IT201800007462A1 - Robot for photovoltaic paint deposition and contacts between surfaces of any kind, even isolated - Google Patents
Robot for photovoltaic paint deposition and contacts between surfaces of any kind, even isolated Download PDFInfo
- Publication number
- IT201800007462A1 IT201800007462A1 IT102018000007462A IT201800007462A IT201800007462A1 IT 201800007462 A1 IT201800007462 A1 IT 201800007462A1 IT 102018000007462 A IT102018000007462 A IT 102018000007462A IT 201800007462 A IT201800007462 A IT 201800007462A IT 201800007462 A1 IT201800007462 A1 IT 201800007462A1
- Authority
- IT
- Italy
- Prior art keywords
- systems
- robot
- deposition
- casing
- paint
- Prior art date
Links
- 239000003973 paint Substances 0.000 title claims description 16
- 230000008021 deposition Effects 0.000 title claims description 11
- 238000000151 deposition Methods 0.000 claims description 12
- 238000010422 painting Methods 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 6
- 239000002184 metal Substances 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 4
- 239000007769 metal material Substances 0.000 claims description 2
- 238000007592 spray painting technique Methods 0.000 claims description 2
- 238000005507 spraying Methods 0.000 claims 1
- 230000009194 climbing Effects 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 5
- 230000010062 adhesion mechanism Effects 0.000 description 4
- 239000004020 conductor Substances 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000009718 spray deposition Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles 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
- B62D57/024—Vehicles 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Photovoltaic Devices (AREA)
- Hybrid Cells (AREA)
Description
Robot per deposizione di vernice fotovoltaica e contatti tra superfici di qualunque genere anche isolate Robot for photovoltaic paint deposition and contacts between surfaces of any kind, even isolated
DESCRIZIONE DESCRIPTION
La presente invenzione riguarda un robot per verniciare pareti e vetrate, anche verticali, e un metodo per la verniciatura attraverso vernici fotovoltaiche ed interconnessioni. The present invention relates to a robot for painting walls and windows, including vertical ones, and a method for painting using photovoltaic paints and interconnections.
I sistemi di verniciatura per robot sono utilizzati in vari settori, ad esempio nell'industria fotovoltaica, non impiegando ad oggi sistemi di verniciatura di massa. I sistemi di robot per verniciatura mobile applicano un rivestimento di vernice su una superficie muovendosi lungo la stessa. The painting systems for robots are used in various sectors, for example in the photovoltaic industry, not employing mass painting systems to date. Mobile paint robot systems apply a paint coating to a surface by moving along it.
I sistemi convenzionali di verniciatura tengono l’elemento verniciante a una distanza fissa dal pezzo e variano o regolano determinati parametri di pittura per adattarsi all'effetto pittura e alla copertura. Ad esempio, i sistemi di verniciatura convenzionali regolanol'erogazione del fluido, il modello, la forma e la carica elettrica ad alta tensione per controllare l'effetto della pittura. Raggiungere un colore uniforme è una sfida, specialmente su grandi superfici. Ad esempio, con i sistemi convenzionali di verniciatura la qualità di questa dipende dal tempo di ritardo tra l'applicazione di passaggi diversi in diverse aree. I tempi di ritardo variabili possono rendere la vernice più asciutta o umida inalcune aree, contribuendo a colori incoerenti. Conventional painting systems keep the painting element at a fixed distance from the piece and vary or adjust certain painting parameters to adapt to the painting effect and coverage. For example, conventional paint systems regulate fluid delivery, pattern, shape, and high voltage electrical charge to control the effect of the paint. Achieving a uniform color is a challenge, especially on large surfaces. For example, with conventional painting systems the quality of this depends on the delay time between the application of different coats in different areas. Variable delay times can make paint drier or wetter in some areas, contributing to inconsistent colors.
Èanche noto nell'arte come siano presenti robot mobili con la capacità di muoversi su un piano tridimensionale. Sono emerse infatti sul mercato ed in letteratura molte piattaforme robotizzate di successo, ma molti di questi robot mobili sono limitati al movimento su un piano bidimensionale senza capacità di scalare pareti e senza \possibilità di depositare vernice. In questo contesto, adesione e locomozione sono due funzioni chiave di un robot rampicante. La locomozione può essere ottenuta tramite meccanismi come ruote, cingoli o gambe azionate. Esistono numerosi meccanismi di adesione per trattenere i robot di arrampicata sulle superfici su cui si muovono, compresi i meccanismi magnetici ed elettrostatici, i ventilatori canalizzati, gli attrattori di tipo Bernoulli senza contatto e i meccanismi di adesione del vuoto. Sulla base dei mezzi per generare la forza di adesione alla parete, i meccanismi di adesione del vuoto possono essere classificati in due tipi principali: “attivo”, che richiede alimentazione continua per mantenere tale vuoto, e “passivo”, in cui è richiesta energia per generare o rilasciare un vuoto ma non per mantenerlo. L'energia complessiva richiesta per mantenere l'adesione alla parete, i livelli di inquinamento acustico, la gamma di superfici applicabili e la complessità meccanica di ciascun meccanismo varia. Lo scopo dell'invenzione è di fornire robot basato su principi passivi a ventosa a bassa energia che possano aderire e muoversi su superfici inclinate o verticali, e che permetta, mentre si muove, di depositare vernici ed elementi di interconnessione tra due superfici non a contatto. Si può sostanzialmente dire che la presente invenzione consiste in un meccanismo di adesione per un mezzo di arrampicata robotizzata comprendente un telaio da cui sono supportate quattro o più ventose passive e un attuatore disposto ad agire tra la ventosa e il telaio. L'attuatore è in grado di esercitare una forza sulla ventosa nella direzione verso una superficie di movimento in modo da premere la ventosa contro la superficie di arrampicata per evacuare i gas tra il pad della ventosa e la superficie di arrampicata stessa. In questo modo viene applicata una forza sulla ventosa nella direzione verso il telaio per formare una tenuta sostanziale tra le aree esterne della ventosa stessa e la superficie di arrampicata per al fine di creare una forza passiva di adesione del vuoto. Sempre secondo un aspetto della presente invenzione, l’apparato presenta un meccanismo a gettodi inchiostroper la deposizione di vernice fotovoltaica nel piano di movimento ed una quaterna o più di sensori per la valutazione della mancanza di interconnessioni tra punti vicini di deposizione. Presenta inoltre un meccanismo di deposizione di materiale conduttivo, quali strip metalliche o paste salde conduttive, per colmare il gap qualora non fosse presente connessione elettricamente conduttiva tra punti vicini. It is also known in the art that there are mobile robots with the ability to move on a three-dimensional plane. In fact, many successful robotic platforms have emerged on the market and in the literature, but many of these mobile robots are limited to movement on a two-dimensional plane without the ability to climb walls and without the possibility of depositing paint. In this context, adhesion and locomotion are two key functions of a climbing robot. Locomotion can be achieved via mechanisms such as wheels, tracks or powered legs. There are a number of adhesion mechanisms to hold climbing robots on the surfaces they move on, including magnetic and electrostatic mechanisms, ducted fans, non-contact Bernoulli-type attractors, and vacuum adhesion mechanisms. Based on the means of generating the adhesion force to the wall, vacuum adhesion mechanisms can be classified into two main types: "active", which requires continuous power to maintain this vacuum, and "passive", which requires energy. to generate or release a vacuum but not to hold it. The overall energy required to maintain adhesion to the wall, the noise pollution levels, the range of applicable surfaces and the mechanical complexity of each mechanism varies. The purpose of the invention is to provide robots based on low-energy passive suction cup principles that can adhere and move on inclined or vertical surfaces, and that allows, while moving, to deposit paints and interconnection elements between two non-contact surfaces. . It can basically be said that the present invention consists of an adhesion mechanism for a robotic climbing means comprising a frame from which four or more passive suckers are supported and an actuator arranged to act between the sucker and the frame. The actuator is capable of exerting a force on the suction cup in the direction towards a moving surface in order to press the suction cup against the climbing surface to evacuate the gases between the suction cup pad and the climbing surface itself. In this way a force is applied on the cup in the direction towards the frame to form a substantial seal between the external areas of the cup and the climbing surface in order to create a passive force of adhesion of the vacuum. Still according to an aspect of the present invention, the apparatus has an ink jet mechanism for the deposition of photovoltaic paint in the plane of movement and a quadrant or more of sensors for the evaluation of the lack of interconnections between nearby deposition points. It also features a deposition mechanism for conductive material, such as metal strips or conductive solid pastes, to fill the gap if there is no electrically conductive connection between neighboring points.
Nel presente apparato, l'attuatore è in grado di riapplicare la ventosa per ristabilire la forza di vuoto richiesta quando si verifica, o sta per verificarsi, una perdita di vuoto. In the present apparatus, the actuator is capable of reapplying the pad to re-establish the required vacuum force when a vacuum leak occurs or is about to occur.
Nel presente apparato, il sistema di deposizione a spruzzo della vernice può essere composto da una o più testine di stampa. Inoltre, il sistema di deposizione della pasta conduttiva o del materiale conduttivo può essere composto da una bobina rotante o da un sistema a siringa con pistone per l’erogazione della pasta. In the present apparatus, the paint spray deposition system can be composed of one or more print heads. In addition, the deposition system of the conductive paste or conductive material can be composed of a rotating coil or a syringe system with a piston for dispensing the paste.
Preferibilmente lo chassis del robot è adattato per supportare dispositivi di ispezione e controllo comprendenti uno o più telecomandi, comunicazione wireless, elementi di telecamere e video, sensori e strumenti. Preferably the robot chassis is adapted to support inspection and control devices comprising one or more remote controls, wireless communication, camera and video elements, sensors and tools.
La presente invenzione si può sostanzialmente dire che consiste in un metodo ed apparato per azionare una piattaforma di arrampicata robotizzata comprendente: The present invention can basically be said to consist of a method and apparatus for operating a robotic climbing platform comprising:
- Un involucro (100) o chassis di materiale preferibilmente plastico o metallico - A casing (100) or chassis of preferably plastic or metal material
- Un sistema di quattro o più bracci (101) con snodi su entrambe estremità, una collegata all’involucro ed una collegata ai sistemi a ventosa (102) - A system of four or more arms (101) with joints on both ends, one connected to the casing and one connected to the suction cup systems (102)
- Un sistema di una o più batterie (103) ed un apparato (104) per l’alloggio dei sistemi di verniciatura a spruzzo composti da una o più testine (105) - A system of one or more batteries (103) and an apparatus (104) for housing the spray painting systems consisting of one or more heads (105)
- Un sistema di deposizione di pasta conduttiva o strip metalliche conduttive (106) - A conductive paste deposition system or conductive metal strips (106)
- Un sistema di comunicazione e controllo radio (107), di uno o più sensori per la verifica della continuità dei punti di deposizione della vernice (108). - A radio communication and control system (107), with one or more sensors for checking the continuity of the paint deposition points (108).
Claims (1)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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IT102018000007462A IT201800007462A1 (en) | 2018-07-27 | 2018-07-27 | Robot for photovoltaic paint deposition and contacts between surfaces of any kind, even isolated |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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IT102018000007462A IT201800007462A1 (en) | 2018-07-27 | 2018-07-27 | Robot for photovoltaic paint deposition and contacts between surfaces of any kind, even isolated |
Publications (1)
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IT201800007462A1 true IT201800007462A1 (en) | 2020-01-27 |
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Family Applications (1)
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IT102018000007462A IT201800007462A1 (en) | 2018-07-27 | 2018-07-27 | Robot for photovoltaic paint deposition and contacts between surfaces of any kind, even isolated |
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IT (1) | IT201800007462A1 (en) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60176869A (en) * | 1984-02-24 | 1985-09-10 | Nippon Steel Corp | Wall surface movile device |
EP2420757A2 (en) * | 2010-08-19 | 2012-02-22 | Anton Jäger | Cleaning device |
US20160052126A1 (en) * | 2013-11-26 | 2016-02-25 | Elwha Llc | Structural assessment, maintenance, and repair apparatuses and methods |
US20160163912A1 (en) * | 2014-12-05 | 2016-06-09 | Solarcity Corporation | Methods and systems for precision application of conductive adhesive paste on photovoltaic structures |
CN206598905U (en) * | 2017-04-05 | 2017-10-31 | 北华航天工业学院 | Four-footed sucked type automatic travelling device |
-
2018
- 2018-07-27 IT IT102018000007462A patent/IT201800007462A1/en unknown
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60176869A (en) * | 1984-02-24 | 1985-09-10 | Nippon Steel Corp | Wall surface movile device |
EP2420757A2 (en) * | 2010-08-19 | 2012-02-22 | Anton Jäger | Cleaning device |
US20160052126A1 (en) * | 2013-11-26 | 2016-02-25 | Elwha Llc | Structural assessment, maintenance, and repair apparatuses and methods |
US20160163912A1 (en) * | 2014-12-05 | 2016-06-09 | Solarcity Corporation | Methods and systems for precision application of conductive adhesive paste on photovoltaic structures |
CN206598905U (en) * | 2017-04-05 | 2017-10-31 | 北华航天工业学院 | Four-footed sucked type automatic travelling device |
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