BR112017016074A2 - robô de braço manipulador submarino - Google Patents
robô de braço manipulador submarinoInfo
- Publication number
- BR112017016074A2 BR112017016074A2 BR112017016074A BR112017016074A BR112017016074A2 BR 112017016074 A2 BR112017016074 A2 BR 112017016074A2 BR 112017016074 A BR112017016074 A BR 112017016074A BR 112017016074 A BR112017016074 A BR 112017016074A BR 112017016074 A2 BR112017016074 A2 BR 112017016074A2
- Authority
- BR
- Brazil
- Prior art keywords
- robot
- manipulator arm
- tool
- underwater manipulator
- arm robot
- Prior art date
Links
- 238000005452 bending Methods 0.000 abstract 2
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B41/00—Equipment or details not covered by groups E21B15/00 - E21B40/00
- E21B41/04—Manipulators for underwater operations, e.g. temporarily connected to well heads
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/30—End effector
- Y10S901/44—End effector inspection
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/46—Sensing device
- Y10S901/47—Optical
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Fluid Mechanics (AREA)
- Environmental & Geological Engineering (AREA)
- Physics & Mathematics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
a presente invenção refere-se a um robô de braço manipulador subaquático que compreende: uma pluralidade de ligações que estão conectadas uma à outra por módulos de junção 2 para geração de um movimento de flexão do robô; dispositivos de empuxo múltiplo 6, 8, 18 localizados em pontos diferentes ao longo do comprimento do robô para aplicação de empuxo ao robô para propulsão e/ou orientação; e pelo menos uma ferramenta 12, 14 ou pelo menos um ponto de conexão para uma ferramenta anexado ao robô; em que o movimento de flexão e/ou os dispositivos de impulso 6, 8, 18 permitem o movimento do robô e o controle da orientação e/ou localização da ferramenta 12, 14.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB1501479.8 | 2015-01-29 | ||
GBGB1501479.8A GB201501479D0 (en) | 2015-01-29 | 2015-01-29 | Underwater manipulator arm robot |
PCT/EP2016/050569 WO2016120071A1 (en) | 2015-01-29 | 2016-01-13 | Underwater manipulator arm robot |
Publications (2)
Publication Number | Publication Date |
---|---|
BR112017016074A2 true BR112017016074A2 (pt) | 2018-04-03 |
BR112017016074B1 BR112017016074B1 (pt) | 2021-05-25 |
Family
ID=52705442
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
BR112017016074-9A BR112017016074B1 (pt) | 2015-01-29 | 2016-01-13 | robô cobra subaquático, método para controle de um robô cobra subaquático, e produto de programa de computador |
Country Status (14)
Country | Link |
---|---|
US (1) | US10751872B2 (pt) |
EP (1) | EP3250345B1 (pt) |
JP (1) | JP6751399B2 (pt) |
KR (1) | KR102193354B1 (pt) |
AU (1) | AU2016212374B2 (pt) |
BR (1) | BR112017016074B1 (pt) |
CA (1) | CA2973295C (pt) |
DK (1) | DK3250345T3 (pt) |
ES (1) | ES2811977T3 (pt) |
GB (1) | GB201501479D0 (pt) |
PL (1) | PL3250345T3 (pt) |
PT (1) | PT3250345T (pt) |
SG (1) | SG11201705624XA (pt) |
WO (1) | WO2016120071A1 (pt) |
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US10315309B2 (en) * | 2016-03-15 | 2019-06-11 | Lon Radin | Modular snake arm with articulated drive shaft |
CN106695879A (zh) * | 2016-08-09 | 2017-05-24 | 北京动力京工科技有限公司 | 一种超弹性合金片机械臂 |
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US10131057B2 (en) | 2016-09-20 | 2018-11-20 | Saudi Arabian Oil Company | Attachment mechanisms for stabilzation of subsea vehicles |
CN106737659B (zh) * | 2016-11-15 | 2017-11-21 | 哈尔滨工程大学 | 一种水下无人航行器和机械手系统的手艇协调控制方法 |
CN106695769B (zh) * | 2016-12-29 | 2019-06-04 | 上海理工大学 | 一种蛇形救援机器人 |
CN106584485A (zh) * | 2017-02-20 | 2017-04-26 | 陶云霞 | 水下清洗机器人 |
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NO20170807A1 (no) * | 2017-05-16 | 2018-11-19 | Fjordtech Flekkefjord As | Apparat for uskadeliggjøring av en ekstern parasitt på en fisk |
CN107283410A (zh) * | 2017-05-24 | 2017-10-24 | 中国矿业大学 | 一种基于磁轮驱动的提升机罐道蛇形巡检机器人机构 |
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US10434641B2 (en) | 2017-07-18 | 2019-10-08 | General Electric Company | In situ gap inspection robot system and method |
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KR101994588B1 (ko) * | 2018-06-18 | 2019-06-28 | 포항공과대학교 산학협력단 | 수중 로봇의 유압식 매니플레이터의 위치 추정 장치 및 그 방법 |
WO2020002473A1 (en) | 2018-06-26 | 2020-01-02 | Subblue Robotics Aps | Robot arm, remotely operated vehicle and method of cleaning a sub-surface structure |
CN108638119A (zh) * | 2018-07-13 | 2018-10-12 | 长沙紫宸科技开发有限公司 | 一种带自主分布动力的多关节仿生机械螯钳 |
IT201800007463A1 (it) | 2018-07-24 | 2020-01-24 | Veicolo sottomarino a configurazione variabile | |
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US11034026B2 (en) * | 2019-01-10 | 2021-06-15 | General Electric Company | Utilizing optical data to dynamically control operation of a snake-arm robot |
US11155326B2 (en) * | 2019-03-29 | 2021-10-26 | The Hong Kong Polytechnic University | Bio-inspired underwater robot |
US11608148B2 (en) * | 2019-04-05 | 2023-03-21 | Fmc Technologies, Inc. | Submersible remote operated vehicle tool change control |
US11180965B2 (en) | 2019-06-13 | 2021-11-23 | China Petroleum & Chemical Corporation | Autonomous through-tubular downhole shuttle |
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GB2598929B (en) * | 2020-09-18 | 2022-09-21 | Eelume As | Underwater snake robot with passive joints |
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CN112873188B (zh) * | 2021-01-21 | 2023-05-12 | 北京邮电大学 | 自组装模块化机器人单元、机器人、组装及控制方法 |
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-
2015
- 2015-01-29 GB GBGB1501479.8A patent/GB201501479D0/en not_active Ceased
-
2016
- 2016-01-13 ES ES16700378T patent/ES2811977T3/es active Active
- 2016-01-13 DK DK16700378.9T patent/DK3250345T3/da active
- 2016-01-13 US US15/546,820 patent/US10751872B2/en active Active
- 2016-01-13 CA CA2973295A patent/CA2973295C/en active Active
- 2016-01-13 PT PT167003789T patent/PT3250345T/pt unknown
- 2016-01-13 AU AU2016212374A patent/AU2016212374B2/en active Active
- 2016-01-13 KR KR1020177023850A patent/KR102193354B1/ko active IP Right Grant
- 2016-01-13 JP JP2017540553A patent/JP6751399B2/ja active Active
- 2016-01-13 BR BR112017016074-9A patent/BR112017016074B1/pt active IP Right Grant
- 2016-01-13 SG SG11201705624XA patent/SG11201705624XA/en unknown
- 2016-01-13 EP EP16700378.9A patent/EP3250345B1/en active Active
- 2016-01-13 WO PCT/EP2016/050569 patent/WO2016120071A1/en active Application Filing
- 2016-01-13 PL PL16700378T patent/PL3250345T3/pl unknown
Also Published As
Publication number | Publication date |
---|---|
PT3250345T (pt) | 2020-08-26 |
CA2973295C (en) | 2022-08-09 |
AU2016212374B2 (en) | 2020-06-18 |
BR112017016074B1 (pt) | 2021-05-25 |
WO2016120071A1 (en) | 2016-08-04 |
SG11201705624XA (en) | 2017-08-30 |
KR102193354B1 (ko) | 2020-12-22 |
KR20170129707A (ko) | 2017-11-27 |
EP3250345A1 (en) | 2017-12-06 |
AU2016212374A1 (en) | 2017-08-03 |
JP6751399B2 (ja) | 2020-09-02 |
GB201501479D0 (en) | 2015-03-18 |
EP3250345B1 (en) | 2020-06-24 |
PL3250345T3 (pl) | 2021-01-25 |
DK3250345T3 (da) | 2020-08-17 |
ES2811977T3 (es) | 2021-03-15 |
JP2018505784A (ja) | 2018-03-01 |
US20180021945A1 (en) | 2018-01-25 |
CA2973295A1 (en) | 2016-08-04 |
US10751872B2 (en) | 2020-08-25 |
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