions.
In the present example, the track 220 is a stationary track. In other examples, the track 220 can be a movable track or a stationary track, and the position indicator can be realized by other means so as to indicate the position of the grippers with respect to the rigid structure and/or the moving system of the assembly. In another example (not shown), e.g., when the track 220 is a movable track, a position indicator similar to the position indicator 225 described hereinabove, or different therefrom, can be mounted to any stationary part of the assembly.
As mentioned above, a caterpillar assembly according to the presently disclosed subject matter, can comprise a stationary track to which the vacuum grippers are slidably connected, and a movable track to which the vacuum grippers are fixedly mounted for being moved therewith between the positions described above, while staying slidably connected to the stationary track. In this case, the two tracks can both be of an endless type and be disposed adjacent to each other, have the same shape and be oriented in the same manner.
The movable track can be configured to be rotated about the central axis CA of the caterpillar assembly by a moving system according to the presently disclosed subject matter. The moving system can comprise one or more wheels and/or gears configured to be rotated by a common driving system or a respective driving mechanism/motor associated with each of the wheels/gears. In some examples, the moving system can comprise a central hub and one or more mechanical arms configured for rotating the movable track about the central axis.
Whilst the caterpillar assembly 200 described with respect to
As mentioned above, each vacuum gripper has the mounting portion, at which it is mounted with the caterpillar assembly. For this purpose, the mounting portion can enable the vacuum gripper to be slidingly mounted to a stationary track and/or fixedly mounted to a movable track. The vacuum gripper can be provided with an adjusting device configured for enabling adjustment of the distance between its gripping face or gripping portion, and the track, and/or orientation thereof at an adjustable angle with respect to the central plane CP. The adjustment of the distance and/or the orientation angle, can enable the caterpillar apparatus to advance over an uneven surface, such as an inclined surface and/or a surface which comprises elevations, depressions, steps or ditches.
When the surface along which the caterpillar assembly or the caterpillar apparatus is to be moved is not ideally planar, the vacuum grippers are configured to adjust a distance between their gripping faces and the track, thus rendering the surface gripping face of the caterpillar assembly to have a non-planar configuration. In this case, the grip plane of the caterpillar assembly will be defined by the gripping face(s) of that/those vacuum gripper(s) disposed in their gripping position, which is at a maximal distance from the track.
As mentioned above, a vacuum gripper that can be used with caterpillar assemblies in any of the above-described examples of a caterpillar apparatus according to the presently disclosed subject matter, as well as any other such apparatus, can have any construction of its gripping portion allowing it to be securely attached to a surface along a pre-determined area defined by a surface area of the gripping face of the gripper.
Some examples of such vacuum gripper are illustrated in
The vacuum gripper 530′ further comprises an outer cover 538′, which has been removed in
As can be seen in
The vacuum gripper 530′ further comprises a suction plate 550′ configured, in conjunction with a vacuum pump 552′, to create a vacuum between itself and the surface on which the assembly is to be moved. The suction plate 550′ has a sealing rubber 554′ positioned along a periphery of the face of the suction plate 550′ facing away from the track, when the vacuum gripper 530′ is mounted to the track. The sealing rubber 554′ defines the gripping face 535′ of the vacuum gripper 530′. When the vacuum is generated within the vacuum gripper 530′, i.e., between the suction plate 550′ and the surface on which the assembly is to be moved, the sealing rubber 554′ attaches with the surface.
Whilst the vacuum pump 552′ has been described above as a part of the vacuum gripper 530′, the vacuum pump can be external to the vacuum gripper while being associated therewith and configured to create negative pressure therewithin.
The vacuum gripper 530′ further comprises a vacuum switch 556′ configured to switch the vacuum gripper 530′ between its non-operational mode (when there is no vacuum in the gripper) and various operational modes as detailed hereinabove with respect to
Whilst the distance sensing device has been shown in
In the illustrated example, the adjusting device has been described as operating with the help of a spring and telescopic rods. In other examples, the adjusting device can comprise either of a spring, a telescopic rod, a piston, a hydraulic mechanism, combinations thereof, or any other mechanism capable of adjusting the distance and/or orientation of the vacuum gripper with respect to the track.
As mentioned above, a caterpillar apparatus according to the presently disclosed subject matter can comprise two or more caterpillar assemblies of the kind described above. Some examples of such assemblies are presented in
In general, a caterpillar apparatus according to the presently disclosed subject matter can comprise any of the exemplary caterpillar assemblies 100, 100′, 200, 200′, 300, 300′, 400, 400′ described above according to various examples of the presently disclosed subject matter, or any other such caterpillar assembly. In some examples, the caterpillar apparatus can comprise assemblies of different kinds, for example, one assembly can be similar to one of the caterpillar assemblies 100, 100′, 200, 200′, 300, 300′, 400, 400′ while the other assembly can be similar another one of the caterpillar assemblies 100, 100′, 200, 200′, 300, 300′, 400, 400′. The caterpillar assemblies of the caterpillar apparatus can be connected, via their respective rigid structures forming structural supports of the assemblies, together by a common base, i.e., a base of the caterpillar apparatus, and can have an equal number of vacuum grippers such that at each moment a same of number of vacuum grippers of each assembly is attached to a surface on which the apparatus is to be moved. As described above, each vacuum gripper has a gripping face, at which the vacuum gripper is configured to be attached to the surface. The gripping faces of all the vacuum grippers which are attached to the surface, at the same moment, together define a surface gripping face of the caterpillar apparatus. It is to be understood herein that each of the vacuum grippers can be any one of the exemplary vacuum grippers 130, 130′, 230, 230′, 330, 330′, 430, 430′, 530, 530′ described above according to various examples of the presently disclosed subject matter, or any other such vacuum gripper.
Each of the caterpillar assemblies can have respective moving systems, as described above or the caterpillar apparatus can have a common moving system comprising components of each of the respective moving systems of the assemblies with additional components for facilitating coordination between those moving systems. The moving system of each of the assemblies, or the common moving system for both the assemblies, i.e., constituting the moving system of the caterpillar apparatus, can be securely mounted to the base of the caterpillar apparatus. Irrespective of the fact as to which of the above described caterpillar assemblies are used in the apparatus, the base of the caterpillar apparatus can be configured so as to securely support the respective moving system of each of the caterpillar assemblies, which in turn is configured to securely support the vacuum grippers. When the assembly comprises a stationary track on which the vacuum units are mounted, the base can be also configured for support the stationary track.
The caterpillar assembly can have a plane of symmetry passing through the base of the caterpillar apparatus, and generally parallel to the longitudinal planes of each of the assemblies, such that the assemblies are positioned on opposite sides of the plane of symmetry. Further, the caterpillar apparatus can have a central plane perpendicular to the plane of symmetry and generally coinciding with, or at least parallel to, the central reference planes of each of the assemblies.
The caterpillar apparatus can comprise a pivoting assembly mounted to the base of the caterpillar apparatus and configured to secure the apparatus to the surface and pivot the caterpillar apparatus, e.g. along the central plane and about an axis perpendicular to the central plane and lying in the plane of symmetry. The pivot assembly can comprise at least one vacuum gripper configured to secure, when operated, the pivoting assembly and thus the apparatus to the surface, at least when the moving system of the apparatus is inoperative. For example, in order to change the direction of movement of the caterpillar apparatus, the vacuum grippers of the pivoting assembly can be operated by a vacuum pump associated thereto, thereby securing the apparatus to the surface via the pivoting assembly, and simultaneously all the vacuum grippers of the caterpillar assemblies can be released from the surface. In this state, the pivoting assembly can rotate the base of the caterpillar apparatus (and its assemblies), thereby changing the direction of movement of the apparatus. Successively, the vacuum grippers of the caterpillar assemblies can be operated to be attached to the surface, followed by release of the vacuum grippers of the pivoting assembly from the surface to allow movement of the caterpillar apparatus along the surface. In addition to the above described purpose of changing the direction of movement, for other purposes, the vacuum grippers of the pivoting assembly can be secured with the surface simultaneously with the vacuum grippers of the caterpillar assemblies to increase the strength of the attachment of the apparatus to the surface that might be required for such other purposes.
The caterpillar assemblies 600 and 700 comprise respective tracks 620 and 720, to which the grippers 630 and 730 are connected respectively. The caterpillar assemblies 600 and 700 have respective rigid structures 610 and 710 securely holding the tracks 600 and 700 respectively, and connected to each other via a common base 10, i.e., the base of the caterpillar apparatus 1. It should be noted that base 10 can be structured from several components, e.g., bars, rods, flanges, a like elements and/or any combination thereof, so as to reduce the overall weight of the base.
The caterpillar apparatus 1 has a plane of symmetry SP passing through the base 10 and extending respectively to the longitudinal planes (not shown) of the assemblies 600 and 700. The assemblies 600 and 700 are positioned on the two sides of the plane of symmetry SP of the apparatus 1. The caterpillar apparatus 1 has a central plane CPA extending perpendicular to the plane of symmetry SP. The apparatus 1 further comprises a gripping face 65 parallel to the central plane CPA and constituted by the gripping faces 635 and 735 of those vacuum grippers of the assemblies 600 and 700 which are connected to the surface on which the apparatus 1 is to be moved. For example, at least one vacuum gripper of the assembly 600 and at least one vacuum gripper of the assembly 700 which are connected to the surface on which the apparatus 1 is to be moved, define the gripping face 65.
The base 10 has a pivoting assembly 20 of the apparatus 1, mounted thereto and configured to secure the base 10, and thus the apparatus 1, to the surface and to pivot the caterpillar apparatus 1 along the central plane CPA, and about an axis SA perpendicular to the central plane CPA and lying in the plane of symmetry SP. The pivoting assembly 20 comprises vacuum grippers 30 configured to securely attach the pivoting assembly 20, and consequently the apparatus 1, to the surface. The pivoting assembly 20 further comprises a moving system 25 configured to move the base 10 of the apparatus 1 along the central plane CPA to change the direction of movement of the apparatus 1, at least when none of the vacuum grippers 630 and 730 are attached to the surface, and the vacuum grippers 30 are attached to the surface. The moving system 25 can comprise a gear arrangement, wheel, movable belt, any combination thereof and/or any other mechanism configured to move the base 10 as described above.
Similar to that of caterpillar assembly 400′, the caterpillar assembly 600′ comprises a movable track 640′ having vacuum grippers 630′ fixedly mounted therewith, and a stationary track 620′, to which the vacuum grippers 630′ are slidingly connected and supported thereby. Also, the caterpillar assembly 700′, similar to the assembly 400′, comprises a movable track 740′ having vacuum grippers 730′ fixedly mounted therewith, and a stationary track 720′, to which the vacuum grippers 730′ are slidingly connected. The assemblies 600′ and 700′ are connected to each other via a base 10′ of the apparatus 1′, and are positioned on the two sides of a plane of symmetry SP′. The apparatus 1′ is configured to be moved along the surface by the assemblies 600′ and 700′, which are configured to be moved by their respective moving systems, one of which, i.e., a moving system of the assembly 600′, has been shown in an inner view of the caterpillar apparatus 1′ illustrated in
The two gears of each assembly can also be configured to provide tension for the movable track, similarly to caterpillar tracks of an armed vehicle.
The moving system 660′ is configured to ensure that at least two vacuum grippers of each assembly are in their respective gripping positions (as described above) at every moment. In some embodiments, the moving system 660′ is configured so as to ensure that at least two vacuum grippers of the caterpillar apparatus are in their respective gripping positions (as described above) at every moment.
Reference is now made again to
Using individual grippers for the pivot arrangement allows utilizing a smaller gripping face for gripping onto a surface than in case where a single gripper would have been used. This can be useful for clinging the assembly 100 onto extremely uneven surfaces, which do not have planar areas which are large enough for the entire gripping face of the pivot arrangement.
The piston arrangements 22′ are configured for enabling adjustment of the distance between the base 10′ and the surface on which the apparatus is to be moved. Further, the piston arrangements 22′ are configured for orienting the apparatus 1′ at an adjustable angle with respect to the central plane as well as the plane of symmetry of the apparatus 1′. For the purpose of adjusting the distance between the base 10′ and the surface, all the piston arrangements 22′ can be operated simultaneously and in the same direction to increase or decrease their lengths to an equal extent. For the purpose of orienting the apparatus 1′, the piston arrangements 22′ can be operated independently to change their respective lengths by unequal extents so as to orient the apparatus 1′ with respect to the central plane as well as the plane of symmetry of the apparatus 1′. The distance of the vacuum grippers 630′ and 730′ from the tracks 620′ and 720′, respectively, is also adjusted in coordination with the adjustment of the piston arrangements 22′, for example, by a controller. The adjustment of distance and orientation of the apparatus 1′ facilitates the operation of the apparatus on an uneven surface, such as an inclined surface and/or a surface which comprises elevations, depressions, steps or ditches.
It should be noted that any of the above examples of the caterpillar apparatus or any other such apparatus according to the presently disclosed subject matter, each vacuum gripper of each of the caterpillar assemblies and of the pivoting assembly, is configured so that, in case of a power failure at the time when it is attached to a surface, it maintains this attachment by entering its vacuum mode, thereby ensuring that the caterpillar apparatus is secured to the surface.
In any of the above-described examples of a caterpillar apparatus according to the presently disclosed subject matter, as well as any other such apparatus can comprise a controller configured to control the movement of the vacuum grippers of the assemblies and/or those of the pivoting assembly. The controller can control the moving system, e.g., the rotation rate of the track, the speed of the movable track, the speed of rotation of the gears of the vacuum grippers, the adjusting devices, the piston arrangements, and/or the releasement and securement of the vacuum grippers of the piston assembly. By controlling the speed at which the vacuum grippers are moved, the controller can set the pace at which the caterpillar apparatus advances along the surface. The setting of the advancement rate enables the use of the apparatus for many purposes. For example, cleaning windows of a skyscraper may require the caterpillar apparatus to move relatively slow, e.g., at a rate between 5 to 15 meters per minute, whereas functioning as a rescue device for rescuing people from high story buildings may require the caterpillar apparatus to move much faster, e.g., at a rate between 20 to 40 meters per minute.
Additionally, the controller is configured to ensure that at least two vacuum grippers, including the vacuum grippers of the pivot arrangement, are secured at the required vacuum pressure to the surface at all times. For example, the controller may advance the vacuum grippers which are not secured to the surface faster than the ones that are secured to the surface. This deferential movement of the vacuum grippers, can ensure that more than two vacuum grippers are secured to the surface at all time, thereby increasing the overall safety operation of the apparatus and the advancement rate of the apparatus.
In general, the moving system of a caterpillar assembly according to the presently disclosed subject matter can be any moving system that enables the vacuum grippers to move along the movement direction such as to allow bringing the grippers successively into their gripping position while making sure that there are always at least two vacuum grippers that are in such position, and the grippers can be connected to the moving system in any suitable manner, e.g., in a detachable manner, thereby enabling the replacement of each gripper if and/or when required.
The moving system does not necessarily have to comprise a movable track, rather, the moving system can be of a human legs kind, e.g., i.e. with two or four legs having adjustable distance and angles with respect to the central reference plane.
In case the moving system does comprise a movable track, e.g., an endless movable track, it can be in the form of a continuous conveyer-like strap of the kind described above or in the form of a plurality of discrete track elements pivotally connected to each other by pivot axles, each track element being associated with a vacuum gripper. In the latter case, the moving system can further comprise any means operable to move the track elements and/or the pivot axles, to successively bring the vacuum grippers into gripping position. For example, the moving system can comprise at least one gear rotatably mounted to a stationary element of the caterpillar assembly, and configured to be rotated by a driving mechanism/motor (not shown) associated therewith, the at least one gear securely engaging the track elements and/or the pivot axles so as to move them upon rotation of the at least one gear.
When the movable track comprises the above track elements, vacuum grippers can be detachably attachable thereto, or integrally mounted thereto or unitarily formed therewith. In a specific example, the vacuum gripper can have a central axis and comprise a gripping portion with a gripping face oriented perpendicular to the central axis of the gripper and a mounting portion spaced from the gripping face along the central axis of the gripper and comprising an attachment extension oriented transversely to the central axis and having two attachment ends on two sides of the central axis, the attachment ends being each pivotally connectable to a pivot axle, enabling the attachment extension to constitute the track element of the movable track when the caterpillar assembly is assembled. Optionally, the attachment extension can have two attachment extension portions extending in opposite directions from the central axis of the gripper, each having a proximal end adjacent the central axis and a distal end spaced from the central axis and pivotally connectable to a pivot axle. The mounting portion can further comprise at least one attachment element extending between the gripping portion and the attachment extension. The mounting portion can comprise two attachment elements, which can generally extend along the central axis of the gripper on two sides thereof, each connected to the proximal end of one the attachment extension portions. The two attachment elements can be disposed close to each other or rather can be spaced from each in a direction perpendicular to the central axis of the gripper.
The track 820 comprises a succession of discrete track elements 821 pivotally connected to each other by pivot axles 822, each track element being associated with one of the vacuum grippers 830.
Components of the assembly 800 other than the track elements and axles of the movable track 820 and components of each vacuum gripper 830 other than its mounting portion, and their operation, can be the same as those described above with respect to the assemblies and vacuum grippers of the previous examples.
All the track elements and the associated portions of all the vacuum grippers 830 are identical, and they will now be described in more detail with reference to
In
The mounting portion 832a of the vacuum gripper 830a comprises two attachment elements 832a′, 832a″ unitarily formed with respective attachment extension portions 834a′ and 834a″ extending on two sides of the central axis GAa perpendicularly thereto. Each attachment extension portion 834a′, 834a″ has a proximal end 836a′, 836a″ and a distal end 838a′, 838a″, respectively, the distal ends being pivotable about respective pivot axles 822a and 822b.
Similarly, the mounting portion 832b of the vacuum gripper 830b comprises two attachment elements 832b′, 832b″ unitarily formed with respective attachment extension portions 834b′ and 834b″ extending on two sides of the central axis GAb perpendicularly thereto. Each attachment extension portion 834b′, 834b″ has a proximal end 836b′, 836b″ and a distal end 838b′, 838b″, respectively, the distal ends being pivotable about respective pivot axles 822b and 822c.
Similarly, the mounting portion 832c of the vacuum gripper 830c comprises two attachment elements 832c′, 832c″ unitarily formed with respective attachment extension portions 834c′ and 834c″ extending on two sides of the central axis GAc perpendicularly thereto. Each attachment extension portion 834c′, 834c″ has a proximal end 836c′, 836c″ and a distal end 838c′, 838c″, respectively, the distal ends being pivotable about respective pivot axles 822c and 822d.
The attachment elements with their attachment extension portions of the mounting portion of each of the grippers 830a, 830b and 830c constitute one of the discrete track elements 821 of the movable track 820 shown in
As clear from
Similarly to vacuum grippers described above with reference to
Thus, the gripper unit 930 comprises a gripping portion 931 with a gripping face 935 oriented perpendicular to the central axis GA of the gripper and attachable, when vacuum is applied to the gripping unit, to a surface on which the caterpillar assembly is to be moved. The gripper unit 930 further comprises a mounting portion 932 disposed opposite to the gripper unit and spaced from the gripping face along the axis GA. The mounting portion 932 comprises two attachment elements 932′ and 932″ unitarily formed with respective attachment extension portions 934′ and 934″ extending on two sides of the central axis GA perpendicularly thereto. Each attachment extension portion 934′, 934″ has a proximal end 936′, 936″ and a distal end 938′, 938″, respectively, the distal ends being configured for pivoting connection to a pivot axle.
The pivoting connection of the distal ends of the attachment extensions of vacuum gripper units described above with reference to
Although not illustrated in
The movable caterpillar assemblies described above with reference to
The movable assembly has a track, which according to the illustrated example, is a stationary track, constituting a structural member of the movable assembly, having an upward facing sliding surface, a downward facing sliding surface, and at least one sideward facing sliding surface. For the purposes of understanding throughout this application, the downward facing sliding surface is the surface of the track that faces the non-horizontal advancement surface during operation of the movable assembly, e.g., the wall, the upward facing sliding surface is the surface of the track facing opposite the downward facing sliding surface, e.g., away from the wall, and the sideward facing sliding surface extends laterally, optionally between the upward facing sliding surface and the downward facing sliding surface.
The movable assembly further has a plurality of gripper units by virtue of which the movable assembly is configured to be selectively attached to the non-horizontal advancement surface. Each of the gripper units can be similar in operation to any of the above detailed gripper units. For instance, the gripper unit can be configured to be selectively attachable to the advancement surface by virtue of vacuum. As in the previous examples, the currently discussed gripper unit has a gripping portion configured to be selectively attached to the advancement surface, and a mounting portion configured to be slidingly mounted to the track. In particular, the gripping portion has a gripping face that are selectively fixable to the advancement surface, and the slidable mounting of the mounting portion to the track enables the track to move with respect to the gripping unit, when the gripping face thereof are fixed to the wall, during advancement of the movable assembly. The gripping face defines a gripping plane, coinciding with the advancement surface when the gripping portion is fixed thereto. The movable assembly has a longitudinal axis extending along the track, e.g., extending in the direction along which the movable assembly advances on the advancement surface, and a lateral axis perpendicular to the longitudinal axis, extending across the movable assembly. The longitudinal, as well as the lateral axis, are defined such that they are parallel to the gripping plane, when the gripping face are fixed to the advancement surface. In general, the mounting portion is configured to be slidingly mounted to the track to enable the movable assembly to move along the advancement surface in the manner as described above in any of the above examples.
The mounting portion has an upper sliding arrangement configured for slidingly engaging the upward facing sliding surface of the track and to thereby support the movable assembly when the longitudinal and/or the lateral axis is/are oriented in an acute angle with respect to the horizon, i.e., when the movable assembly climbs a downward facing slope, such as a window angled towards the ground, or a sloped/non sloped ceiling. The mounting portion further has a lower sliding arrangement configured for slidingly engaging said downward facing surface of said track, and thereby support said movable assembly when at least one of said axes is oriented in an obtuse angle with respect to the horizon, i.e., when the movable assembly climbs an upward facing slope, e.g., a hill or a downhill, such as a sloped/non sloped window or wall facing away from the ground. The mounting portion further has at least one side sliding arrangement configured for slidingly engaging said sidewards facing surface, so as to support said movable assembly when said lateral axis is oriented in an angle with respect to the horizon, i.e., when the movable assembly is advances along a side slope, with one side thereof facing the ground and another facing away therefrom.
For the purposes of the understanding of this application, the horizon is to be understood as the imaginary horizontal line where the earth and the sky appear to meet. Further, for the purposes of this application, the horizon is to be understood as being in the same vertical plane as that of the longitudinal or the lateral axis when an angle between any one of the them and the horizon is referred to. For instance, for the understanding of the angles between the horizon and the longitudinal axis, the horizon is to be understood either as being in the same vertical plane as that of the longitudinal axis, or as an imaginary horizontal line lying in that plane and parallel to the actual horizon. For the understanding of the angles between the horizon and the lateral axis, the horizon is to be understood either as being in the same vertical plane as that of the lateral axis, or as an imaginary horizontal line lying in that plane and parallel to the actual horizon.
For the purposes of the understanding of this application, the angles, whether acute or obtuse, are to be understood as being seen from the direction opposite to the advancement surface, i.e., not including the advancement surface therewithin. For instance, the angle between any of the two axes and the horizon is to be considered such the advancement surface does not lie between the respective axis and the horizon. In other words, the angles are to considered as being viewed from a point positioned with respect to the axis in a direction opposite to that of the advancement surface from the axis.
The movable assembly 1000 is configured to move along a non-horizontal advancement surface, generally designated as AS. The upward facing sliding surface of the track 1020 has been designated as 1020A, the downward facing sliding surface has been designated as 1020B, and the sideward facing sliding surface has been designated as 1020C. It should be appreciated that in the present example, all surfaces are circular, and as such, extend circularly along the entire track 1020. The longitudinal axis and the lateral axis of the movable assembly 1000 have been designated as LGA and LTA respectively.
The gripper unit 1030 has the gripping portion, designated as 1032, and the mounting portion, designated as 1034. The gripping portion 1032 has a gripping face 1035 configured to be selectively fixable to the advancement surface AS, and defining the gripping plane GP, which coincide with the advancement surface AS when the gripping face 1035 are fixed to the advancement surface AS. The longitudinal and lateral axes LGA, LTA, are defined such that in the position of the gripping face when it is fixed to the advancement surface AS, the gripping plane GP is parallel to the longitudinal and lateral axis LGA and LTA of the movable assembly 1000.
The mounting portion 1034 is slidingly mounted to the track 1020 at its sliding surfaces 1020A, 1020B, and 1020C. As described in detail above with respect to the examples of the moving systems, the mounting portion 1034 enables the track 1020 and the gripper unit 1030 to slide along and with respect to each other. As can be best seen in
When the movable assembly 1000 is moving on the advancement surface AS being inclined such that the longitudinal axis LGA and/or the lateral axis LTA of the movable assembly 1000 is oriented in an acute angle with respect to the horizon, the upper sliding arrangement 1034A slidingly supports the assembly 100, via supportive engagement with the upward facing sliding surface 1020A thereof.
When the movable assembly 1000 is moving on the advancement surface AS being inclined such that the longitudinal axis LGA and/or the lateral axis LTA of the movable assembly 1000 is oriented in an obtuse angle with respect to the horizon, the lower sliding arrangement 1034B slidingly supports the assembly 1000, via supportive engagement with the downward facing sliding surface 1020B thereof.
When the movable assembly 1000 is moving on the advancement surface AS, when the latter is inclined, the lateral axis LTA of the movable assembly 1000 is oriented in an angle with respect to the horizon. In such position, the side sliding arrangement 1034C slidingly supports the assembly 1000, via supportive engagement with the sideward facing sliding surface 1020C.
Although the movable assembly can have only one upper, one lower and one side sliding arrangement, the illustrated example illustrates a pair for each of them. For instance, as can be best seen in
Such arrangement is configured to provide stability for the track 1020, as the latter is supported by the sliding arrangements of the gripper unit, and configured to provide load balance between the sliding arrangements, to each on each of which's design.
Further, each sliding arrangement includes a plurality of rollers, namely two rollers, disposed successively on their respective surface. Such arrangement further contributes to the stability of the track 1020, and the load balance between the rollers, as mentioned above.
It should be appreciated that an arrangement of more than two successively arranged rollers, can also be applied under certain conditions, e.g., when the track doesn't include sharp corners.
In the illustrated example, the two downward facing sliding surfaces are two portions of a single continuous surface, divided by a position indicator 1025, which is same in structure and operation as the position indicator as detailed herein above. In some examples, the upward facing sliding surfaces can also be portions of a single surface of the track and/or the downward facing sliding surfaces can be separate surfaces.
The mounting portion 1034 has a support structure 1040, and the upper and the lower sliding arrangements 1034A and 1034B are disposed on the support structure 1040. The side sliding arrangement 1034C is also disposed on the support structure 1040 holding each and every sliding arrangement 1034A, 1034B, and 1034C, to provide enough structural integrity for the sliding arrangements to support the movable assembly. The sliding arrangements are fixedly disposed on the support structure 1040. In the illustrated example, the sliding arrangements are rollers and are configured to roll on the respective surface of the track 1020 while being fixedly disposed on the support structure 1040.
The mounting portion 1034 further includes support elements 1044, which in some examples can be a single support element. The support elements 1044 are connected at a first end 1044A thereof to the griping portion 1032, and are mounted to the support structure 1040 to enable transmission of load forces from the sliding arrangements, especially from the side sliding arrangements 1034C, to the gripping portion 1032. This transmission of forces enable the gripper units, when attached to the advancement surface AS, to support the movable assembly 1000. The support elements 1044 can also slide with respect to the support structure 1040 along with the gripping portion 1032, such that the gripping portion 1032 is movable with respect to the support structure 1040, in a direction perpendicular to a sliding path for the lower sliding arrangement 1034B and thus for the gripper unit 1030 along the track 1020, defined by the downward facing sliding surface 1020B. In fact, the gripping portion 1032 is configured to move closer to and farther from the support structure, i.e., from the downward facing sliding surface.
The mounting portion 1034 further includes an auxiliary sliding arrangement 1034D, which in the illustrated example includes two such arrangements 1034D and 1034D′. In other examples, there can be a single auxiliary sliding arrangement 1034D. The track 1020 has an auxiliary sliding surface 1020D spaced to a varying distance from the downward facing sliding surface 1020B. For instance, as shown in
The gripper unit has a biasing member 1048 disposed between the gripping portion 1032 and the lower sliding arrangement 1034B, and configured to the bias the gripping portion 1032 away from the lower sliding arrangement 1034B. The auxiliary sliding arrangement 1034D being connected to the gripping portion 1032, via the support element 1044, is urged by the biasing member 1048 to be in tight engagement with the auxiliary sliding surface 1020D. Thus, the relative sliding movement of the gripper unit 1030 and the track 1020, and the tight engagement between the auxiliary sliding arrangement 1034D with the auxiliary sliding surface 1020D causes the auxiliary sliding arrangement 1034D to follow a curvature of the auxiliary sliding surface 1020B, and consequently causing the gripping portion 1032 to move with respect to the mounting portion 1034 according to the curvature of the auxiliary sliding surface 1020B.
Although, in the illustrated example, the caterpillar assembly, the track, and the unit have been illustrated as being same as the movable assembly 1000, the track 1020, and the gripper unit 1030, respectively, and can operate in the same manner, it is to be understood herein that the caterpillar assembly, the track, and the unit can be realized in a different manner and with different structure to operate in the manner as detailed below.
As can be seen in
The track 1120 has a central reference plane CRP dividing the track 1120 into an upper portion 1121 and a lower portion 1122. For the purposes of understanding this application, the lower portion of the track is the portion which is proximal to the advancement surface during operation of the caterpillar assembly, and the upper portion is the portion that is distal from the advancement surface during operation. The track 1120 has a central crossing plane CCP perpendicular to the central reference plane CRP, and symmetrically dividing the track 1120 in two portions along the length of the track 1120, i.e., rear and frontal. In other examples of the presently disclosed subject matter, the track can be non-symmetrical with respect to any of the planed CCP and CRP. The track 1120 crosses the central reference plane CRP at two flipping areas 1123 and 1124, where each unit 1130 crosses the plane CRP from the lower portion 1122 to the upper portion 1121 of the track, and vice versa, during movement of the unit 1130 along the track 1120.
The engaging portion and mounting portions of the unit 1130 have been designated as 1132 and 1134 respectively. The engaging portion 1132 has an engaging face 1135 that are engageable with the advancement surface (not shown) during operation of the caterpillar assembly 1100, and defines an engaging plane EP coinciding with the advancement surface during engagement therewith. The engaging plane EP is generally parallel to the central reference plane CRP of the track 1120 during said engagement.
The mounting portion 1134 has the first sliding arrangement, designated as 1134A, which in the illustrated example is the same as the lower sliding arrangement 1034B of the movable assembly 1000, and the second sliding arrangement, designated as 1134B, which in the illustrated example is same as the auxiliary sliding arrangement 1034D of the movable assembly 1000. In some examples, the upper or the side sliding arrangements can also serve as the first sliding arrangement 1134A. The first sliding arrangement 1134A is shown in sliding engagement with the first sliding surface 1120A and is configured to move therealong. Similarly, the second sliding arrangement 1134B is shown in sliding engagement with the second sliding surface 1120B and is configured to move therealong. The engaging portion 1132 is operatively connected to the second sliding arrangement 1134B, optionally as described with respect to the gripping portion of assembly 1000, and as the second sliding arrangement moves along the second sliding surface 1120B, the engaging portion 1132 moves with respect to the mounting portion 1134 in response to the variation in distance between the first and the second sliding surfaces 1120A and 1120B along the length of the track.
As can be seen in
In the illustrated example, the mounting portion 1134 has a support structure 1140 and the first sliding arrangement 1134A is fixedly connected to the support structure 1140. Further, the mounting portion 1134 has a support element 1144 having a first end 1144A connected to the engaging portion 1132 and a second end 1144B connected to the second sliding arrangement 1134B. The support element 1144 is slidably mounted to the support structure 1140. The unit 1130 further includes a biasing member 1148 disposed between the engaging portion 1132 and the first sliding arrangement 1134A such that the biasing member 1148 biases the engaging portion 1132 away from the first sliding arrangement 1134A. Thus, the biasing member 1148 keeps the second sliding arrangement 1134B tightly engaged with the second sliding surface 1120B, and when the unit 1130 moves along the track 1120, the second sliding arrangement 1134B follows the contour/curvature of the second sliding surface 1120B. As the support element 1144 is slidably mounted to the support structure 1140, the second sliding arrangement 1134B sliding on the second sliding surface 1120B causes the engaging portion 1132 to move with respect to the mounting portion 1134, and as a result, with respect to the first sliding arrangement 1134A and the first sliding surface 1120A, or in other words with respect to the track 1120. Thus the distance between the engaging portion 1132 and the track 1120 changes in response to the varying distance between the first sliding surface 1120A and the second sliding surface 1120B.
The first sliding surface 1120A, at the lower portion 1122, has a planner portion 1120A′ intersecting with the central crossing plane CCP, and an inclined portion 1120A″ adjacent each flipping area 1123 and 1124. The first location 1126 of the track 1120 is disposed at the inclined portion 1120A″ and the second location 1127 of the track 1120 is disposed at the planner portion 1120A′. In the illustrated example, the distance between the first and second sliding surfaces 1120A and 1120B remains constant throughout the inclined portion 1120A″.
At a third location 1128, i.e., the location of the unit 1130 in
At a fourth location 1129, the location of the unit 1130 in
During the operation of the caterpillar assembly 1100, i.e., movement of the unit 130 in a clockwise direction along the track, when the unit 1130 crosses the flipping area 1123, and arrives at the first location 1126, the unit 1130 remains closer to the track 1120 by virtue of the large distance D1 between the first sliding surface 1120A and the second sliding surface 1120B, thereby passing over any obstacles that may be present on the advancement surface, The unit 1130 remains closer to the track 1120 until it reaches the second location 1127 where the engaging face 1135 becomes parallel to the advancement surface (not shown). This is important because if the unit 1130 is distant from the track 1120 (as it is at the second location 1127), the engaging face 1135 (or at least a corner thereof) can possibly hit the advancement surface during transition of the unit 1130 from the inclined portion 1020A″ to the planner portion 1120A′. The variation in distance enables the smooth movement of the unit 1130 along the track 1120 during operation of the caterpillar assembly 1100.
Once the unit 1130 reaches the second location 1127, the engaging portion 1132 moves further from the track 1120 by virtue of the distance D2 being smaller than D1, and the engaging face 1135 pounds the advancement surface by virtue of the biasing force of the biasing member. In the illustrated example, the unit 1130 is a gripper unit and grips the advancement surface upon reaching at the second location 1127. Such pounding can contribute to firm engagement with the advancement surface before vacuum is applied. As described above, with respect to the moving system, the track 1120 is then moved with respect to the fixed unit 1130. As the track 1120 moves and the unit 1130 reaches the fourth location, the distance D6 being greater than D4 causes the track to move with respect to the engaging portion 1132 and towards the engaging portion 1132, thereby bringing the track 1120 and thus the whole caterpillar assembly 1100 closer to the advancement surface thereby providing more stability to the caterpillar assembly 1100 with respect to the advancement surface.
Although the caterpillar assembly 1100 has been described above with reference to a single unit 1130, it is to be understood that there are more than one units and the descriptions applies to each one of them. Also, the description refers in detail to one flipping area 1123 and the respective locations of the lower portion 1122 of the track 1120, the description applies analogously to the other flipping area 1124 and its respective first, second, third, and fourth locations.
| Number | Date | Country | Kind |
|---|---|---|---|
| 281841 | Mar 2021 | IL | national |
| 286844 | Sep 2021 | IL | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/IL2021/051500 | 12/16/2021 | WO |
| Number | Date | Country | |
|---|---|---|---|
| 63126553 | Dec 2020 | US |
