Abstract: A traction unit has carrier sections on which suction cups are mounted that are connected to a vacuum source. The carrier units are driven around the frame by a chain driven by a motor. The frame has sections which move relative to one another in order to permit turning control of the traction unit.

Abstract: In an arrangement for strengthening the road grip for a vehicle, particularly for a passenger car, air can be sucked from a vacuum chamber arranged under the vehicle and closed off with respect to the ambient atmosphere. As a result, a vacuum can be generated in a vacuum chamber arranged in a braking plate, and the latter can be changed from an inoperative position away from the ground into a operative position close to the ground, as a result of the generated vacuum.

Abstract: A remote-controlled dynamoelectric machine maintenance vehicle that can fit and travel within the air gap between a stator and rotor of a dynamoelectric machine. The maintenance vehicle has an effectuator that can remotely attach to an adjustable wedge within a coil slot of the stator and tighten the wedge in position and then move on to repeat the process until all the wedges on the stator are secured.

Abstract: The invention concerns a surface traversing apparatus that includes a frame, a seal having a seal perimeter that is mounted to the frame, and a drive configured to move the apparatus relative to the surface. The seal perimeter is adapted substantially for rolling contact with the surface to be traversed. The device is capable of suction adhering and moving along horizontal, vertical, inverted surfaces and the like, and overcoming obstacles or surface irregularities while maintaining suction adhesion to the surface. The device can be propelled along the surface with a locomoting rolling seal assembly, which provides both a seal to affect the vacuum adhesion and the locomotion to drive the device across the surface.

Abstract: A magnetic on-off robotic attachment device (MOORAD) (100, 300, 400, 624, 624?, 660, 676, 804) is used to make a number of systems, such as a mobile apparatus (608, 644, 668, 700, 700?), a belt mechanism (800) and a sensor device (504, 508, 656). The MOORAD allows the respective system to be removably magnetically attached to a ferromagnetic structure/object (228, 420, 604, 604?, 720A-B, 720A?-B?, 848). Each MOORAD generally includes a dipole magnet (104, 304A-B, 404) movable relative to first and second ferromagnetic portions (112, 116, 316A-D, 408, 412) that are separated by corresponding magnetically insulating portions (120, 320A-C, 416) so as to change that MOORAD between off and on states.

Abstract: This invention provides a device capable of covering the surface of an object situated in a gas with a region filled with a liquid and of moving such region, capable of sucking and collecting such liquid from the surface of the object wetted by the liquid and of drying such surface, and is capable of allowing such region to adhere to and crawl along the surface of the subject, while conducting ultrasonic flaw detection or ultrasonic cleaning of the surface of the object.

Abstract: A system element for the transporting and positioning of a tool on a surface of a workpiece, includes at least one suction device that generates a suction stream, and a transport device that is arranged around the suction device, and includes: at least two rollers that are rotatably supported on the suction device, connection elements that interconnect respective end regions of various rollers, and the rollers and the connection elements are elastically deformable, and when there is a suction stream, the system element substantially conforms with the surface of the workpiece.

Abstract: A mobile robot generally including a first suction module, a second suction module and a hinge assembly pivotably connecting the suction modules together. Each of the suction modules includes a support frame defining a vacuum chamber and a vacuum unit supported on the support frame and communicating with the vacuum chamber. The vacuum unit includes a rotating impeller and an exhaust cowling surrounding the impeller. The impeller has an axis of rotation and is adapted to draw air from the vacuum chamber into the impeller in a direction generally parallel to the impeller axis of rotation and to discharge the drawn air in a direction substantially perpendicular to the impeller axis of rotation. The exhaust cowling is adapted to redirect the discharged air, whereby a thrusting force is applied to the support frame in a direction opposite of the direction of the drawn air from the vacuum chamber.

Abstract: A traction device includes a continuous traction belt provided on a pair of opposing rollers. The traction belt includes openings such that a vacuum may be applied through the traction belt causing the traction device to cling to a working surface. A motor may be provided to drive one of the rollers and thereby drive the belt. A plurality of such traction devices may be coupled with a control mechanism to form a robot. A system is described for performing work or maintenance on a structure having an inclined working surface that includes a support robot for positioning at a high point on the structure and a payload robot attached to the support robot by an umbilical or tension cord for maneuvering along the working surface.

Abstract: A vehicle for use in inspecting a space and which can be operated from a remote location. The vehicle includes a chassis; at least three wheels rotatably mounted to and on which the chassis is moveable; a transmission mounted to the chassis and operatively connected to at least a first one of the wheels for rotating the first wheel; and a rotatable flexible drive shaft having a first end operatively connectable to the transmission and a second end operatively connectable to a motor for rotating the flexible drive shaft and thereby move the vehicle over a surface. Also provided is a method for inspecting a space.

Abstract: A traction unit capable of traversing and turning on surfaces that include compound curves like the surface of a sphere or are inverted like a ceiling. The traction unit includes a plurality of trucks operable to propel the unit across a surface and a plurality of adherence members operable to releasably secure the unit to the surface. In operation, the adherence members cyclically attach to and release from the surface as the trucks propel the unit across the surface. Within each cycle, after the unit has traveled a predetermined distance relative to an attached member, the member releases the surface and reattaches to the surface at a different point.

Abstract: A surface clinging robotic device. The device includes a supporting structure or base, on which is mounted (a) a lead pivoting support surface, such as a pivoting wheel, and (b) two or more traction drives, such as drive wheels. Each of the traction drives are independently driven by a separate drive motor. A plurality of vacuum cups are mounted on the bottom of the base. The vacuum cups each have a low friction foot designed for movement over a surface with minimal friction while vacuum is maintained. The low friction foot portion is provided by a generally surface direction oriented C-shaped Teflon skin. The robotic device can move over gaps or obstructions in the surface without losing vacuum in all of the vacuum cups, using a fluid limiting valve at each vacuum cup to interrupt flow in the event of loss of vacuum in that vacuum cup.

Abstract: A multi-modal forced vortex device is described having a top plate and a side wall creating a partially enclosed volume. The top plate includes one or more adjustable fluid openings to permit, or restrict, fluid flow into and out of the partially enclosed volume. Rotating blades housed within the partially enclosed volume are manipulated (through control of their pitch and, possibly, their speed) in conjunction with the adjustable fluid openings to generate a variable magnitude attractive force in a first mode, a variable magnitude down or pushing force in a second mode, a variable magnitude up or lifting force in a third mode or variable magnitude yaw, pitch and roll forces in a fourth mode.

Abstract: A displaceable support stand (1) includes a support stand base (5) with a support surface (6) which is adapted to rest on the ground, a lifting device for lifting the support stand base (5) and therewith the support stand (1) above the ground and a displacement device which permits displacement of the support stand (1). The lifting and the displacement devices can be embodied by a device for producing an air cushion. A device of that kind can include for example a compressor (18), an accumulator (20) for the power supply for the compressor (18) and air nozzles (16).

Abstract: A surface clinging robotic device. The device includes a supporting structure or base, on which is mounted (a) a lead pivoting support surface, such as a pivoting wheel, and (b) two or more traction drives, such as drive wheels. Each of the traction drives are independently driven by a separate drive motor. A plurality of vacuum cups are mounted on the bottom of the base. The vacuum cups each have a low friction foot designed for movement over a surface with minimal friction while vacuum is maintained. The low friction foot portion is provided by a generally surface direction oriented C-shaped Teflon skin. The robotic device can move over gaps or obstructions in the surface without losing vacuum in all of the vacuum cups, using a fluid limiting valve at each vacuum cup to interrupt flow in the event of loss of vacuum in that vacuum cup.

Abstract: The invention concerns a surface traversing apparatus that includes a frame, a seal having a seal perimeter that is mounted to the frame, and a drive configured to move the apparatus relative to the surface. The seal perimeter is adapted substantially for rolling contact with the surface to be traversed. The device is capable of suction adhering and moving along horizontal, vertical, inverted surfaces and the like, and overcoming obstacles or surface irregularities while maintaining suction adhesion to the surface. The device can be propelled along the surface with a locomoting rolling seal assembly, which provides both a seal to affect the vacuum adhesion and the locomotion to drive the device across the surface.

Abstract: A traction unit capable of traversing and turning on surfaces that include compound curves like the surface of a sphere or are inverted like a ceiling. The traction unit includes a plurality of trucks operable to propel the unit across a surface and a plurality of adherence members operable to releasably secure the unit to the surface. In operation, the adherence members cyclically attach to and release from the surface as the trucks propel the unit across the surface. Within each cycle, after the unit has traveled a predetermined distance relative to an attached member, the member releases the surface and reattaches to the surface at a different point.

Abstract: A traction unit capable of traversing and turning on surfaces that include compound curves like the surface of a sphere or are inverted like a ceiling. The traction unit includes a plurality of trucks operable to propel the unit across a surface and a plurality of adherence members operable to releasably secure the unit to the surface. In operation, the adherence members cyclically attach to and release from the surface as the trucks propel the unit across the surface. Within each cycle, after the unit has traveled a predetermined distance relative to an attached member, the member releases the surface and reattaches to the surface at a different point.

Abstract: An apparatus that attaches itself to a surface by negative pressure and that can move over the surface, in particular, for carrying out work, to prevent a risk, depending on the alignment of the surface, of the apparatus dropping downward if there is a decrease in an attachment force in the case of malfunctioning includes a safety configuration that monitors detachment of the apparatus from the surface and, in such a case, attaches a retaining configuration, preferably in the form of a suction cup, to the surface, the retaining configuration retaining the movable apparatus on the surface.

Abstract: An electrical connection module is disclosed for electrically connecting electrical components disposed upon opposite sides of a module mounting component to one another. The electrical connection module comprises a rigid body with a first electrical terminal and a second electrical terminal engaged to the rigid body of the electrical connection module. The electrical connection module is to be fixedly mounted to the module mounting component with the first electrical terminal protruding from a second side of the module mounting component, through a passageway defined in the module mounting component, to a first side of the module mounting component. The second electrical terminal of the electrical connection module is disposed upon the second side of the module mounting component. A first electrical component is electrically connected to the first electrical terminal of the electrical connection module at a point disposed upon the first side of the module mounting component.

Abstract: A traction unit capable of traversing and turning on surfaces that include compound curves like the surface of a sphere or are inverted like a ceiling. The traction unit includes a plurality of trucks operable to propel the unit across a surface and a plurality of adherence members operable to releasably secure the unit to the surface. In operation, the adherence members cyclically attach to and release from the surface as the trucks propel the unit across the surface. Within each cycle, after the unit has traveled a predetermined distance relative to an attached member, the member releases the surface and reattaches to the surface at a different point.

Abstract: A vacuum intake horn is constantly secured to a portion of a land vehicle and connected to a vacuum generator to increase the load on the wheels and, thereby, enhance traction. In order to minimize the clearance between the intake horn face and road surface for greater vacuum force, the vacuum intake horn is attached to a portion of the vehicle such that movement of the vacuum intake horn relative to an associated wheel of the vehicle is no greater than 75% of the movement of the vehicle chassis relative to the wheel. The vacuum intake horn is mounted behind and substantially entirely within the outline of a tire, so that the tire protects the vacuum intake horn from debris and bumps in the road. In one embodiment, the vacuum intake horn is attached to the vehicle by a compensation arrangement that maintains the vacuum intake horn at a generally constant height close to the road surface despite tire deflection or movement of the chassis relative to the associated wheel.

Abstract: A novel Ground Effect Machine capable of operating in low airflow and low air-pressure conditions. By using an air bladder, partially filed with liquid, in lieu of a skirt, the invention is able to reduce airflow, and consequently maximize the lift provided by air pressure pump, thus minimizing the amount of air pressure required. In addition, by alternating between positive and negative air pressure within a pressure chamber beneath the ground effect machine, the invention may lift and transport heavy loads or securely fasten the ground effect machine to the floor surface.

Abstract: A robot capable of moving against gravity uses at least one vacuum cup assembly having a port for applying a lubricant on the working surface so the cup may slide on the surface as the robot is maneuvered with the aid of powered wheels. The wheels and vacuum cut assemblies are coordinated to move on varied surfaces. The robot module may be equipped with various task-performing assemblies, and may be employed in caravans, trains, or separately in swarms.

Abstract: The relative motion and force between two interconnected elements can be counteracted with active controls when such motion and force is predictable. Magnitudes, wavelengths and locations of rocking motion by vehicles traveling along fixed guideways can be recorded, and such records can be used in subsequent trips to predict rocking motion causing forces. Active controls can be installed and programmed to exert timely counteracting forces to prevent rocking motion forces from passing from wheels via springs to upper vehicle bodies.

Abstract: A suction-adhering vehicle for removing a coating from a surface includes a resilient suction ring (e.g., a tubular ring, an inner tube, or a solid foam ring) defining a substantially enclosed region between vehicle frame and the surface. Spray nozzles within the enclosed region direct fluid against the surface to remove the coating. An exhaust port leading from the enclosed region is connect to an external suction source that maintains reduced pressure within the enclosed region and withdraws fluid and coating debris from within the enclosed region. Caterpillar treads or other drive means move the vehicle along the surface. The suction ring is releasably secured to the vehicle frame by a frictional fit with engaging means extending from the frame, such as collar that engages the inside diameter or the outside diameter of the suction ring. This allows the suction ring to be quickly and easily replaced in the field.

Abstract: A drive wheel, having a cylindrical surface positioned at a radius from the center of the drive wheel, and a plurality of suction cup members disposed in a spaced apart relationship on the cylindrical surface, useful in a pressurized pool cleaning apparatus.

Abstract: A system for treating an external surface of a building, has (a) at least one treatment unit configured to treat the external surface of the building with a pressurized fluid; (b) at least one suspension system for suspending the treatment unit adjacent to the external surface; (c) at least one suction unit associated with the treatment unit, being activated by the pressurized fluid to generate suction at a suction port; and (d) at least one suction head in fluid connection with a suction port to clamp against the external surface.

Abstract: A suction-adhering vehicle for removing a coating from a surface includes an inflatable member (e.g., a tubular ring or an inner tube) defining a substantially enclosed region between vehicle frame and the surface. Spray nozzles within the enclosed region direct fluid against the surface to remove the coating. An exhaust port leading from the enclosed region is connect to an external suction source that maintains reduced pressure within the enclosed region and withdraws fluid and coating debris from within the enclosed region. Caterpillar treads or other drive means move the vehicle along the surface. The inflatable ring is releasably secured to the vehicle frame by a frictional fit with engaging means extending from the frame, such as collar that engages the inside diameter or the outside diameter of the inflatable ring. This allows the inflatable ring to be quickly and easily replaced in the field.

Abstract: A vacuum wall walking apparatus includes an annular body frame, a plurality of leg mechanisms extending downward from the body frame, and a plurality of suction cups attached to fore ends of the respective legs. The body frame is composed of a flexible member. The body frame thus constructed is bendable to conform to the profile of a curved surface when the vacuum wall walking apparatus is used with a wall having such curved surface. With this bending or deformation of the body frame, the suction cups are always able to retain an optimum posture to insure that the vacuum wall walking apparatus is stably held on the curved surface of the wall by a vacuum formed in the suction cups. The vacuum wall walking apparatus may include a surface treatment mechanism, in which instance a winch is provided to minimize or substantially eliminate the load exerted from the surface treatment mechanism to the vacuum wall walking apparatus.

Abstract: A device capable of suction-adhering to and moving along the surface of an object includes a pressure reduction housing, a suction-adhering seal mounted on the pressure reduction housing and defining a pressure reduction space in cooperation with the pressure reduction housing and the surface of the object, and a vacuum generator for discharging a fluid from the pressure reduction space to the outside of the pressure reduction space. The device suction-adheres to the surface of the object by the pressure of an ambient fluid acting on the pressure reduction housing owing to the difference in fluid pressure between the inside and the outside of the pressure reduction space. The device is moved along the surface of the object by driven wheels which engage the surface.

Abstract: A device capable of suction-adhering to a surface and moving therealong includes a pressure receiver, a partitioning device mounted on the pressure receiver and defining a pressure reduction space in cooperation with the pressure receiver and the surface, and a pressure reducing device for discharging a fluid from the pressure reduction space to decrease the pressure inside the pressure reduction space. The partitioning device includes a lip portion extending along the surface. A plurality of contacting devices are disposed at intervals at the part other than the outer peripheral edge portion in that opposing face of the lip portion of the partitioning device which is located opposite to the surface. The outer peripheral edge portion in the opposing face of the lip portion is brought into contact with the surface. At the same time, at the part other than the outer peripheral edge portion in the opposing face of the lip portion, the contacting devices are brought into contact with the surface.

Abstract: A surface treating device comprising a swivel bearing mechanism, an oscillating tube connected to the swivel bearing mechanism so as to be free to pivot about the axis center of the swivel bearing mechanism and such that with respect to the axis center, an end portion thereof is positioned on the side facing the object surface and the other end portion thereof is positioned on the side opposite to the object surface, a nozzle connected to the one end portion side of the oscillating tube, and a self-revolving/else-revolving mechanism connected to the other end portion side of the oscillating tube and making the nozzle self-revolve and else-revolve about the axis center of the swivel bearing mechanism.

Abstract: A traveling device having a frame means, and a moving means mounted on the frame means and moving on a travel surface, the moving means comprising a plurality of wheels, or a plurality of endless tracks each including a plurality of belt pulleys is disclosed. The frame means includes a main frame, a pair of oscillating frames arranged on both sides of the main frame, and a connecting frame disposed on one end portion side of the main frame. A central portion of the connecting frame is coupled to the main frame via a monoaxially oscillating joint means, both end portions of the connecting frame are coupled to one end portion of each of the oscillating frames via an omniaxially oscillating joint means, and the other end portion of each of the oscillating frames is coupled to both side portions of the other end portion of the main frame via a biaxially oscillating joint means.

Abstract: A robot for performing a working operation on a surface. The robot comprises a frame which supports a pair of parallel tracks. An endless link chain is mounted for travel on each track and each chain is driven by an independent motor mounted on the frame. Each track is provided with at least two recesses with each recess having an open side facing the respective chain. A series of vacuum cups are mounted on each chain and are adapted to engage the surface to be traversed. A first series of ports connect a first recess of each track and a first group of vacuum cups on each chain, while a second series of ports communicate between the second recess of each track and a second group of vacuum cups. A source of vacuum is connected to the recesses and acts through the ports to the respective vacuum cups to enable the vacuum cups to grip the surface. In a preferred manner of use, the robot is employed with a laser tracking system in the non-destructive inspection of an aircraft.

Abstract: A robot traveling on wall face is capable of advancing or retreating on the wall face in a stable manner with a quick change-over of its traveling direction with the help of a plurality of movable adsorption discs designed for a close contact with the wall face, and a pair of fixed adsorption rods, while commencing to be moved by drive motors. The adsorption force by these movable adsorption discs is constantly so large that no worry of dropping the robot from the wall surface is needed. The frictional resistance of each frictional surface promotes contact between the robot and the wall face. Thereby, the robot works on the wall in a safe manner, instead of human workers.

Abstract: The present invention relates to a walking robot. The robot includes: an X-elongated member; a Y-elongated member; a moving body moving on the X- and Y-elongated members; an X-leg section provided to the X-elongated member, the X-leg section being capable of extending and shortening in the Z-direction; a Y-leg section being provided to the Y-elongated member, the Y-leg section being capable of extending and shortening in the Z-direction; an X-driving mechanism for moving the moving body in the X-direction; a Y-driving mechanism for moving the moving body in the Y-direction; a first Z-driving mechanism for extending and shortening the X-leg section; and a second Z-driving mechanism for extending and shortening the Y-leg section. With this structure, the robot is able to stride over obstructions by extending the X- and the Y-leg sections so as to avoid interference without changing course.

Abstract: A mobile toy including at least one vacuum generating assembly mounted on a chassis and including an impeller with the axial intake end thereof positionable closely adjacent a support surface whereby at least a major portion of the radial discharge from the impeller flows radially outward and along the support surface to define a fluidic seal about a central zone wherein a negative pressure is maintained. The impeller will preferably mount with a cylindrical sleeve. The mobile device is propelled by driven traction wheels.

Abstract: A device capable of moving along a surface comprising at least two moving units, wherein the units are linked to each other by a coupling means device capable of being stretched and contracted, each of the units having a stating setting mechanism for selectively setting each of the units in a movable state for movement along the surface and in a surface-engaging state on the surface, and when one unit is set in a movable state and the other unit is set in a surface-engaging state and the coupling means is stretched or contracted, the one unit in the movable state is moved along the surface.

Abstract: A device comprising a main body, a motor and drive wheels mounted on the main body, a partitioning member mounted on the main body and defining a pressure reduction space in cooperation with the main body and a wall surface, and a vacuum pump for reducing the pressure of the pressure reduction space. The device can suction-adhere to the wall surface by the pressure of an ambient fluid acting on the main body owing to the difference in fluid pressure between the inside and outside of the pressure reduction space and move along the wall surface by the action of the moving member. The partitioning member has an outside wall portion extending from its one end to a contacting portion contacting the wall surface and an inside wall portion extending from the contacting portion to its other end.

Abstract: A device comprising a main body and vibration generating means mounted on the main body. The vibration generating means imparts a force in a direction away from a wall surface and a force in a predetermined direction along the wall surface to the main body of the device. As a result, the main body is moved along the wall surface by the above force in the predetermined direction along the wall surface.

Abstract: A wall surface suction-adhering and moving device including a supporting frame and at least one suction-adhering and moving unit. The device moves along the wall surface while suction-adhering thereto. The suction-adhering and moving unit includes a rotating member rotatably mounted on the supporting frame, and a sealing member for forming a pressure-reduction space in cooperation with the wall surface and the rotating member. The sealing member has an annular base portion fixed to the rotating member, a cylindrical main portion extending from the base portion in a direction away from the rotating member, and an annular contacting portion to be kept in contact with the wall surface.

Abstract: A vehicle comprising a chassis and slidable vacuum apparatus mounted on the chassis and arranged for slidable vacuum seal engagement with a support surface.

Abstract: A device comprising a main body and vibration generating means mounted on the main body. The vibration generating means imparts a force in a direction away from a wall surface and a force in a predetermined direction along the wall surface to the main body of the device. As a result, the main body is moved along the wall surface by the above force in the predetermined direction along the wall surface.

Abstract: A device comprising a main body, a motor and drive wheels mounted on the main body, a partitioning member mounted on the main body and defining a pressure reduction space in cooperation with the main body and a wall surface, and a vacuum pump for reducing the pressure of the pressure reduction space. The device can suction-adhere to the wall surface by the pressure of an ambient fluid acting on the main body owing to the difference in fluid pressure between the inside and outside of the pressure reduction space and move along the wall surface by the action of the moving member. The partitioning member has an outside wall portion extending from its one end to a contacting portion contacting the wall surface and an inside wall portion extending from the contacting portion to its other end.

Abstract: An emergency braking device is attached to the vehicle body and is shiftable between an inoperative position and an operative position upon the occurrence of an emergency braking situation. The braking device is provided with a vacuum shroud which engages the roadway to form a substantially enclosed cavity. The shroud is shifted between the operative and inoperative position by a shifting mechanism. A pump is provided to evacuate air from the enclosed cavity to cause the vacuum shroud to be urged toward the roadway. An attachment device temporarily couples the vacuum shroud to the vehicle wheel causing the normal load of the wheel on the roadway to be increased, enabling the vehicle brake to decelerate the vehicle at an increased rate.

Abstract: A suction type traveling carriage which can be maintained in very intimate contact relationship with a wall, a ceiling or the like and can be moved in a stable manner by rotation of suction cups.

Abstract: A rolling contact suction system for vehicle braking and adhesion, in one embodiment comprising a suction cylinder adapted to be mounted on a vehicle for rolling contact with the surface upon which the vehicle moves; a plurality of suction disks contained in a surface layer of, and positioned within the profile of, the suction cylinder, the surface layer being made of a resilient material; and passageway within the suction cylinder for allowing the passage way of air from inside each suction disk, operable only when the internal volume of the suction disk is decreased.

Abstract: A vacuum wall crawler is provided with a pair of endless belts at both sides of the frame, the pair of endless belts having at their outer surfaces a plurality of recesses each of which has a through hole. Air in the recesses is sucked through suction chambers, each corresponding to one of the recesses, by an ejector independently provided in conformity with the suction chambers.

Abstract: An air cushion vehicle including a body, a flexible outer skirt depending downwardly therefrom, a rigid inner skirt within the outer skirt, air moving structure for creating pressure underneath the vehicle for normal driving and for creating a suction within the rigid skirt for holding the vehicle against the ground to withstand ground motion, spikes mounted on the vehicle in a normally retracted position, and structure for driving the spikes into the ground to stabilize the vehicle against lateral forces resulting from overpressure pulses and high winds.