WO2017042722A1

WO2017042722A1 - Machine for inspecting and repairing walls

Info

Publication number: WO2017042722A1
Application number: PCT/IB2016/055376
Authority: WO
Inventors: Rony Javier CABALLERO GEORGE; Fernando MERCHAN; Aranzazu BERBEY
Original assignee: Universidad Tecnológica De Panamá
Priority date: 2016-06-24
Filing date: 2016-09-09
Publication date: 2017-03-16

Abstract

A machine for inspecting and repairing walls of buildings, ships, airplanes, tanks, etc. It comprises a main body having wall inspection and repair means, a securing device, and at least one assembly of omnidirectional wheels which enable it to move over any obstacle or irregularity of the wall. The securing device comprises multiple cables and allows the main body to be positioned at any point on the surface.

Description

MACHINE FOR INSPECTING AND REPAIRING WALLS

OBJECT OF THE INVENTION

This invention describes a machine for inspecting and repairing walls of buildings, ships, airplanes, tanks, silos and similar.

In particular, the machine comprises a securing device with multiple cables that make it possible to position the main body, whereon the wall inspection and repair means are mounted, at any point of the wall, regardless of whether the surface is regular or irregular.

BACKGROUND OF THE INVENTION

Many conditions can cause the wall of a building or structure to have filtrations or cracks. Among the causes one might mention: permeability of the concrete, thermal movement, corrosion, bad building practices, design, poor structural design and poor maintenance.

On some occasions the cracks or filtrations can be repaired locally by applying specific products such as mixtures, epoxy compounds or equivalent products.

In general, buildings are manually inspected and repaired. Usually, for such purpose a scaffold structure is secured from the top of the building. These scaffolds can move vertically. In order to cover adjacent sections of the building, the structure is laterally reinstalled. Carrying out this maintenance work at great heights is an operation that can be hazardous. In fact, it has been demonstrated that, at these heights, winds and drafts can cause aerodynamic forces on the structure or device used, causing it to swing away from the building, posing threat to personnel and equipment.

In a technical field similar to that of the present invention, solutions for cleaning windows of buildings or surfaces are known. For example, document US 7823242 B2 by Daniel J. Gorman discloses the use of a scaffold for supporting a cleaning system. However, this system is subject to the effect of the winds and drafts, and furthermore is limited to vertical movements. It must therefore be moved and reinstalled in order to cover the entire wall surface of the building wall.

In document US 36649 by Jesse H. Jefferies the system disclosed improves stability on using a counterweight installed on the lower part of the building. However, the mobility factor continues to be limited due to the fact that the system only moves vertically.

Likewise, in document DE 102012110387 A1 , by Benjamin Strang, the cleaning apparatus is secured to the building by means of a suction system. This system can move freely in any direction (i.e. vertically, horizontally or in both directions). However, this system has several limitations. In particular, since the suction force depends on the suction system, the system has a limited load weight for the equipment and cleaning supplies (for example: water, detergent and brushes). Moreover, the system is not equipped to move on irregular surfaces (for example, on walls that are not totally flat, with external columns).

DESCRIPTION OF THE INVENTION

The machine for inspecting and repairing walls of the present invention overcomes the previously described technical problems of the known systems.

The invention consists of a machine for inspecting and repairing walls, preferably of buildings, that comprises a main body with the inspection and repair means and that is supported by a securing device with at least four cables secured directly or indirectly to the top portion and bottom portion (or other positions) of a surface to be cleaned. The inspection and repair device is secured to cables using springs that provide the adequate securing and stability.

The length of the cables is chosen in such a manner that the entire surface to be cleaned can be reached. The cables secured to the top portion of the surface are connected to a motorised mechanical transmission or other system to pull the main body. The cables connected to the bottom portion of the surface can be connected to a motorised mechanical transmission, counterweights or other equivalent system. Other cables in other points may be connected in a similar manner. These motorised transmissions are directly or indirectly connected to motors. The motors can pull the cables in such a manner that the main body may be positioned at any position of the surface.

The planning of the movement of the motors is controlled by means of a control unit. The position of the main body of the inspection and repair machine is determined using position and sensors, revolution counters, inertial sensors, image sensors or equivalent systems.

The machine also comprises at least one assembly of omnidirectional wheels which is fixed, in one example of embodiment, to the edge of the main body. The omnidirectional wheels may be wheels with rollers joined to their circumference (said rollers being arranged on rotation axes arranged at an angle of 45° to the plane of the wheel and at an angle of 45° to a line that passes through the roller parallel to the rotation axis of the wheel), ball-type wheels or equivalent wheels. The sets of wheels have a star or equivalent configuration, with three wheels in each set of wheels. This star-shaped configuration allows the device to overcome obstacles. The machine comprises at least one camera or sensor to carry out the inspection work. In order to make repairs, the machine has a mechanised product applicator. In addition, the machine can be operated autonomously or remotely.

The main objective of this invention is to position the machine for inspecting and repairing walls at any position on the surface of a wall of a building.

Another objective is that the securing device can provide a stable support for the machine for inspecting and repairing, even in the case of winds and drafts.

Another objective is for the machine to be able to carry the necessary load weight of the inspection and repair equipment and supplies.

Another objective of the inspection and repair machine is to overcome any obstacle or irregularity in the surface of the wall.

DESCRIPTION OF THE FIGURES

In order to complement the description being made and with the object of helping to better understand the characteristics of the invention, in accordance with a preferred practical embodiment thereof, said description is accompanied, as an integral part thereof, by a set of drawings where, in an illustrative and non-limiting manner, the following has been represented:

FIGURE 1 a. Shows a front view of the machine for inspecting and repairing walls arranged on the wall of a building;

FIGURE 1 b. Shows a zoom view of the main body in the position of the machine for inspecting and repairing walls shown in figure 1 a;

FIGURE 2a. Shows an upper view of the machine for inspecting and repairing walls installed on the wall of a building shown in figure 1 a;

FIGURE 2b. Shows a zoom view of the main body of the machine for inspecting and repairing walls shown in figure 2a;

FIGURE 3a. Shows a side view of the machine for inspecting and repairing walls shown in figure 1a;

FIGURE 3b. Shows a zoom view of the main body of the machine for inspecting and repairing walls shown in figure 3a with internal details;

FIGURE 4. Shows a zoom view of the main body of the machine for inspecting and repairing walls wherein the side that is opposed to the wall can be observed;

FIGURE 5. Shows a detailed view of the assembly of omnidirectional wheels arranged in a star-shaped configuration;

FIGURE 6a. Shows a side view of the machine for inspecting and repairing walls before overcoming an obstacle; FIGURE 6b. Shows a side view of the machine for inspecting and repairing walls after overcoming an obstacle;

FIGURE 7a. Shows a front view of the machine for inspecting and repairing walls installed on the wall of a building shown in figure 1 a after having moved up the wall; and

FIGURE 7b. Shows a front view of the machine for inspecting and repairing walls installed on the wall of a building shown in figure 7a after having moved laterally along the wall. PREFERRED EMBODIMENT OF THE INVENTION

What follows is a description, with the help of figures 1 to 7, of examples of embodiment of the invention.

Figure 1a shows a machine for inspecting and repairing walls, comprising at least one main body (1) with means for inspecting and repairing the wall, a securing device that comprises a plurality of cables (2) and at least one assembly of omnidirectional wheels (7) that make it possible to rest and move the main body (1) on the wall.

The securing device comprises a plurality of cables through which it is joined to the main body (1) and a plurality of motors (3) to which the cables are joined by means of a mechanical transmission and/or a pulley (4) to wind or release said cables in accordance with the position in which the main body is arranged.

Figure 1 a shows the cables (2) of the securing device. In this case it is a upper left securing cable (2), a upper right securing cable (2), a lower left support cable (2) and a lower right support cable (2). The upper left support cable (2) passes through the upper left pulley (4) and connects to the mechanical transmission and upper left motor (3). The upper right securing cable (2) passes through the upper right pulley (4) and is connected to the mechanical transmission and upper right motor (3). The lower left securing cable (2) passes through the lower left pulley (4) and connects to the mechanical transmission and lower left motor (3). The lower right securing cable (2) passes through the lower right pulley (4) and connects to the mechanical transmission and lower right motor (3). In order to position the main body (1) in any position on the surface of the wall, the upper motors (3) and lower motors (3) pull or loosen the securing cables (2) to obtain the necessary length of each cable.

Figure 1 b shows a zoom view of the main body (1) of the inspection and repair machine of figure 1a. It can be observed that the cables (2) comprises springs (8) at the ends with which they are joined to the main body (1). Additionally, the cable supports (9) can be observed, whereby said cables (2) are joined to the main body (1).

Figures 2a and 2b shows the inspection and repair machine in an upper view.

Figure 3a represents a side view of the machine for inspecting and repairing the wall on which work is being carried out. Figure 3b shows a zoom view of the main body (1) wherein the elements arranged therein can be observed. Brushes (5) have been represented, which may be arranged on the main body, a repair product nozzle (10), a repair product tank (11), at least one sensor (19), a brush motor system (6) and a control unit (12). The repair product tank (1 1) may also comprise a product applicator.

Figure 4 represents the face of the main body (1), which is arranged in opposition to the wall. The brushes (5), the repair product nozzle (10) and the inspection camera (13) can be observed.

Figure 5 shows a detail of the star-shaped configuration of the sets of wheels (7) with a central rotation shaft (18). The star-shaped configuration makes it possible to overcome obstacles (22) on the wall, as shown in figures 6a and 6b.

Figures 7a and 7b show the main body after having moved up the wall. To this end, the upper cables (2) have been pulled and the lower cables extended in a coordinated manner until reaching the desired position. Figure 7b represents a movement towards the right. In order to perform this movement the cables (2) on the right have been pulled and the cables on the left have been extended in a coordinated manner.

Claims

1. A machine for inspecting and repairing walls, comprising:

- a main body having means for inspecting and repairing walls,

- a securing device configured to secure the main body and comprising at least:

- a plurality of cables through which it is joined to the main body, and

- a plurality of motors to which the cables are joined by means of a mechanical transmission and/or a pulley to wind or release said cables in accordance with the position in which the main body is arranged,

- an assembly of omnidirectional wheels arranged on the main body, by means of which it rests on and moves over the surface.

2. The machine according to claim 1 , wherein the means for inspecting and repairing walls are an inspection camera and a repair product nozzle.

3. The machine according to claim 1 , comprising four cables that are joined to the main body by an upper left end, an upper right end, a lower left end and a lower right end.

4. The machine according to claim 1 , wherein the cables comprise springs at their ends whereby they are joined to the main body.

5. The machine according to claim 1 , further comprising a control unit arranged in the main body and which is connected to the motors.

6. The machine according to claim 1 , comprising at least one sensor arranged on the main body.

7. The machine according to claim 6, wherein the sensor is selected from among position sensors, speed sensors, revolution counters, inertia sensors or image sensors.

8. The machine according to claim 1 , wherein the wheel assemblies comprise three wheels that are joined by means of bars to a central shaft around which they rotate.

9. The machine according to claim 8, wherein each of the wheels rotates around its respective shaft.

10. The machine according to claim 9, wherein the wheels comprise rollers joined to their circumference, said rollers being arranged on rotation shafts arranged at 45° with respect to the plane of the wheel and 45° with respect to the line passing through the roller parallel to the rotation shaft of the wheel.

1 1. The machine according to claim 8, wherein the wheels are spherical.

12. The machine according to claim 1 , further comprising at least one repair product tank in the main body.