ES2324567B1 - SELF-SUPPORTING MACHINE TO DISPLACE VARIOUS TOOLS FACING A VERTICAL SURFACE. - Google Patents

Abstract

Self-supporting machine to move tools several facing a vertical surface, in all directions, characterized in that it comprises a housing (7) suspended by two fastening means (1, 2) such as straps, chains, cables or similar, from two fixed mooring points (5, 6) in the upper left and right corners of the surface vertical to work, thus forming the fastening means a angled arrangement, the housing (7) being located at its vertex, This comprises two engines, which collect or release both means of clamping independently, controlled by a microprocessor, which calculates the distances that should be from the housing to both mooring points (5, 6) at each point of the desired motion path, and acts accordingly independently on each motor adjusting the length of the fastening means at the calculated distances, displacing the housing along the desired path on the vertical surface, and moving any tool fixed to it.

Description

Self-supporting machine to move tools several facing a vertical surface.

Object of the invention

The present invention aims at solve the assembly problem easily and economically and displacement of machines that must act on surfaces hard-to-reach verticals such as walls, glazed facades, ship hulls, or any surface on which you have to run jobs accurately and automatically be drawing drawings, painting, cleaning, fault detection of welding etc.

Background of the invention

There are no known machines that move following the method described here.

Description of the invention

The machine consists of a traction head (7) characterized in that it hangs from two mooring points (5,6) in the upper left and right corners of the surface vertical to work (hereinafter "canvas").

The means of support are two straps open teeth, chains, cables or similar means of transmission (1,2) hereinafter "belts", which are collected or released independently, to the extent and speed required by 2 electric stepper motors (9,10), microprocessor controlled (13), which drive both gears and pulleys (15) included in the body of the machine.

This "V" configuration that forms the Straps allows the movement of the machine both horizontally, vertical, as in any desired direction; depending on the combination of measurement and the speed at which they are released or pick up both straps.

Motor movements are governed by a microprocessor (13) to which the coordinates are transferred to which you have to move, it calculates the trajectory and executes the corresponding movement, at the desired speed.

The motion plot algorithm consists of in calculating a straight path (or curve) between two given points: The current and the destination. This trajectory will have as many points as resolution allow the steps of the engines.

For example: let's take a step = 1 mm . Strap

At each point on the path the length that both straps should have at that point: from the current location to the point of tie up of the belt (1), and from the current location to the point of tie up of the belt (2). (see Fig 1).

If the distance of a belt varies 1 mm . from the previous step of the algorithm, a step is executed in the corresponding engine, step that will be in one direction or another as the distance increases or decreases.

With this system the machine will follow the trajectory indicated until reaching the destination. The orders are transmitted via a cable (8) or a wireless link from a computer with adequate software to automate movement, draw pictures, plot, execute actions on the machine or communicate bidirectionally.

The straps are collected in two reels (3,4) attached to the machine body, which have two internal coil spring springs (11,12) that exert the minus the same upward force that gravity exerts on the total mass of the machine. This is for both forces to match as much as possible and, although the machine is not retained by motors and gears, can be fixed in a certain position without falling due to its own weight. (see Fig. 2). In addition to This way the set weight is minimized or canceled, so that engines run optimally without losing steps.

Calibration is carried out by two systems:

The first are codes inscribed on the straps every inch or smaller distance, which are read by sensors optical, magnetic or other and transmitted to the processor, the which makes the appropriate calibration decisions in case necessary.

This case can occur when the code entered in one of the straps does not match what was expected, taking in Count the number of steps taken by their respective engine. In that case, the microprocessor will order the delay or advancement of said Strap until matching the inscribed code (actual steps) with the number of steps of the internal counter (theoretical steps).

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Another basic calibration for the present system It consists of fully picking up one of the straps until you reach the end of career limit, done this release it and fully collect the another until its respective end of career limit, after said operation the microprocessor will calculate the precise position and the "canvas" size.

Therefore, during machine assembly in its work location it is not necessary to measure the distance between the two mooring points 5 and 6 (Fig. 1) as the machine can get it alone and adapt to the dimensions of the "canvas". Simply hang it up and activate the self-calibration. Yes It is necessary to work with a scale, the software will adapt to each Size automatically after calibration. Is Obviously the dimensions of the "canvas" only depend on the length of the clamping means that are placed on the reel winder (3,4), thus achieving a reduced machine size but capable of executing movements with all precision in very wide vertical surfaces.

The whole set formed by the engines, pulleys, collectors and control electronics form an apparatus Compact and easy to transport and assemble. (see Fig 3). The design of This set is characterized by being completely symmetric, given which is a device that is hung only from two points as has been explained and the center of gravity must be at its point central.

The method referred to in this invention can be implemented in very different machines and develop from small toys to machines with a considerable transport capacity as hanging scaffolding.

It is in this traction head where they can assemble the necessary systems for each case for example a paint gun for drawing and large drawings, a device for cleaning the water jet crystals, a apparatus for inspecting welds on ship hulls, etc.

Drawings

With the intention only to explain graphically the invention and by way of non-limiting example these figures propose an already constructed embodiment, the which is characterized by using the method presented here to draw Large format figures on any smooth vertical surface. This device, controlled by a personal computer with software made for this purpose you can draw any drawing, typography, or image in vector format or rasterized up to a size of 2.5 meters x 1.8 meters. (It has 3 meters of strap on each winder).

Figure 1 presents a normal configuration of the machine, small for reasons of space and clarity, hung by its two fastening means (1,2) and with a power cable (8) and data to external control computer.

Figure 2 presents a sectional view of the head to show the arrangement of the pinions, gears and pulleys and the path that the belts do inside, as well as the arrangement of the spiral springs (11,12) within the winders (3,4).

Figure 3 presents a perspective of the head for more clarity.

Figure 4 shows a sectional view (without the chassis) to see the arrangement of internal mechanisms, in a Top perspective for better understanding. Some are observed rollers to guide the belts (14) and the pulleys that drive them  (fifteen).

Claims (3)

1. Self-supporting machine to move various tools facing a vertical surface, in all directions, of the type that are suspended by two means of fastening of variable dimension such as belts, chains, cables or similar, from the upper corners, forming a Angle arrangement, characterized in that it comprises a housing (7), which contains two stepper motors (9,10), which independently collect or release two fastening means, characterized by being fixed at its end to two mooring points in the upper corners of the vertical surface to work, said housing is characterized by containing an integrated microprocessor (13) that calculates the distances that should be from the housing to both mooring points (5,6) in each and every one of the points of the desired movement path, and acts accordingly independently on each motor by adjusting the length of the clamping means at a distance s calculated by moving the housing and any tool attached to it along the desired path on the vertical surface. 2. Self-supporting machine according to claim 1 characterized in that the two clamping means (1,2) are collected inside the machine housing (7) in two cylindrical collectors (3,4) driven by two internal spiral springs (11, 12), which exert in total at least the same collection force as the force exerted by the weight of the entire machine. 3. Self-supporting machine according to claim 1 or 2, characterized in that it comprises two end-of-stroke sensors that detect the end of two fastening means and these fastening means have optical, magnetic or other codes inscribed in their entire length at regular intervals. type, which are read by two suitable sensors and processed by the included microprocessor to detect the real position of the housing with respect to both mooring points (5,6), correcting the mismatches on the theoretical position calculated by the microprocessor, by means of the advance or delay of the affected clamping means until its correct coincidence.