Crawler Vehicle Self-Realignment on Non-Level Surfaces
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Solution Overview
Problem
Automated systems for maintaining non-level surfaces, such as wind turbine blades and aircraft fuselages, face challenges with crawler vehicles detaching and becoming suspended, requiring time-consuming and unsafe manual reattachment, especially on inaccessible structures.
Innovation Solution
The implementation of a method and apparatus for realigning and re-adhering crawler vehicles using rotating arms, cam-shaped roll bars, and suction devices to ensure secure reattachment to non-level surfaces, allowing for automated maintenance operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual reattachment of crawler vehicle is performed, then the crawler vehicle can be repositioned back on the surface, but the operation becomes time-consuming and potentially unsafe
Solution Approach 1:
The crawler vehicle performs self-realignment through its holonomic motion capability, using its own wheeled mechanism to rotate and position itself back onto the surface without external intervention. The vehicle autonomously controls its orientation and position during the reattachment process.
Solution Approach 2:
The system utilizes dynamic cable length adjustment to facilitate the reattachment process. The cable spool dynamically changes cable length to allow the crawler vehicle to reach the surface while maintaining tension, enabling smooth transition from suspended to adhered state.
2Reliability
If manual reattachment of crawler vehicle is performed, then the crawler vehicle can be repositioned back on the surface, but human accessibility becomes a critical safety concern
Solution Approach 1:
The crawler vehicle autonomously performs its own reattachment to the surface using its holonomic motion capability, eliminating the need for human personnel to physically access and reposition the vehicle on difficult-to-reach structures such as wind turbine blades.
Solution Approach 2:
The cable-spool system acts as an intermediary mechanism that enables remote control and monitoring of the crawler vehicle's reattachment process, allowing operators to control the vehicle from a safe distance while the vehicle positions itself on the target structure.
3Ease of operation
If the entire operation is shut down for reattachment, then safety can be maintained, but productivity is reduced
Solution Approach 1:
The crawler vehicle maintains continuous operation by performing self-realignment and reattachment without requiring a complete shutdown of the maintenance operation. The vehicle can transition between adhered and suspended states and back again, minimizing operational interruptions.
Solution Approach 2:
The system quickly transitions the crawler vehicle through the suspended state by dynamically adjusting cable length and facilitating rapid reattachment to the surface, minimizing the time the vehicle spends in the non-operational suspended state and reducing overall operational disruption.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables efficient and safe reattachment of crawler vehicles to non-level surfaces, reducing maintenance time and labor, and enhancing safety by automating the relocation process.
Implementation Method 1
a crawler vehicle is attached to the end of a cable and in contact with and adhered to the surface of the structure being maintained by means of vacuum
Data Source
AI summary
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.