FR3138645A1 - Robot assistance module including a winch and a box including an electromagnet - Google Patents

Abstract

Assistance module for a robot comprising a winch (1) arranged to be removably fixed to a robot, said winch (1) comprising a motor, a reduction gear, a drum, a controller, the module further comprising a housing (2 ), the housing (2) comprising an electromagnet, the module further comprising a wire connection (3.1, 3.2), the wire connection (3.1, 3.2) being configured to make a connection between the winch (1) and the housing (2), the wire connection (3.1, 3.2) being composed of two separate cables (3.1, 3.2). Figure for publication: Fig. 1

Description

Robot assistance module including a winch and a box including an electromagnet

The present invention relates to a module making it possible to help robots descend slopes and stairs whose slope is greater than 45° while preventing them from tipping over. The operation of the kit module is based on an electromagnet which can create a magnetic connection with the ground when the ground is made of steel, for example on boats and submarines.

The equipment proposed by the applicant is named: Assistance module for robot comprising a winch and a box comprising an electromagnet. This is a module that can be removably mounted on robots that operate on military boats and submarines. The main purpose of the kit is to allow robots on military boats and submarines to descend steep stairs.

State of the prior art

Different manufacturers offer devices to push the limits of tipping in situations where a robot-type vehicle moves on significant slopes, such as stairs. Among these devices we can mention arms or other elements comprising tracks, wheels or simply support surfaces which can shift the support of the robot towards its front or towards the rear. To date, an existing technical solution is to equip the robot with arms or deformation of the support plane of the tracks allowing it to avoid tipping when the robot moves up or down stairs. Other solutions may consist of an action of connecting the robot to a base or to a hook, base or hook which can be mounted removably according to the progress of the robot.

Document US4483407A discloses a robot comprising a pair of endless tracks each extending around a series of wheels arranged in a plane adjacent to one side of the vehicle body. One of the sets of wheels on each side of the vehicle body is movable relative to the vehicle body to a selected position to vary the configuration of the endless track in side view so that the vehicle benefits from 'superior rolling performance and moves freely along paths with various obstacles, cf. Summary. However, this device has the following disadvantages: the robot is limited in crossing very steep slopes, such as stairs on boats.

Document CN209535267U reveals a robot with electromagnets at the track level, the electromagnetic modules are arranged on the inner side of the track; each electromagnetic module includes a suspension spring, an electromagnet and a plurality of needle bearings, the axial direction of the electromagnet is perpendicular to the plane of the track, the needle bearings are arranged between the electromagnet and the track module, the needle bearings are arranged parallel to the plane of the track belt, and the axial direction of the needle bearings is perpendicular to the running direction of the track belt, cf. Summary. However, this device has the following disadvantages: the electromagnets do not provide enough force on the edges of the stairs to prevent tipping over the stairs on boats.

Document US2015273696A1 discloses a mobile robot for detecting and repairing hull damage, comprising: a mobile robot unit which comprises at least one chassis on which motorized drive wheels are installed, chassis connectors which flexibly connect the chassis to each other, and at least one robot electromagnet and adsorption module and configured to be attached to the shell via the robot electromagnet so as to move or stop on a surface of the shell by the driving wheels; cf. Summary. However, this device has the following disadvantages: the connection between the robot and the electromagnet robot module is made with a single cable, which creates problems with the transfer of electrical energy and the risk of the robot module overturning.

One aim of the invention is to remedy all or part of the aforementioned drawbacks.

The applicant is developing robotic vehicles which have the effect of being able to keep humans away from danger and to assist them when they have to work in an environment presenting dangers.

This type of robot vehicle can be used in any field presenting a danger, such as for example the field of fire fighting, the military field, the field of mine clearance or a nuclear radiological biological and chemical (NRBC) type environment, but also areas of activity where a robot can replace humans to carry out difficult or dangerous tasks.

The invention relates to an assistance module for a robot comprising a winch arranged to be removably fixed to a robot, said winch comprising a motor, a reduction gear, a drum, a controller, the module further comprising a housing, the housing comprising an electromagnet, the module further comprising a wire connection, the wire connection being configured to make a connection between the winch and the housing, characterized in that the wire connection comprises a tensile resistance braid and an electric wire.

According to one embodiment of the invention, the wired connection is composed of two separate cables.

According to one embodiment of the invention, the module further comprises a receptacle, the receptacle being arranged on the winch and at least one pin, said at least one pin being arranged on the housing, said at least one pin cooperating with the receptacle designed to hang the box on the winch.

According to one embodiment of the invention, said electric wire is surrounded by the resistance braid in each of the two separate cables.

According to one embodiment of the invention, the module further comprises a status indicator arranged on the housing.

According to one embodiment of the invention, the module further comprises at least one wheel arranged on the housing, said at least one wheel preferably comprising a pair of magnetized wheels.

According to one embodiment of the invention, the module further comprises a non-slip seal, said non-slip seal being arranged on the housing.

According to one embodiment of the invention, the module further comprises a quick attachment means, said quick attachment means being arranged to removably fix the winch on the robot.

According to the invention, a system comprises a robot provided with a connection interface for removably receiving the assistance module.

Of course, the invention is not limited to the examples which have just been described and numerous adjustments can be made to these examples without departing from the scope of the invention. In addition, the different characteristics, shapes, variants and embodiments of the invention can be associated with each other in various combinations as long as they are not incompatible or exclusive of each other.

List of Figures

There illustrates a robot equipped with a kit according to the invention.

There illustrates a detail of the winch.

There illustrates the box hung on the winch according to one embodiment.

There illustrates a detail of the winch according to one embodiment.

There illustrates a detail of the housing according to one embodiment.

There illustrates a detail of the housing according to one embodiment.

There illustrates a detail of the housing according to one embodiment.

Detailed description of the invention

The embodiments described below being in no way limiting, we may in particular consider variants of the invention comprising only a selection of characteristics described, subsequently isolated from the other characteristics described, if this selection of characteristics is sufficient. to confer a technical advantage or to differentiate the invention from the prior art. This selection includes at least one characteristic, preferably functional without structural details, or with only part of the structural details if this part only is sufficient to confer a technical advantage or to differentiate the invention compared to the state of the prior art. .

The equipment proposed by the applicant can be in the form of a kit called Robot Assistance Module comprising a winch and a box comprising an electro electromagnet, which is a module which can be mounted as an option on robots which work more particularly on military boats and submarines. The objective of the kit is to help the robot descend stairs with a slope greater than 45° and up to 70° by preventing it from tipping over. The operation of the kit is based on an electromagnet which can operate thanks to a magnetic connection to the steel ground of boats and submarines. This module will preferably be particularly compact to be able to be mounted on a wide range of robots. The applicant proposes to illustrate by way of example the assembly of the module on the Atrax XL© robot. The electrical consumption of the kit will be closely monitored in order to avoid significantly reducing the autonomy for the main operation of the robot that carries it, the electrical components will therefore have low electricity consumption.

The invention relates to an assistance module for a robot comprising a winch (1) arranged to be removably fixed to a robot, said winch (1) comprising a motor (1.1), a reduction gear (1.2), a drum (1.4 ), a controller (1.5), see on . According to one embodiment, the transmission system between the motor and the drum may include gears composed of toothed wheels (1.3) or chain or belt.

The module according to the invention further comprises a housing (2). The controller (1.5) can manage the control of the winch motor and preferably also the box. This box, which can have the general shape of a rectangular parallelepiped, includes an electromagnet (10) in its central part. This box also includes fixing handles for a wired connection. This module can be made from any material which offers sufficient mechanical strength to transmit the traction forces to hold a robot and which is compatible with the creation of a magnetic field.

The module according to the invention further comprises a wired connection (3.1, 3.2), the wired connection (3.1, 3.2) being configured to make a connection between the winch (1) and the housing (2). The winch is therefore electrically motorized and the box incorporates an electromagnet (10). When approaching a staircase, the robot will be able to place the box on the ground and power the electromagnet (10). The robot can then begin its safe descent by unwinding the winch at the same speed as it descends. Once on the lower floor, the robot stops, deactivates the electromagnet (10) and winds up the wire connection using the winch in order to bring back the box and be able to continue its exploration.

The winch is preferably composed of a drum (1.4) with two compartments, see on , driven by a motor via a reduction gear and gears. The winch is preferably controlled by a motor equipped with a speed encoder for servo control and controlled by a controller. The harness which is connected to the box passes through the inside of the drum preferably via a rotating collector.

The wire connection (3.1, 3.2) comprises a tensile resistance braid and an electric wire. For example, the electric wire could have a section of 1 mm ² . Indeed, according to this example, the electromagnet can have a power consumption of less than 10w. Obviously, the section of the electric wire as well as the tensile resistance of the braid will be adapted according to the weight of the robot on which the module will be mounted. The braid may contain fibers of the Dyneema® type. Ultra-high-molecular-weight polyethylene (UHMwPE) fiber provides maximum strength with minimal weight. This makes the number of possible applications virtually unlimited. The braid can for example contain stretched, heated, elongated and cooled fibers. Stretching and spinning leads to molecular alignment, high crystallization and low density, obtaining extremely long molecular chains that transfer charge more efficiently to the polymer backbone. It is therefore stronger at the same weight or lighter at the same strength than the alternatives.

According to one embodiment of the invention, the wired connection (3.1, 3.2) is composed of two separate cables. The advantage of this embodiment makes it possible to better stabilize the robot on its right/left when descending a staircase. Another advantage is identified when returning the box to the robot in that this ensures that the box comes into contact with the winch without being turned over. A method of fixing the cables of the wired connection (3.1, 3.2) is shown as an example on the . We can see a cable (3.1) which is rotated around an axis. In fact it is the traction braid which is secured by a wire clamp, near its end. The electrical wire comes out of the traction braid and passes through a cable gland to enter the box (2).

According to one embodiment of the invention, each of the two separate cables (3.1, 3.2) and said electric wire is surrounded by the resistance braid in each of the two separate cables (3.1, 3.2). Indeed, in this embodiment, the braid acts as a sheath for the electric wire.

According to one embodiment of the invention, the module further comprises a receptacle (4) and at least one pin (5). The receptacle (4) is arranged on the winch (1), said at least one pin (5) being arranged on the housing (2), said at least one pin (5) cooperating with the receptacle (4) to hook the box (2) to the winch (1), see detail of the receptacle on and the box attached to the winch on . The pins can be any protuberance and the receptacle can be any cavity allowing the protuberance to be received. This pin and receptacle system allows the box to be transported hung and secured on the winch, when the box is not in use. This results in a compact assembly ready to be deployed quickly, as needed.

According to one embodiment of the invention, the module further comprises a status indicator (6) arranged on the housing (2). The status indicator may preferably include one or more LEDs to indicate the on or off operating mode of the electromagnet. The operator can therefore see the operating status of the electromagnet remotely. If the device is used in an environment with low light or smoke, the status indicator can draw the attention of the operator or any person nearby to the fact that the box is placed on the ground to avoid stepping on it or running into the cables and thus risking injury.

According to one embodiment of the invention, the module further comprises at least one wheel (7) arranged on the housing (2), said at least one wheel (7) preferably comprising a pair of magnetized wheels (7), see on And . The magnetic wheels can assist the descent of the box to prevent it from falling down the stairs, which could present a risk of breakage to the robot.

According to one embodiment of the invention, the module further comprises a non-slip seal (8), said non-slip seal (8) being arranged on the housing (2), see . This joint makes it possible to reinforce the adhesion of the box to the ground, by offering a greater coefficient of friction, in addition to the use of the electromagnet (10).

According to one embodiment of the invention, the module further comprises a quick attachment means (9), said quick attachment means (9) being arranged to removably fix the winch (1) on the robot, see on . This quick attach method may include butterfly screws, ball pins or other quick attach means. This quick attach money will allow the module to be quickly attached and detached from a robot, depending on the needs of the robot's mission.

According to the invention, a system comprises a robot provided with a connection interface for removably receiving the assistance module. This connection interface includes a mechanical aspect and an electrical aspect. The mechanical aspect includes any means allowing the kit to be quickly and securely attached to a robot. The electrical aspect consists of any electrical connection for power and communication between the robot and the kit.

A conventional robot is a vehicle having means of movement adapted to move on the surface of a ground or a fluid, underwater in a fluid or in the air or a combination of two or more of said means of movement. movement, said movement means comprising at least one pair of wheels, a flotation device and/or tracks and preferably side tracks or two or three pairs of wheels. This embodiment meets the specific needs of robots which are required to operate in varied environments such as for example in submerged tunnels.

A robot typically also consists of a chassis. This chassis plays a role in holding the different elements making up the robot in the basic version and also when it is equipped with options, according to the needs of the robot's implementation. The chassis has a general parallelepiped shape and is typically made of a relatively light material to avoid unnecessarily weighing down the robot but at the same time robust to be able to withstand fire tests. The robot is equipped with movement means located symmetrically on each lateral side of the chassis. When these means of movement are caterpillars, they are positioned substantially along the entire length of the robot. The role of these tracks is to provide a large contact surface with the ground and to be able to offer optimal grip on any ground.

As it goes without saying, the invention is not limited only to the embodiments of the recesses, described above by way of non-limiting example, on the contrary it embraces all the alternative embodiments. Of course, the invention is not limited to the examples which have just been described and numerous adjustments can be made to these examples without departing from the scope of the invention. In addition, the different features, shapes, variants and embodiments of the invention can be associated with each other in various combinations as long as they are not incompatible or exclusive of each other.

Claims (9)

Assistance module for a robot comprising a winch (1) arranged to be removably fixed to a robot, said winch (1) comprising a motor, a reduction gear, a drum and a controller, the module further comprising a housing (2 ), the housing (2) comprising an electromagnet, the module further comprising a wire connection (3.1, 3.2), the wire connection (3.1, 3.2) being configured to make a connection between the winch (1) and the housing (2), characterized in that the wire connection (3.1, 3.2) comprises a tensile resistance braid and an electric wire. Module according to the preceding claim in which the wired connection (3.1, 3.2) is composed of two separate cables (3.1, 3.2). Module according to one of the preceding claims which further comprises a receptacle (4), the receptacle (4) being arranged on the winch (1) and at least one pin (5), said at least one pin (5) being arranged on the housing (2), said at least one pin (5) cooperating with the receptacle (4) to hook the housing (2) to the winch (1). Module according to claim 2 in which said electric wire is surrounded by the resistance braid in each of the two separate cables (3.1, 3.2). Module according to one of the preceding claims which further comprises a status indicator (6) arranged on the housing (2). Module according to one of the preceding claims which further comprises at least one wheel (7) arranged on the housing (2), said at least one wheel (7) preferably comprising a pair of magnetized wheels (7). Module according to one of the preceding claims which further comprises a non-slip seal (8), said non-slip seal (8) being arranged on a surface of the housing (2) coming into contact with the ground. Module according to one of the preceding claims which further comprises quick attachment means (9), said quick attachment means (9) being arranged to removably fix the winch (1) on the robot. System comprising a robot provided with a connection interface for removably receiving the module according to one of the preceding claims.