Methods and apparatus for realigning and re-adhering a hanging crawler vehicle on a non-level surface

Patent metadata

Field	Value
Publication number	US-10823709-B2
Application number	US-201816028838-A
Country	US
Kind code	B2
Filing date	Jul 6, 2018
Priority date	Jul 6, 2018
Publication date	Nov 3, 2020
Grant date	Nov 3, 2020

Abstract

Apparatus and methods for realigning and re-adhering a hanging tool-equipped crawler vehicle with respect to a non-level surface of a target object. When the cable-suspended crawler vehicle with suction devices is adhered to a non-level surface of a target object, it is possible for the crawler vehicle to detach from the surface and be left hanging from the end of the cable in a state. While hanging from the end of the cable in a misaligned state and not in contact with the target object, the crawler vehicle is unable to carry out a planned maintenance operation. Before the maintenance operation is resumed, the crawler vehicle is realigned with the surface of the target object using a turret, a rotating arm or a cam-shaped roll bar provided as equipment on the crawler vehicle and then re-adhered to the surface by activation of the suction devices.

First claim

The invention claimed is:

1. A method for realigning a hanging crawler vehicle on a surface of a structure, the method comprising:
(a) suspending the crawler vehicle from an end of a cable, the crawler vehicle being suspended at an elevation at which the crawler vehicle is not in contact with the surface of the structure;
(b) rotating an alignment arm that is rotatably mounted to the crawler vehicle in a first direction about an axis of rotation that is fixed in a frame of reference of the crawler vehicle until a tip of the alignment arm contacts the surface of the structure;
(c) while the tip of the alignment arm contacts the surface of the structure, further rotating the alignment arm in the first direction to cause first and second wheels of the crawler vehicle to move in tandem closer to the surface of the structure; and
(d) raising the end of the cable until at least the first wheel and a third wheel are in contact with the surface of the structure.

2. The method as recited in claim 1 , further comprising ceasing rotation of the alignment arm in the first direction before raising the end of the cable and then rotating the alignment arm in a second direction opposite to the first direction while the end of the cable is being raised.

3. The method as recited in claim 1 , wherein the alignment arm is further rotated in the first direction until the first and third wheels of the crawler vehicle are nearly equidistant from the surface of the structure.

4. The method as recited in claim 1 , further comprising adhering the crawler vehicle to the surface of the structure using suction while the first and third wheels are in contact with the surface of the structure.

5. The method as recited in claim 1 , wherein the end of the cable is raised until the first through third wheels of the crawler vehicle are in contact with the surface of the structure, further comprising adhering the crawler vehicle to the surface of the structure using suction while the first through third wheels are in contact with the surface of the structure.

6. A crawler vehicle comprising:
a crawler vehicle frame and a multiplicity of wheels rotatably coupled to the crawler vehicle frame;
a maintenance tool coupled to the crawler vehicle frame of the crawler vehicle;
first and second bushing axial restraint bodies which are fixedly coupled to and not rotatable relative to the crawler vehicle frame;
a revolute joint comprising a shaft having an axis and a bushing that is rotatably coupled to the shaft for rotation about the axis of the shaft, wherein opposing ends of the shaft of the revolute joint are respectively fixedly coupled to the first and second bushing axial restraint bodies; and
an alignment arm having one end coupled to the bushing of the revolute joint, the alignment arm being rotatable about the axis of the shaft between a first angular position where a distal end of the alignment arm is disposed above a plane of wheel contact tangent to the multiplicity of wheels and a second angular position where the distal end of the alignment arm is disposed below the plane of wheel contact.

7. A crawler vehicle comprising:
a crawler vehicle frame and a multiplicity of wheels rotatably coupled to the crawler vehicle frame;
a maintenance tool coupled to the crawler vehicle frame of the crawler vehicle;
a revolute joint having an axis of rotation and
an alignment arm having a first end coupled to the revolute joint and having a second end that is rotatable about the axis of rotation between a first angular position where the distal end of the alignment arm is disposed above a plane of wheel contact tangent to the multiplicity of wheels and a second angular position where the distal end of the alignment arm is disposed below the plane of wheel contact,
wherein the distal end of the alignment arm is disposed below the plane of wheel contact at a first distance from the axis of rotation of the revolute joint which is greater than a second distance of any other part of the crawler vehicle from the axis of rotation of the revolute joint for all angular positions of the alignment arm relative to the crawler vehicle frame within a range of angular positions.

8. The crawler vehicle as recited in claim 6 , wherein the wheels of the crawler vehicle are configured to be capable of holonomic motion and the crawler vehicle further comprises:
a set of motors configured to respectively drive rotation of the wheels; and
a multiplicity of motor controllers configured to respectively control the motors to cause the set of wheels to produce holonomic motion of the crawler vehicle.

9. The crawler vehicle as recited in claim 6 , wherein the crawler vehicle frame comprises an opening and a bottom surface that partly defines a suction zone, and the crawler vehicle further comprises a suction device respectively mounted adjacent to the opening for producing a suction forces in the suction zone when the wheels of the crawler vehicle are in contact with a surface.

10. The crawler vehicle as recited in claim 6 , wherein the maintenance tool is a non-destructive inspection probe.

11. A method for realigning a hanging crawler vehicle on a surface of a structure, the method comprising:
(a) attaching a crawler vehicle equipped with a roll bar to an end of a cable;
(b) suspending the crawler vehicle from the end of the cable at an elevation at which the crawler vehicle is hanging freely and not in contact with the surface of the structure;
(c) raising the end of the cable and the crawler vehicle until the roll bar comes into contact with the surface of the structure; and
(d) continuing to raise the end of the crawler vehicle while the roll bar remains in contact with and is dragged along the surface of the structure,
wherein an outer periphery of the roll bar has an eccentric shape configured to induce the crawler vehicle to reorient relative to the surface of the structure during step (d) until at least two wheels of the crawler vehicle come into contact with the surface of the structure.

12. The method as recited in claim 11 , further comprising adhering the crawler vehicle to the surface of the structure using suction while at least two wheels of the crawler vehicle are in contact with the surface of the structure.

13. The method as recited in claim 11 , wherein the end of the cable is raised until four wheels are in contact with the surface of the structure, further comprising adhering the crawler vehicle to the surface of the structure using suction while four wheels are in contact with the surface of the structure.

14. A crawler vehicle comprising:
a crawler vehicle frame and a multiplicity of wheels rotatably coupled to the crawler vehicle frame;
a maintenance tool coupled to the crawler vehicle frame of the crawler vehicle;
a multiplicity of rigid ribs each having one end connected to the frame;
a cam-shaped roll bar fixedly coupled to the frame by the multiplicity of rigid ribs,
wherein the cam-shaped roll bar is disposed in a plane that is perpendicular to the plane of wheel contact and entirely on one side of the plane of wheel contact, and has an outer periphery with an eccentric shape, and wherein spaced points on the outer periphery of the cam-shaped roll bar are located at different distances from a center-of-mass of the crawler vehicle.

15. The crawler vehicle as recited in claim 14 , wherein the wheels of the crawler vehicle are configured to be capable of holonomic motion and the crawler vehicle further comprises:
a set of motors configured to respectively drive rotation of the wheels; and
a multiplicity of motor controllers configured to

Assignees

• Boeing Co

Inventors

• Hafenrichter Joseph L
• Georgeson Gary E

Classifications

• G01N29/04 Primary

  Analysing solids (using acoustic emission techniques G01N29/14) · CPC title

• G05D1/49

  Control of attitude, i.e. control of roll, pitch or yaw · CPC title

• G05D1/678

  for tethered vehicles (positioning towed, pushed or suspended implements G05D1/672) · CPC title

• G05D2105/47

  for maintenance or repairing, e.g. fuelling or battery replacement · CPC title

• G05D2107/75

  Electric power generation plants · CPC title