Vacuum Traction Device System and Method of Use

Abstract

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. The support robot and payload robot include traction devices having 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 method for using the support robot and payload robot to perform work or maintenance on an inclined surface of a structure is also disclosed.

1 . A system for performing work on an inclined surface of a structure, the system comprising:
 a support robot suitable for positioning at a high point on the structure on or near the inclined surface, the support robot including at least one traction device to permit the support robot to cling to and maneuver along the inclined surface;   a payload robot including a tool for performing a desired function with respect to the inclined surface, the payload robot including at least one traction device to permit the payload robot to cling to and maneuver along the inclined surface;   a tension element for connecting the payload robot to the support robot such that the support robot provides support to the payload robot; and   a control mechanism for controlling movement of the payload robot and the support robot.   
   
   
       2 . The system according to  claim 1 , wherein said traction devices comprise:
 a frame;   a pair of rollers mounted on the frame;   a belt continuously looped around the rollers such that a traction portion is formed between the rollers, the belt including an inner surface facing the rollers and an outer surface opposite from the inner surface; the belt being provided with a plurality of apertures extending through the belt from the inner surface to the outer surface; and   a vacuum source operably connected to the frame for supplying a vacuum to the inner surface of the traction portion such that vacuum is also provided through the plurality of apertures to the outer surface to cause the traction device to tend to cling to a surface in contact with the outer surface of the traction portion.   
   
   
       3 . The system according to  claim 1 , wherein the control mechanism comprises software on a computer permitting locating the payload robot relative to the support robot. 
   
   
       4 . The system according to  claim 1 , further comprising a second payload robot, and a second tension element connecting the second payload robot to the support robot. 
   
   
       5 . The system according to  claim 1 , wherein the structure is an airplane. 
   
   
       6 . A method of performing maintenance on an inclined surface of a structure comprising:
 providing a support robot suitable for positioning at a high point on the structure on or near the inclined surface, the support robot including at least one traction device to permit the support robot to cling to and maneuver along the inclined surface;   maneuvering the support robot to the high point on the structure;   providing a payload robot including a tool for performing a desired function with respect to the inclined surface, the payload robot including at least one traction device to permit the payload robot to cling to and maneuver along the inclined surface;   attaching the payload robot to the support robot with a tension element; and   maneuvering the payload robot to a desired working position on the inclined surface.   
   
   
       7 . The method according to  claim 6 , wherein each of the traction devices comprise:
 a frame;   a pair of rollers mounted on the frame;   a belt continuously looped around the rollers such that a traction portion is formed between the rollers, the belt including an inner surface facing the rollers and an outer surface opposite from the inner surface; the belt being provided with a plurality of apertures extending through the belt from the inner surface to the outer surface; and   a vacuum source operably connected to the frame for supplying a vacuum to the inner surface of the traction portion such that vacuum is also provided through the plurality of apertures to the outer surface to cause the traction device to tend to cling to a surface in contact with the outer surface of the traction portion.