ES2230953B2 - ROBOT PARALLEL TREPADOR AND SLIDING FOR WORK ON STRUCTURES AND SURFACES. - Google Patents

Abstract

Parallel climber and sliding robot for work on structures and surfaces. The present invention allows work to be carried out in places of difficult access and dangerous for people, such as work in metal structures of buildings, in nuclear power plants or in dome structures of stadiums or coliseums, under metal bridges, cleaning on building facades , or on the exterior or interior of ship or aircraft hulls. The robotic device is based on a parallel structure consisting of two rings (1) and (2), which serve as a base, linked together by six linear drives (3), through articulated joints of the spherical (6) and universal type (5). It also includes outer rings (4) one for each ring (1) and (2), which revolve around each ring (1) and (2). In the outer rings (4), the legs (10) and the fixing systems (11) and (12) are coupled so that the robotic device can climb, move and orient itself in its work space.

Description

Parallel climber and sliding robot for works on structures and surfaces.

The present invention relates to a device robotic parallel structure, applied in a novel way to climb, slide and position along structures that they can be of the type of metallic constructions, domes of buildings, building facades, boat hulls or hulls of airplanes, for the purpose of carrying out work of different types doing use of vision systems, of its own structure and of remote controlled robotic arms, which can incorporate various types of tools.

Technical sector to which the invention relates

Mobile parallel robotic devices climbers and sliders carrying manipulative arms, tools and loads for mechanical work in general, jobs maintenance or inspection, which have a control system by computer to move along surfaces or structures, adopting any position and orientation in the space at your fingertips, regardless of which structures or surfaces to which it is attached have sinuosities with curvatures in space, with straight or broken, or rough sections trusses of beams that hinder their passage.

Background of the invention

The present invention of a robotic device parallel structure mobile for work on structures and surfaces, is an evolution of the utility model U200101377 presented by the authors. The objective of this invention is to give a solution to the need to carry out works in construction of metal structures such as bridges and buildings, domes of buildings, ship hulls, and aircraft hulls, characterized by the difficult or dangerous access, so the use of remote controlled robotic mechanisms are the best solution.

The development of robotic mechanisms parallels has been increasing in recent years, both since theoretical point of view as of its practical applications in the industry for handling, machining operations, motion simulators, orthopedic surgery, etc., because, by virtue of their great mechanical rigidity, precision and speed, they are especially suitable to withstand loads far superior to its own weight. In addition to the excellent allowable load / own weight ratio, parallel robots have other interesting features using as manipulators in robotic assembly cells, mainly because the position of the final effector is much less sensitive to the errors that the articular sensors of the robots in Serie.

Another important feature of robots Parallel is the possibility of implementing in them 6 sensors of efforts in its actuators. In this way you can calculate the forces and moments that act on the mobile platform.

Many different robot designs are possible Parallel and scientific literature in this regard is very rich. Everybody they have in common the low cost of their components that mostly they are standard, although you have to assemble them in a way careful

Until the presentation of the utility model U200101377, parallel robots have been used to work anchored to the ground or as part of an articulated joint. The first commercial parallel robot, the "Gadfly", a manipulator of 6 degrees of freedom for the assembly of electronic components, It was designed by Marconi. Later this company designed a large series-parallel hybrid robot, the "Tetrabot." A 3-4 fast parallel robot GDL, the "Delta" has recently begun marketing by the Demaurex company. This manipulator is designed to very quick pick-up and drop-off Light loads, the qualities of its design allows you to achieve High speeds and accelerations. El Hexa, currently in the phase of Development, is a similar design with 6 GDL.

At the moment there is no technical literature applications of robotic mechanisms such as mobile robots sliders and climbers as presented in this invention.

Description of the invention Brief Description of the Invention

The invention of the Parallel Robot Climber and Slider for work on structures and surfaces allows Perform work in hard-to-reach and dangerous places for human beings, such as works on metal structures of buildings, work in nuclear power plants or work in structures of large stadium or coliseum domes, works below metal bridges for what is necessary to move through the beams of the bridge structures, cleaning work on building facades, work outside or inside the hulls of ships or planes.

So that a robotic device can be move and guide in the workspace avoiding obstacles, it is necessary that the mechanism has at least six degrees of freedom, which is achieved in the invention of this Parallel Robot Climber.

The robotic device is based on a parallel structure consisting of two rings joined together by six linear drives, through articulated joints.

The parallel structure robotic device of the invention, by the way in which the linear drives, you can directly apply the power of all drives to the work you are doing. This parallel configuration of the linear drives also has the huge advantage that multiplies the robot's carrying capacity, its speed, rigidity and geometric ability to move in the space.

This invention further includes legs and joints that have been added to the parallel structure, to increase your mobility, so that the robotic device can climb, move, stretch, hang, turn and orient In your workspace.

Detailed description of the invention

The Parallel Robot Climber and Slider for works on structures and surfaces, is formed by two rings (1) and (2) that are linked together by six linear drives (3) through the spherical and universal joints (6) and (5) arranged at the ends of each drive (3). The drives (3) are controlled by computer, forming a configuration known as parallel platform. To the aforementioned parallel platform the outer rings (4) have been added which are articulated and can revolve around the rings main (1) and (2).

On each of the outer rings (4) they have integrated double joints (7). which can turn the legs (10) with respect to the ring (4), thanks to the motor (8), in addition each joint (7) incorporates the motor (9), which has as function move forward or backward, using a transmission that can be of the zipper type, the part (10) that It acts as the leg of the Parallel Robot Climber and Slider.

In general, the robot has on each leg (10) of a fastener system (12) that can be of the electromagnetic type in the case of fasteners on iron metal structures or of the type of pneumatic suction cup for fasteners on other types of materials and surfaces, the fastener (12) moves outwards or retracts by linear drive (11).

The articulated body assembly of the mechanism robotic climber described above, based on a control by computer can move along structures and frameworks formed by beams and metal profiles such as those that exist on bridges as seen in figures 7, 8, 9, or by buildings, roofs and domes of coliseums or hulls of ships or aircraft, as seen in Figures 10 and 11. Works that are characterized by the difficult and dangerous of its access and because of the existence of curved surfaces or flat with orientation changes.

To expand work capacity and reach, the robot shown in figure 1, can have one or more attached robotic arms (14), which can be incorporated into the clamp (15), tools or equipment for mechanical work, welding, or inspection or gadgets for cleaning.

Electronic equipment for control by robot computer are housed in rings (1) and (2), of such so that the robot mechanism can have autonomy and be controlled remotely

The robot incorporates a sensory system of feedback of efforts, for the realization of works that require teleoperation effort control, and a vision system based on a stereoscopic pair that is coupled to one of the bases, for the visualization of the remote task.

The mode of operation of the robot is as follows: To work on the outside of a structure, from the situation shown in figure 6, the climbing robot can move through the structure holding its upper part in different positions and orientations, some of which are presented in figures 7, 8 and 9, thus being able to climb, passing without difficulty the obstacles that, for example, pose nodes where several beams converge.

In the case of works on domes or surfaces such as hulls or building facades, the robot will shifts as shown in figures 10 and 11, for which it the clamping devices (11) and (12) must change direction. This change results in a unique behavior of the robot, which It behaves like a sliding and walking robot, which moves coordinating through a computer simultaneously, the extension, retraction and rotation of the legs (10), with the displacement of the rings (1) or (2). The march concept of robotic device of this invention can be seen in the figures 11 and 12, the aforementioned figures illustrate how the robot moves sliding and walking in the case of travel by sections straight beams. Similarly, investing in the legs (10), the clamping system (11) and (12), this works as a mechanism of subjection for displacements on surfaces and domes, like It is indicated and indicated in Figures 10 and 11.

In any case the robot always moves holding with the legs (10) that are adjustable and extension variable and pressing devices (11) and (12).

While one end of the robot is held, as indicates before, the non-subject ring (1) or (2) based on a control by computer, is displaced by the six drives (3), the which are coordinated so that their different displacements give as result that the ring that moves (1) or (2), reaches the position and orientation required as can be clearly seen in the Figures 6 to 12 inclusive.

Once achieved the position and orientation desired of the ring (1) or (2), the joint (7) is rotated conveniently thanks to the motor (8), and the motor (9) extends to convenience the legs (10) moving them with a transmission linear that can be of the zipper type (13).

Once the desired position is reached, the robot anchor the two rings (1) and (2) fixing the outer rings (4) so that they do not rotate, and activating the clamping system (11) and (12), after which the manipulator arm (14) can be extended. TO from that moment, the manipulator arm (14) can perform teleoperated or scheduled way, precision work required

Brief exposition of the drawings

Figure 1.- Shows an elevation view of the Robot Parallel climber and walker.

Figure 2.- Side view of the robot.

Figure 3.-Perspective view.

Figure 4.- Detail view.

Figure 5.- Exploded view in perspective.

Figure 6.- Perspective view of the robot climber attached to a beam.

Figure 7.- Illustration of the robot in the position of Climb and hold on to a horizontal beam.

Figure 8.- Illustration of the robot in position horizontal holding on to a beam at 90º.

Figure 9.- Illustration of the robot sliding horizontally by a beam after avoiding the node of beams

Figure 10.- Illustration of the robot sliding For a curved surface.

Figure 11.- View of the robot sliding through a building facade.

Figure 12.- View of the robot sliding and walked along a beam.

Detailed statement of at least one embodiment of the invention

The robot as a whole is a mechanical system formed by mechanical structural parts, joints mechanical, servo power drives, control devices electrical, power electronic cards, sensors and systems of computer control.

The platform rings marked on the Figure 1 as (1) and (2), will be made of a light metal, preferably aluminum, and with enough internal space to accommodate electronic control cards, amplifiers of electric power, electric cables and batteries.

Each of the two outer rings (4) will go articulated to the rings (1) and (2) by a type bearing low weight crown preferably made of aluminum with tracks hardened

The servo linear actuators (3) will be electrical with enough power to move and guide the ring (1) or (2) that is free to move. More way Detailed, each linear actuator will be based on a ball screw of sufficient step to move at the required speed. Spindle a ball will be moved by an electric servo motor through a pair of straight tooth gears.

Each linear actuator (3) can be programmed and move independently and in a coordinated way through a system of central control based on a computer and control software.

Each of the six linear actuators is connect the rings (1) and (2) with a universal joint (5) and a ball joint (6).

The outer rings (4) must be manufactured in aluminum with two diametrically opposed projections, on the which incorporates the double joint (7). The purpose of the articulation (7) is to orient and move the extendable leg (10). To achieve the orientation of the joint (7), it is planned anchor to it a motor whose shaft is fixed to the ring (4) allowing to control the relative rotation between these two pieces.

For the displacement of the leg (10) it has been planned a groove along it and inside it has integrated a rack (13), which is coupled to the engine (9) by what can move linearly back and forth, allowing therefore to adapt the leg to the conditions of the clamping that is made based on the linear drive (11) and the presser (12) that will be of the electromagnetic type for clamping Magnetic on steel profiles.

The clamping system (11) and (12) can invert to function as a walking and clamping leg, such as It is shown in Figures 10 and 11.

The manipulator arm, marked as (14) will have a minimum of three joints, either rotational or prismatic. The manipulator arm joints are controlled by electric servo motors and electronic power and control hardware by computer

At the end of the arm the clamp or tool. marked as (15) necessary for the realization of jobs.

Claims (4)

1. Parallel climber and slider robot for works on spruces and surfaces of the type composed of two rings (1) and (2) joined together by six linear drives (3) through the joints (5) and (6) , and in which in each of the rings (1) and (2) two rotating outer rings (4) are assembled in which the mechanical joints (7) have been integrated diametrically opposite which, in addition to being oriented with respect to the Ring (4), thanks to the motor (8), has an internal linear guide to move the leg (10) back and forth, characterized in that the variable extension clamping system is composed of the end of the leg (10). a linear clamping motor (11) and a clamping device (12) of the electromagnet type. 2. Parallel climber and slider robot for work on grills and surfaces: according to claim 1, characterized in that the clamping system (11) and (12) can be oriented in the same direction of the leg (10) by changing the direction of clamping , to move on surfaces. 3. Parallel climber and slider robot for work on grills and surfaces: according to claims 1 and 2, characterized in that each clamping device (11) can be changed to the pneumatic or hydraulic type with pneumatic suction pad 4. Parallel climber and slider robot for work on grills and surfaces: according to claims 1 to 3, characterized in that it can attach the manipulative robotic arm (14) which has a clamp (15), which can carry work tools or loads .