DE20210484U1 - Transport device that is held along a steel surface by means of magnetic force - Google Patents
Transport device that is held along a steel surface by means of magnetic forceInfo
- Publication number
- DE20210484U1 DE20210484U1 DE20210484U DE20210484U DE20210484U1 DE 20210484 U1 DE20210484 U1 DE 20210484U1 DE 20210484 U DE20210484 U DE 20210484U DE 20210484 U DE20210484 U DE 20210484U DE 20210484 U1 DE20210484 U1 DE 20210484U1
- Authority
- DE
- Germany
- Prior art keywords
- transport device
- steel surface
- chassis
- magnetic force
- holder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 229910000831 Steel Inorganic materials 0.000 title claims description 15
- 239000010959 steel Substances 0.000 title claims description 15
- QJVKUMXDEUEQLH-UHFFFAOYSA-N [B].[Fe].[Nd] Chemical compound [B].[Fe].[Nd] QJVKUMXDEUEQLH-UHFFFAOYSA-N 0.000 claims description 2
- 229910001172 neodymium magnet Inorganic materials 0.000 claims description 2
- 238000010276 construction Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 229920001225 polyester resin Polymers 0.000 description 1
- 239000004645 polyester resin Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
- B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/005—Inspection and final control devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B71/00—Designing vessels; Predicting their performance
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Ocean & Marine Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Non-Mechanical Conveyors (AREA)
Description
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EUROPEAN PATENT AND TRADEMARK ATTORNEYSEUROPEAN PATENT AND TRADEMARK ATTORNEYS
Dipl.-lng. Helmut Marsch 0934-1979) Postfach 14 04 43Dipl.-lng. Helmut Marsch 0934-1979) PO Box 14 04 43
Dipl.-lng. Klaus Sparing 0968-1999) D-40074 DüsseldorfDipl.-lng. Klaus Sparing 0968-1999) D-40074 Düsseldorf
Dr. rer. nat. Wolf Horst RöhlDr. rer. nat. Wolf Horst Röhl
Dr. rer. nat. Daniela Henseler Telefon (0211) 6710 34Dr. rer. nat. Daniela Henseler Telephone (0211) 6710 34
Telefax (0211) 66 34 20Fax (0211) 66 34 20
SPARING, RUHL, HENSELER · POSTFACH 14 04 43 · D-40074 DÜSSELDORF [email protected] SPARING, RUHL, HENSELER · P.O. BOX 14 04 43 · D-40074 DÜSSELDORF [email protected]
WOMA Apparatebau GmbHWOMA Apparatebau GmbH
Werthauser Str. 77-79Werthauser Str. 77-79
47226 Duisburg 418 GM 2547226 Duisburg 418 GM25
Transportgerät, das mittels Magnetkraft an einer Stahlfläche gehaltenTransport device that is held to a steel surface by magnetic force
längs dieser verfahrbar istcan be moved along it
Die Erfindung betrifft ein Transportgerät, das mittels Magnetkraft an einer Stahlfläche gehalten längs dieser verfahrbar ist, nach dem Oberbegriff des Anspruchs 1.The invention relates to a transport device which is held to a steel surface by means of magnetic force and can be moved along this surface, according to the preamble of claim 1.
Derartige Transportgeräte werden in erster Linie dazu verwendet, Arbeiten und Inspektionen an größeren, im wesentlichen senkrecht stehenden Stahlflächen wie Schiffswänden vorzunehmen, so etwa eine Hochdruckreinigung, Lackierung od.dgl. Hierzu hat das Transportgerät einen entsprechenden Aufbau zu tragen, mit dem die gewünschte Arbeit bzw. Inspektion vornehmbar ist, und wird entlang der Stahlfläche bewegt.Such transport devices are primarily used to carry out work and inspections on larger, essentially vertical steel surfaces such as ship walls, such as high-pressure cleaning, painting or similar. For this purpose, the transport device must carry a corresponding structure with which the desired work or inspection can be carried out, and is moved along the steel surface.
Es ist bereits bekannt, ein derartiges Transportgerät mittels Vakuum an der Stahlfläche zu halten. Dies erfordert jedoch sehr große Vakuumanlagen mit einem entsprechenden Energie- und Wartungsaufwand, abgesehen von dem damitIt is already known to hold such a transport device to the steel surface using a vacuum. However, this requires very large vacuum systems with a corresponding energy and maintenance expenditure, apart from the
&Igr;..· J . , . SPARJNG,«ÖML, MENSELER.· RtTHiLSTW>$SEji23; &bgr;-«&phgr;*37 DäSSELDOIJFΛ..· J . , . SPARJNG,«ÖML, MENSELER.· RtTHiLSTW>$SEji23; β-«φ*37 DÄSSELDOIJF
-2--2-
verbundenen konstruktiven Aufwand.associated constructive effort.
Es ist auch bereits ein derartiges Transportgerät bekannt, das über Magnetkraft an der Stahlfläche gehalten wird, indem am Rahmen des Transportgeräts magnetische Räder angebracht sind. Diese haben allerdings den Nachteil, daß an derartigen Rädern aufgrund ihrer Berührung mit der Stahlfläche Rostpartikel und dergleichen haften bleiben, wodurch sich ihr Abstand zur Stahlfläche allmählich vergrößert, so daß sich die Haftung entsprechend vermindert und das Transportgerät schließlich abfällt.Such a transport device is already known which is held to the steel surface by magnetic force by attaching magnetic wheels to the frame of the transport device. However, these have the disadvantage that rust particles and the like stick to such wheels due to their contact with the steel surface, whereby their distance from the steel surface gradually increases, so that the adhesion is reduced accordingly and the transport device finally falls off.
Aus DE 20 23 683 C ist ferner eine derartiges Transportgerät bekannt, daß einerseits seitliche Permanentmagnete im Bereich zwischen Transportriemen und andererseits einen mittigen, mittels einer Kolben-Zylinder-Einheit höhenverstellbaren und drehbaren Elektromagneten aufweist, der eine konstante Haltekraft zwischen dem Gerät und der hiervon befahrenen Oberfläche bewirken soll. Dieses Konstruktion ist sehr aufwendig.From DE 20 23 683 C, a transport device of this type is also known, which on the one hand has lateral permanent magnets in the area between the transport belts and on the other hand has a central electromagnet that is height-adjustable and rotatable by means of a piston-cylinder unit, which is intended to provide a constant holding force between the device and the surface it travels on. This construction is very complex.
Aufgabe der Erfindung ist es, ein Transportgerät nach dem Oberbegriff des Anspruchs 1 zu schaffen, bei dem bei einfacher Konstruktion eine hinreichende magnetische Haftung bewirkt wird.The object of the invention is to provide a transport device according to the preamble of claim 1, in which sufficient magnetic adhesion is achieved with a simple construction.
Diese Aufgabe wird entsprechend dem kennzeichnenden Teil des Anspruchs 1 gelöst.This object is achieved according to the characterizing part of claim 1.
Weitere Ausgestaltungen der Erfindung sind der nachfolgenden Beschreibung und den Unteransprüchen zu entnehmen.Further embodiments of the invention can be found in the following description and the subclaims.
Die Erfindung wird nachstehend anhand eines in den beigefügten Abbildungen dargestellten Ausführungsbeispiels näher erläutert.The invention is explained in more detail below using an embodiment shown in the accompanying drawings.
Fig. 1 zeigt teilweise im Schnitt ein Transportgerät in Seitenansicht.Fig. 1 shows a transport device in side view, partly in section.
Fig. 2 zeigt einen Schnitt gemäß der Linie A-A von Fig. 1.Fig. 2 shows a section along the line A-A of Fig. 1.
Fig. 3 zeigt eine Halterung für eine Permanentmagnetanordnung von unten.Fig. 3 shows a holder for a permanent magnet arrangement from below.
Das in Fig. 1 dargestellte Transportgerät umfaßt zwei miteinander über einen Rahmen verbundene Fahrgestelle 1, die im dargestellten Ausführungsbeispiel jeweils außenseitig zwei Räder 2 tragen, die paarweise über einen bzw. jeweilsThe transport device shown in Fig. 1 comprises two chassis 1 connected to each other via a frame, which in the embodiment shown each carry two wheels 2 on the outside, which are mounted in pairs via one or each
einen Antriebsmotor und jeweils eine zwischen zwei Wangen 3 des jeweiligen Fahrgestells 1 aufgenommene, entsprechende Zahnräder 4 umfassende Getriebekette mit einer zentralen Antriebswelle 5 antreibbar sind.a drive motor and a transmission chain comprising corresponding gear wheels 4, which is accommodated between two cheeks 3 of the respective chassis 1 and can be driven by a central drive shaft 5.
Unterhalb der beiden Wangen 3 jedes Fahrgestells 1 ist eine langgestreckte Halterung 6 angeordnet, die eine nach unten offene Kammer 7 aufweist, die mit einem oder mehreren Permanentmagneten 8 ausgefüllt ist. Die Halterung 6 besteht aus ferritischem Stahl zum Abschirmen der von den Permanentmagneten 8 erzeugten Magnetkräfte zur Seite und nach oben hin, wodurch außerdem das Magnetfeld derart geändert wird, daß sich zwei in Längsrichtung endseitige, in der Mitte zur Magnetanordnung zurückgeführte Keulen ausbilden, die im wesentlichen nur nach unten gerichtet sind. Als Permanentmagneten 8 kommen insbesondere Neodym-Eisen-Bor-Magnete infrage. Vorzugsweise sind der oder die Permanentmagnete 8 in der Kammer 7 mittels Kunststoff, etwa Polyesterharz, vergossen.An elongated holder 6 is arranged beneath the two cheeks 3 of each chassis 1, which has a chamber 7 that is open at the bottom and is filled with one or more permanent magnets 8. The holder 6 is made of ferritic steel to shield the magnetic forces generated by the permanent magnets 8 to the side and upwards, which also changes the magnetic field in such a way that two lobes are formed at the ends in the longitudinal direction, which are led back to the magnet arrangement in the middle and which essentially only point downwards. Neodymium-iron-boron magnets are particularly suitable as permanent magnets 8. The permanent magnet or magnets 8 are preferably cast in the chamber 7 using plastic, such as polyester resin.
Die Halterung 6 ist in geringem Abstand zur Stahlfläche, auf der das Transportgerät fährt, angeordnet und zu den Enden hin abgeschrägt, erstreckt sich über die Länge des Fahrwerks 1 und ist ferner an den Enden mit einem Fortsatz der Wangen 3 verschraubt. Die die Permanentmagneten 8 aufnehmende, im wesentlichen ausfüllende, flache Kammer 7 ist mittig bezüglich der Halterung 6 angeordnet und erstreckt sich nur über einen Teil der Länge der Halterung 6.The holder 6 is arranged at a short distance from the steel surface on which the transport device travels and is bevelled towards the ends, extends over the length of the chassis 1 and is further screwed at the ends to an extension of the cheeks 3. The flat chamber 7 which accommodates the permanent magnets 8 and essentially fills them is arranged centrally with respect to the holder 6 and extends only over part of the length of the holder 6.
Gegebenenfalls kann die Halterung 6 auch mittels Federkraft in Richtung auf die Stahlfläche, längs der das Transportgerät verfahren wird, vorgespannt sein, so etwa durch die Schrauben zur Befestigung der Halterung 6 am Fahrgestell 1 umgebende Schraubenfedern, wobei es zweckmäßig ist, dann an der Halterung 6 Rollen anzubringen, um einen vorbestimmten Abstand zur Stahlfläche zu gewährleisten.If necessary, the holder 6 can also be pre-tensioned by means of spring force in the direction of the steel surface along which the transport device is moved, for example by means of coil springs surrounding the screws for fastening the holder 6 to the chassis 1, it then being expedient to attach rollers to the holder 6 in order to ensure a predetermined distance from the steel surface.
Anstelle der Räder 2 können auch Kettenfahrwerke vorgesehen sein. Die Räder 2 oder Kettenfahrzeuge können mit Gummi oder Kunststoff belegt sein.Instead of the wheels 2, tracked chassis can also be provided. The wheels 2 or tracked vehicles can be covered with rubber or plastic.
Claims (3)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE20210484U DE20210484U1 (en) | 2002-07-06 | 2002-07-06 | Transport device that is held along a steel surface by means of magnetic force |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE20210484U DE20210484U1 (en) | 2002-07-06 | 2002-07-06 | Transport device that is held along a steel surface by means of magnetic force |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| DE20210484U1 true DE20210484U1 (en) | 2002-09-12 |
Family
ID=7972927
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| DE20210484U Expired - Lifetime DE20210484U1 (en) | 2002-07-06 | 2002-07-06 | Transport device that is held along a steel surface by means of magnetic force |
Country Status (1)
| Country | Link |
|---|---|
| DE (1) | DE20210484U1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1886904A3 (en) * | 2006-08-11 | 2008-04-09 | Ascend RMM, S.L. | Climbing cleaning robot |
| WO2009047666A2 (en) * | 2007-10-11 | 2009-04-16 | Tecnomac S.R.L. | Magnetic coupling mobile robot |
| US9033087B2 (en) | 2007-10-11 | 2015-05-19 | Tecnomac S.R.L. | Magnetic coupling mobile robot |
-
2002
- 2002-07-06 DE DE20210484U patent/DE20210484U1/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1886904A3 (en) * | 2006-08-11 | 2008-04-09 | Ascend RMM, S.L. | Climbing cleaning robot |
| WO2009047666A2 (en) * | 2007-10-11 | 2009-04-16 | Tecnomac S.R.L. | Magnetic coupling mobile robot |
| WO2009047666A3 (en) * | 2007-10-11 | 2009-10-29 | Tecnomac S.R.L. | Magnetic coupling mobile robot |
| RU2481997C2 (en) * | 2007-10-11 | 2013-05-20 | ТЕКНОМАК С.р.л. | Mobile robot of magnetic interaction |
| US8522905B2 (en) | 2007-10-11 | 2013-09-03 | Tecnomac S.R.L. | Magnetic coupling mobile robot |
| US9033087B2 (en) | 2007-10-11 | 2015-05-19 | Tecnomac S.R.L. | Magnetic coupling mobile robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| R207 | Utility model specification |
Effective date: 20021017 |
|
| R150 | Utility model maintained after payment of first maintenance fee after three years |
Effective date: 20050830 |
|
| R151 | Utility model maintained after payment of second maintenance fee after six years |
Effective date: 20081006 |
|
| R152 | Utility model maintained after payment of third maintenance fee after eight years |
Effective date: 20101008 |
|
| R082 | Change of representative |
Representative=s name: HOEGER, STELLRECHT & PARTNER PATENTANWAELTE, 70182 Representative=s name: HOEGER, STELLRECHT & PARTNER PATENTANWAELTE, DE |
|
| R082 | Change of representative |
Representative=s name: HOEGER, STELLRECHT & PARTNER PATENTANWAELTE, 70182 Representative=s name: HOEGER, STELLRECHT & PARTNER PATENTANWAELTE, DE |
|
| R081 | Change of applicant/patentee |
Owner name: WOMA GMBH, DE Free format text: FORMER OWNER: WOMA APPARATEBAU GMBH, 47226 DUISBURG, DE Effective date: 20120201 |
|
| R082 | Change of representative |
Representative=s name: HOEGER, STELLRECHT & PARTNER PATENTANWAELTE MB, DE Effective date: 20111230 Representative=s name: HOEGER, STELLRECHT & PARTNER PATENTANWAELTE MB, DE Effective date: 20120201 Representative=s name: HOEGER, STELLRECHT & PARTNER PATENTANWAELTE, DE Effective date: 20120201 Representative=s name: HOEGER, STELLRECHT & PARTNER PATENTANWAELTE, DE Effective date: 20111230 |
|
| R071 | Expiry of right | ||
| R071 | Expiry of right |