DE10219740A1 - Device for moving apparatus in any direction over inclined surface has support frame and robot with two independently movable systems supported by vacuum and with one have free rotational axis - Google Patents

Device for moving apparatus in any direction over inclined surface has support frame and robot with two independently movable systems supported by vacuum and with one have free rotational axis

Info

Publication number
DE10219740A1
DE10219740A1 DE2002119740 DE10219740A DE10219740A1 DE 10219740 A1 DE10219740 A1 DE 10219740A1 DE 2002119740 DE2002119740 DE 2002119740 DE 10219740 A DE10219740 A DE 10219740A DE 10219740 A1 DE10219740 A1 DE 10219740A1
Authority
DE
Germany
Prior art keywords
robot
movement
vacuum
moving
support frame
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.)
Ceased
Application number
DE2002119740
Other languages
German (de)
Inventor
Martin Christoph Schwaiger
Original Assignee
Martin Christoph Schwaiger
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Martin Christoph Schwaiger filed Critical Martin Christoph Schwaiger
Priority to DE2002119740 priority Critical patent/DE10219740A1/en
Publication of DE10219740A1 publication Critical patent/DE10219740A1/en
Ceased legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid

Abstract

The device includes a support frame (IV) and robot with two independently movable systems (I,II) contacting the surface by vacuum pads or the like and of which one system has a rotational axis for freely choosing a direction and correcting the paths. The two systems can be moved at synchronising speed. The surface can have a certain degree of curvature and irregularity depending on the type of task involved. Multi-tasking is possible using different tools and objects.

Description

  • The invention relates to a device for continuously moving a robot over surfaces Any inclination in any direction, the distance between the robot and the surface is constant remains. The device is also able to overcome minor obstacles independently.
  • Currently, large areas are becoming more and more automated due to current developments to achieve certain tasks. For example, here are the most varied Cleaning tasks, paint application, surface inspection and maintenance tasks called. The Area of application is extremely wide due to the properties of the construction automated removal of graffiti via the targeted application of paint to surfaces (Facade labeling) for use in dangerous environments, for example for performing Tasks in reactors and chemical plants. All tools carried for this purpose usually require constant environmental conditions such. B. Distance to target, constant relative speed and compensation of deviations.
  • In order to achieve full automation, it is next to a corresponding control required to reach every point without manual intervention.
  • Most of the well-known robots for moving on inclined surfaces use on the one hand Suction cups equipped track chains or a linear drive.
  • The disadvantage of caterpillar tracks (EP 0 505 956) is that they are continuous Movement with a constant distance between the robot and the surface enables one However, changing direction is only possible with great difficulty: reverse driving the caterpillar tracks lead to a partial detachment of the suction cups and an extreme load of the underground. An auxiliary construction is necessary, which besides high costs also constructive Brings limitations. In addition, caterpillar constructions cannot create any unevenness or overwhelm protruding obstacles (e.g. ledges), as these result in an immediate detachment to lead.
  • Constructions with linear guides and bogie (DE 199 07 437) avoid these disadvantages, however, due to the construction described, continuous movement is no longer possible, which For many jobs that these robots are supposed to do, it is imperative. Also the Changing the distance of the robot housing when lifting a row of suction cups brings with it disadvantages constructive problems for tool guidance and tool usability. That in The vertically sprung wiper blade, for example, leads through the required process long compensation path with a normal forward movement that when a column occurs the wiper blade fully engages in this and prevents further movement of the device and in the worst case, this causes the suction cups to fall off.
  • The goal is to construct a device that moves smoothly, the direction can change during movement while maintaining a constant distance from the surface.
  • Other solutions such as B. DE 43 40 741 have problems with the rotatability. Due to differences in length during rotation, tensions occur between the fixed points. The required protruding and moving elements make it considerably more difficult to use tools, as is also shown in the patent specification under FIG. 11. The stability of the construction with regard to precise positioning is difficult to achieve due to the large number of moving elements. Use for higher loads is only possible with great effort. A complex control and a large number of drive elements are required
  • The object is solved by the features of the main claim.
  • The robot can move completely independently with the appropriate control. There are no structural changes to the environment (e.g. building, tank system) necessary. By a Flat design (as shown in the pictures for example), the robot is also capable to act in a confined space. Among other things, this is the case with hanging glass roofs Case.
  • The construction can be designed very easily due to its simple structure. The on the Surface acting load is additionally due to the always even distribution over several Vacuum cup reduced.
  • Due to the easy to achieve synchronous speed of both movement systems in the Tension changes are excluded.
  • The device is capable of small obstacles such. B. overcome mounting strips. The permissible height of the obstacle depends on the possible stroke of the lowering device permissible length depends on the choice of the travel path of the motion systems and their own length.
  • Depending on the dimensions of the vacuum cups, the device can items such. B. Transport tools in a wide range of weights. Areas of application arise for example when cleaning large solar systems, in buildings and Plant cleaning technology, but also in the area of targeted paint application and Surface treatment. Allow the ball joints described below, for example also locomotion on slightly curved surfaces, which has applications in tank cleaning allows. A variable use of intake and drive medium can also Application under water can be realized inexpensively. The construction allowed by z. B. fully encapsulated version for use at any depth or height.
  • Complete control via hydraulics or pneumatics is just as easy to use Therefore, this version can be implemented in potentially explosive areas.
  • As can be seen in the exemplary embodiment, there is none for the construction according to the invention relevant additional effort compared to conventional robots required. The simple one The use of standardized components leads to considerable cost savings in the Construction at low maintenance costs. Operability by an individual (by the light weight and compact dimensions) is another important factor for economic Use of the device, especially with a view to being applied to the surface no further control is necessary.
  • Tools are easy to assemble at the ends, because there (by attaching a small Spacer on one side) there are no moving parts. A quick and safe change Without complex adjustments, it is therefore easy to use standardized recordings possible. This leads to a cost-optimized use of the construction in various ways Areas. Due to the arrangement described below, it is also possible to carry Tools with variable weights possible as this is in no way related to stability or Movement type affects.
  • The robot according to the invention has two linearly guided, independently driven ones Systems, one of which is also equipped with an axis of rotation. On these systems There are vacuum suction cups, which are selected depending on the requirements of the surface can. These are positioned on the surface by a lowering device. The robot controls its position by various sensors, for example by detection building-specific features such as edges on glass plates. If a discrepancy is found, this information can be used to correct the path.
  • In FIGS. 1-7 a possible embodiment of the robot is shown with vacuum suction.
  • Show it:
  • Fig. 1 isometric representation overview
  • Fig. 2 isometric view detail
  • Fig. 3 front view
  • Fig. 4 top view
  • Fig. 5 side view
  • Fig. 6 representation of linear drives
  • As shown in Fig. 1, number I corresponds to the movement system with an additional axis of rotation. Numbers II and III designate two synchronously linearly movable units, the second movement system. The movement systems are mounted on the support frame (IV) by means of linear guides ( 18 , 19 ). All parts required for movement such. B. Control, drives and sensors are - as far as possible and useful in the respective function - mounted on the support frame (IV), which has been omitted here for reasons of clarity.
  • The locomotion is represented as follows: After the cylinders ( 5 ) have been extended and the vacuum at the suction cups ( 6 ) has been extended, a movement system (e.g. II and III) is rigidly connected to the ground. The drive frame ( 3 ) moves the support frame (IV) uniformly over the surface. Shortly before the maximum travel path is reached, drive 1 brings the other movement system (I) to the same speed, but at the other end of the travel path. The suction cups ( 7 ) are pressed against the surface by the cylinders ( 4 ). The vacuum that subsequently builds up fixes the movement unit on the surface. As soon as a secure connection to the surface is determined by the sensors, the suction devices ( 6 ) of the other system are released and are lifted off the surface by cylinders ( 5 ). In the starting position, the outer movement unit (II and III) moves to the other end of the travel path to wait for the start of a new cycle.
  • The continuous movement was not interrupted during all these processes Surface distance remained constant.
  • If a deviation from the specified path can be determined by a corresponding sensor system, as soon as the movement system with the axis of rotation (I) has sole contact with the surface, an angle correction is carried out by a corresponding drive ( 2 ).
  • As soon as a change of direction of the device is necessary, the robot positions the rotatable movement system (I) at the desired pivot point, the connection with the underground begins, if this was not yet available. After the sole contact of the system with the surface has been established analogously to the description above, the rotation is carried out by drive 2 as well as to correct an angular deviation.
  • The process of establishing a connection between the surface and vacuum cups ( 6 , 7 ) is monitored particularly closely. Position sensors on the cylinders check whether they reach the end position during lowering (with minimal force). This could, for example, by obstacles such. B. protruding ledges from the surface can be prevented. Vacuum sensors then check whether a stable and sufficient vacuum has been built up. This would be e.g. B. relevant when positioning a suction cup on a hole that cannot be detected by the sensor system.
  • If all operations are properly completed, the cylinder will operate at full power pressed on - he will soon have to bear the full load of the device. If the The connection is not successfully established, the suction cups are withdrawn, repositioned and dropped again.
  • All suction cups are connected to the cylinders ( 4 , 5 ) via a ball joint ( 17 ) in order to compensate for curvatures and unevenness of the surface. B. also move on the outer or inner wall of cylindrical or spherical objects.
  • The drive energy is transmitted by suitable machine elements. In the exemplary embodiment, these are e.g. B. for the external movement system (II and III) two toothed belts ( 8 ) which are driven by toothed discs ( 9 ) from the shaft ( 10 ). This is connected to the drive unit ( 3 ) via toothed pulleys ( 11 , 12 ) and toothed belts ( 13 ). The other movement system (I) can be moved by the arrangement directly from drive 1 with the help of a toothed pulley ( 14 ) and toothed belt ( 15 ). These toothed belts are always guided at their other end by a further toothed pulley ( 16 ). The rotary movement is also transmitted by a toothed belt ( 21 ) from the drive 2 via the toothed disc ( 20 ) to the toothed rotating ring ( 22 ).
  • The energy is supplied, for example, by a - not shown in the figures - cable-like feed. Appropriate sensors measure the contact. After evaluation by the Control can e.g. B. if the feeder is stuck, a corresponding countermeasure be taken. These would be e.g. B. a repeated jerky movement within the allowable Voltage or, in the case of a completely stuck feed, a return to the Starting position (from which direction the feeder usually comes).
  • However, it is also easily conceivable and easily possible from the constructive design that To equip the device with a self-sufficient energy supply (e.g. fuel cell, accumulator) to make them act independently.

Claims (4)

1. Device for moving an apparatus over any inclined surfaces in any direction at a constant speed at a constant distance from the surface, wherein
- The robot has two independently movable systems that make contact with the surface using suitable elements (e.g. vacuum suction cups).
- A movement system is equipped with an axis of rotation for the purpose of free choice of direction and path correction.
- The movement systems can be moved at synchronous speed.
- Depending on the design of the construction and the requirements of the task, the surface can have a certain degree of curvature and unevenness.
2. Device according to claim 1, wherein the construction by a corresponding control move fully automatically while doing tasks.
3. Device according to claim 1 or 2, which obstacles according to their geometric Design (stroke of the lowering devices, possible travel path and dimensions of the Movement systems) can overcome independently.
4. Device according to one of claims 1 to 3, which by a simple installation option various tools and objects has a high degree of multifunctionality.
DE2002119740 2002-05-02 2002-05-02 Device for moving apparatus in any direction over inclined surface has support frame and robot with two independently movable systems supported by vacuum and with one have free rotational axis Ceased DE10219740A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE2002119740 DE10219740A1 (en) 2002-05-02 2002-05-02 Device for moving apparatus in any direction over inclined surface has support frame and robot with two independently movable systems supported by vacuum and with one have free rotational axis

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE2002119740 DE10219740A1 (en) 2002-05-02 2002-05-02 Device for moving apparatus in any direction over inclined surface has support frame and robot with two independently movable systems supported by vacuum and with one have free rotational axis

Publications (1)

Publication Number Publication Date
DE10219740A1 true DE10219740A1 (en) 2003-11-27

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1757514A1 (en) * 2004-05-01 2007-02-28 Fukashi Urakami Device movable along surface of object
CN103359198A (en) * 2013-07-08 2013-10-23 东华大学 All-directional horizontal-posture stair climbing robot, zero-radius turning method and stair climbing method
CN103587603A (en) * 2012-08-14 2014-02-19 中国科学院合肥物质科学研究院 Barb type wall-climbing robot capable of performing steering flexibly
CN104443102A (en) * 2014-11-25 2015-03-25 广西大学 Simple robot achieving special surface movement
CN104443095A (en) * 2014-11-05 2015-03-25 罗权 Double-11 walking frame of wall climbing robot
CN105182836A (en) * 2015-05-05 2015-12-23 东华大学 Intelligent sensing and executing leg mechanism for stair climbing robot
CN106240668A (en) * 2016-09-19 2016-12-21 南京航空航天大学 A kind of convex articular type climbing robot
EP3188192A1 (en) * 2015-12-29 2017-07-05 Ge-Hitachi Nuclear Energy Americas LLC Apparatus for inspecting nuclear reactor and method thereof
CN108326753A (en) * 2018-02-11 2018-07-27 哈尔滨工业大学 One kind climbing wall type shot-peening robot

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1757514A4 (en) * 2004-05-01 2008-06-04 Uragami Fukashi Device movable along surface of object
EP1757514A1 (en) * 2004-05-01 2007-02-28 Fukashi Urakami Device movable along surface of object
CN103587603A (en) * 2012-08-14 2014-02-19 中国科学院合肥物质科学研究院 Barb type wall-climbing robot capable of performing steering flexibly
CN103587603B (en) * 2012-08-14 2017-09-15 中国科学院合肥物质科学研究院 One kind can barb type wall-climbing robot capable of performing steering flexibly
CN103359198A (en) * 2013-07-08 2013-10-23 东华大学 All-directional horizontal-posture stair climbing robot, zero-radius turning method and stair climbing method
CN104443095A (en) * 2014-11-05 2015-03-25 罗权 Double-11 walking frame of wall climbing robot
CN104443102A (en) * 2014-11-25 2015-03-25 广西大学 Simple robot achieving special surface movement
CN105182836B (en) * 2015-05-05 2017-10-24 东华大学 Intellisense and the leg mechanism of execution for stair climbing robot
CN105182836A (en) * 2015-05-05 2015-12-23 东华大学 Intelligent sensing and executing leg mechanism for stair climbing robot
US10290380B2 (en) 2015-12-29 2019-05-14 GE—Hitachi Nuclear Energy Americas LLC Apparatus for inspecting nuclear reactor and method thereof
EP3188192A1 (en) * 2015-12-29 2017-07-05 Ge-Hitachi Nuclear Energy Americas LLC Apparatus for inspecting nuclear reactor and method thereof
TWI702616B (en) * 2015-12-29 2020-08-21 美商奇異日立核能美國有限公司 Apparatus for inspecting nuclear reactor and method thereof
CN106240668B (en) * 2016-09-19 2018-06-26 南京航空航天大学 A kind of convex articular type climbing robot
CN106240668A (en) * 2016-09-19 2016-12-21 南京航空航天大学 A kind of convex articular type climbing robot
CN108326753A (en) * 2018-02-11 2018-07-27 哈尔滨工业大学 One kind climbing wall type shot-peening robot
CN108326753B (en) * 2018-02-11 2019-11-05 哈尔滨工业大学 One kind climbing wall type shot-peening robot

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