To provide a method for compensating for gravity during movement of a crawler vehicle on a surface of, e.g., an aircraft fuselage or a storage tank.SOLUTION: The invention provides apparatus and methods for providing gravity compensation to a cable 22-suspended, vacuum-adhered, tool-equipped crawler vehicle 20b traveling along, and following a contour of, a non-level surface during execution of an automated maintenance operation. One technical feature shared by multiple embodiments of gravity-compensating systems is that a cable spool 52a is operated to wind a portion of the cable from which the vacuum-adhered crawler vehicle is suspended to generate a tensile force that counteracts a gravitational force being exerted on the crawler vehicle during movement. Rotation of the cable spool may be driven by a motor or by a tensioning spring.SELECTED DRAWING: Figure 1A-B

    【課題】航空機の胴体又は貯蔵タンク等の表面でのクローラー車両の移動の間、重力を補償するための方法を提供する。【解決手段】ケーブル22によって吊され、真空によって付着し、ツールを備えたクローラー車両20bに重力補償をもたらすための装置及び方法であって、クローラー車両は、自動化されたメンテナンス操作を実行している間、非水平面に沿って移動し、非水平面の輪郭に従う。重力補償システムの複数の実施形態に共有される1つの技術的特徴は、ケーブルスプール52aが、作動して、真空付着したクローラー車両を吊り下げているケーブルの一部を巻き上げ、運動中にクローラー車両に作用する重力に対抗する引張力を生成することである。ケーブルスプールの回転は、モーター又は引張バネによって駆動され得る。【選択図】図1A−B


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    Title :

    GRAVITY COMPENSATION FOR SELF-PROPELLED ROBOTIC VEHICLES CRAWLING ON NON-LEVEL SURFACES


    Additional title:

    非水平面上でクローリングする自走式ロボット車両のための重力補償


    Contributors:

    Publication date :

    2020-03-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen



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