WO2023135614A1 - System for inspecting and/or treating large surfaces - Google Patents

System for inspecting and/or treating large surfaces Download PDF

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Publication number
WO2023135614A1
WO2023135614A1 PCT/IT2022/050321 IT2022050321W WO2023135614A1 WO 2023135614 A1 WO2023135614 A1 WO 2023135614A1 IT 2022050321 W IT2022050321 W IT 2022050321W WO 2023135614 A1 WO2023135614 A1 WO 2023135614A1
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WO
WIPO (PCT)
Prior art keywords
side pulley
mobile
fixed
cable
pulley
Prior art date
Application number
PCT/IT2022/050321
Other languages
French (fr)
Inventor
Vincenzo GATTULLI
Andrea ARENA
Erika OTTAVIANO
Antonio GONZÁLEZ RODRÍGUEZ
Francisco MOYA FERNÁNDEZ
Sergio Juárez Pérez
David Rodríguez Rosa
Jean Dumoulin
Thibaud TOULLIER
Original Assignee
Sapienza Università Di Roma
Universidad De Castilla-La Mancha
Université Gustave Eiffel
Università Degli Studi Di Cassino E Del Lazio Meridionale
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 Sapienza Università Di Roma, Universidad De Castilla-La Mancha, Université Gustave Eiffel, Università Degli Studi Di Cassino E Del Lazio Meridionale filed Critical Sapienza Università Di Roma
Publication of WO2023135614A1 publication Critical patent/WO2023135614A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0078—Programme-controlled manipulators having parallel kinematics actuated by cables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type

Definitions

  • the present invention relates to a system for inspecting and/or treating large surfaces.
  • this invention relates to a cable system for commanding a carrier element (i.e. an end-effector) where one or more inspection and/or measurement and/or treatment tools (e.g. cameras, ultrasound measuring systems, etc.) are placed.
  • a carrier element i.e. an end-effector
  • inspection and/or measurement and/or treatment tools e.g. cameras, ultrasound measuring systems, etc.
  • the system according to the present invention is configured to work in a bi- dimensional plane, which can be for example horizontal (i.e. perpendicular to the gravity force) or vertical.
  • the system according to the present invention is able to reach difficult access areas (e.g. the lower part of large dimension bridge decks or building facades) and perform tasks in such areas, such as inspecting and detecting possible defects like cracks, fractures, or corrosions, or performing maintenance tasks, such as a cleaning procedure, or surface treatment tasks.
  • difficult access areas e.g. the lower part of large dimension bridge decks or building facades
  • tasks in such areas such as inspecting and detecting possible defects like cracks, fractures, or corrosions, or performing maintenance tasks, such as a cleaning procedure, or surface treatment tasks.
  • Another object of the invention is to provide a system for inspecting and/or treating large surfaces, which causes, when in use, a very low occupancy of the relevant carrier in the direction orthogonal to the displacement plane of the latter.
  • Another object of the invention is to provide a system for inspecting and/or treating large surfaces, which allows to achieve a high precision for carrier displacements over the whole feasible surface to be inspected or treated by such system.
  • Another object of the invention is to provide a non-intrusive system for inspecting and/or treating large surfaces, which allows to be attached to the surface by means of simple nodes without requiring any rigid structure.
  • a system for inspecting and/or treating a surface which substantially extends on a plane being parallel to a X-Y plane comprising: mobile means which is movable according to a second axis; a first mobile first side pulley and a second mobile first side pulley which are connected with said mobile means and placed in said X-Y plane at a first side of said mobile means; a first mobile second side pulley and a second mobile second side pulley which are connected with said mobile means and placed in said X-Y plane at a second side of said mobile means which is opposite to said first side of said mobile means; a first fixed first side pulley, a second fixed first side pulley, a third fixed first side pulley and a fourth fixed first side pulley which are rigidly connectable, in use, with a surface to be inspected and/or treated and placed in said X-Y plane at said first side of said mobile means; a first fixed second side pulley and
  • figure 1 is a scheme of a system for inspecting and/or treating large surfaces according to a first embodiment of the present invention, in a first position
  • figure 2 is a detailed view which is extracted from the scheme shown in figure 1
  • figure 3 is a scheme showing the system of figure 1 , in a second position
  • figure 4 is a scheme of the system of figures 1 and 3, which also shows the surface which can be covered by such system
  • figure 5 is a scheme of a system for inspecting and/or treating large surfaces according to a second embodiment of the present invention
  • figure 6 shows a horizontal lower surface of a bridge deck, which can be inspected and/or treated by a system according to the present invention
  • figure 7 shows a vertical surface of a building facade which can be inspected and/or treated by a system according to the present invention.
  • the first system 1 comprises a fixed frame (not shown) configured to be attached to the surface to be inspected and/or treated which extends on the X-Y plane or on a plane parallel to the X-Y plane.
  • the first system 1 includes an upper plurality of fixed pulleys comprising a first upper fixed pulley 2, a second upper fixed pulley 3, a third upper fixed pulley 4 and a fourth upper fixed pulley 5, which are rigidly connected to the above- mentioned fixed frame or directly to the surface to be inspected and/or treated.
  • the above-mentioned upper plurality of fixed pulleys has to comprise at least four upper fixed pulleys.
  • Each pulley of the upper plurality of fixed pulleys 2, 3, 4, 5 is freely rotatable about its respective rotation axis which is perpendicular to the X-Y plane shown in figure 1.
  • the first system 1 also includes a lower plurality of fixed pulleys comprising a first lower fixed pulley 6 and a second lower fixed pulley 7, which are rigidly connected to the above-mentioned fixed frame or directly to the surface to be inspected and/or treated.
  • the above-mentioned lower plurality of fixed pulleys has to comprise at least two lower fixed pulleys.
  • Each pulley of the lower plurality of fixed pulleys 6, 7 is rotatable about its respective rotation axis which is perpendicular to the X-Y plane shown in figure 1 .
  • first lower fixed pulley 6 is motorized by a respective motor (not shown) for making the first lower fixed pulley 6 rotate about its rotation axis in one way V1 or in the opposite way V2 (see figure 1 ).
  • the second lower fixed pulley 7 is motorized by a respective motor (not shown) for making the second lower fixed pulley 7 rotate about its rotation axis in one way V3 or in the opposite way V4 (see figure 1 ).
  • the first system 1 also comprises a mobile frame 8 which is movable according to the Y-axis with respect to the above-mentioned fixed frame.
  • An upper pair of mobile pulleys which comprises a first upper mobile pulley 9 and a second upper mobile pulley 10, is rigidly connected to the mobile frame 8 and placed above the latter.
  • the first upper mobile pulley 9 and second upper mobile pulley 10 are each freely rotatable about a respective rotation axis which is perpendicular to the X-Y plane (see figures 1 , 2).
  • a lower pair of mobile pulleys which comprises a first lower mobile pulley 1 1 and a second lower mobile pulley 12, is rigidly connected to the mobile frame 8 and placed beneath the latter.
  • the first lower mobile pulley 1 1 and second lower mobile pulley 12 are each freely rotatable about a respective rotation axis which is perpendicular to the X-Y plane (see figures 1 , 2).
  • the first upper mobile pulley 9, the second upper mobile pulley 10, the first lower mobile pulley 1 1 and the second lower mobile pulley 12 are able to move together with the mobile frame 8 along the Y-axis.
  • at least one pulley among the first lower fixed pulley 6, the second upper fixed pulley 3, the third upper fixed pulley 4 and, less preferably, the second upper mobile pulley 10 and the first lower mobile pulley 1 1 must be motorized such as to rotate in one way and in the opposite way.
  • At least one pulley among the second lower fixed pulley 7, the fourth upper fixed pulley 5, the first upper fixed pulley 2 and, less preferably, the first upper mobile pulley 9 and the second lower mobile pulley 12 must be motorized such as to rotate in one way and in the opposite way.
  • the first system 1 also includes a carrier 13 (i.e. an end-effector) for transporting one or more inspection and/or measurement and/or treatment tools (not shown in figures), such as for example a camera, an infrared sensor, an ultrasound sensor, a cleaning tool, a treatment tool, etc..
  • a carrier 13 i.e. an end-effector
  • inspection and/or measurement and/or treatment tools such as for example a camera, an infrared sensor, an ultrasound sensor, a cleaning tool, a treatment tool, etc.
  • the carrier 13 is movable along the X-axis with respect to the mobile frame 8 and along both the X-axis and y-axis with respect to the above- mentioned fixed frame.
  • a first cable 14 is attached to a first point A of the carrier 13 and then sequentially wound on the second upper mobile pulley 10, the third upper fixed pulley 4, the second upper fixed pulley 3, the first lower fixed pulley 6, the first lower mobile pulley 1 1 and finally connected to a second point B of the same carrier 13 such as to form a first closed loop, as shown in figure 1 .
  • a second cable 15 is attached to a third point C of the carrier 13 and then sequentially wound on the second lower mobile pulley 12, the second lower fixed pulley 7, the fourth upper fixed pulley 5, the first upper fixed pulley 2, the first upper mobile pulley 9 and finally connected to a fourth point D of the same carrier 13 such as to form a second closed loop, as shown in figure 1 .
  • first cable 14 and the second cable 15 are wound on the relevant pulleys as indicated above without being attached to any of them or to any other stationary element.
  • the total length of the first cable 14 and second cable 15 is constant regardless of the current position of the carrier 13 in the X-axis, which is determined by the functioning of the above-mentioned motors, and the current position of the mobile frame 8 in the Y-axis (see figures 1 , 3).
  • the first cable 14 and second cable 15 can be of steel of compound material to support a high-tension value.
  • a first guide element 16 and a second guide element 17 to guide, respectively, the motion (according to the T arrows in the figure 1 ) of the portion (i.e. branch) of the first cable 14 comprised between the second upper fixed pulley 3 and the first lower fixed pulley 6 and the motion (according to the T” arrows in the figure 1 ) of the portion (i.e. branch) of the second cable 15 comprised between the second lower fixed pulley 7 and the fourth upper fixed pulley 5.
  • guide means can be optionally provided in the carrier 13 to guide the motion of the latter along the X-axis with respect to the mobile frame 8.
  • the first cable 14 and the second cable 15 are pretensioned.
  • the cable tension pre-load for the first cable 14 and second cable 15 is required for two reasons: first, to reduce the displacement of the carrier 13 in a direction perpendicular to the work plane (i.e. the X-Y plane) due to gravity and, secondly, to allow the traction of the first cable 14 and second cable 15, minimizing the slippery between the driving pulleys (i.e. the first lower fixed pulley 6 and second lower fixed pulley 7) and the two cables 14, 15.
  • the first upper fixed pulley 2 and the first upper mobile pulley 9 have to be aligned with each other according to the Y-axis such that a first force F1 (i.e. a first tension), which is directed upwards and parallel to the Y-axis, is generated on the portion (i.e. branch) of the second cable 15 comprised between the first upper fixed pulley 2 and the first upper mobile pulley 9.
  • a first force F1 i.e. a first tension
  • the third upper fixed pulley 4 and the second upper mobile pulley 10 have to be aligned with each other according to the Y-axis such that a second force F2 (i.e. a second tension), which is directed upwards and parallel to the Y-axis, is generated on the portion (i.e. branch) of the first cable 14 comprised between the second upper mobile pulley 10 and the third upper fixed pulley 4.
  • a second force F2 i.e. a second tension
  • the first lower fixed pulley 6 and the first lower mobile pulley 11 have to be placed such that a third force F3 (i.e. a third tension), which is directed downwards, is generated on the portion (i.e. branch) of the first cable 14 comprised between the first lower fixed pulley 6 and the first lower mobile pulley 1 1 , wherein the third force F3 is parallel to Y-axis and aligned with the first force F1 .
  • a third force F3 i.e. a third tension
  • the second lower mobile pulley 12 and the second lower fixed pulley 7 have to be placed such that a fourth force F4 (i.e. a fourth tension), which is directed downwards, is generated on the portion (i.e. branch) of the second cable 15 comprised between the second lower mobile pulley 12 and the second lower fixed pulley 7, wherein the fourth force F4 is parallel to Y-axis and aligned with the second force F2.
  • a fourth force F4 i.e. a fourth tension
  • first upper mobile pulley 9, the second upper mobile pulley 10, the second lower mobile pulley 12 and the first lower mobile pulley 1 1 have to be placed so as to form together a rectangle which is directed according to the X- axis.
  • the second upper fixed pulley 3 and the fourth upper fixed pulley 5 are not necessarily to be placed in the positions depicted in the figures 1 , 3 and 4.
  • the first lower fixed pulley 6 has to be rotated in the way indicated with V1 and the second lower fixed pulley 7 has to be simultaneously rotated in the way indicated with V4.
  • the first lower fixed pulley 6 has to be rotated in the way indicated with V2 and the second lower fixed pulley 7 must be simultaneously rotated in the way indicated with V3.
  • the first lower fixed pulley 6 has to be rotated in the way indicated with V1 and the second lower fixed pulley 7 has to be simultaneously rotated in the way indicated with V3.
  • the first lower fixed pulley 6 has to be rotated in the way indicated with V2 and the second lower fixed pulley 7 has to be simultaneously rotated in the way indicated with V4.
  • the above-mentioned motors for driving the first lower fixed pulley 6 and second lower fixed pulley 7 only need to provide a tension increment to move the carrier 13 along the X-axis caused by inertial or friction forces.
  • the torque to be provided by the motors must only overcome the difference between cable tensions when the first system 1 is stopped and when it is moving.
  • the above motors require a much lower power, for the proper functioning of the system based on the present invention, than the motors employed in the known system for inspecting and/or treating surfaces.
  • the first system 1 as described above can properly work even if rotated by 180° in the X-Y plane.
  • Such first system 1 can properly work even if placed in a horizontal plane.
  • the second system 100 is identical to the first system 1 except for the fact that the mobile frame 8 is replaced by a third cable 101 , a fourth cable 102, a first carriage 103 and a second carriage 104.
  • first carriage 103 and second carriage 104 are placed on opposite sides with respect to the carrier 13 along the X-axis and are connected therebetween by the third cable 101 and fourth cable 102, where both the third cable 101 and the fourth cable 102 are in tension.
  • the first carriage 103 is engaged in a sliding way with the portion (i.e. branch) of the first cable 14 comprised between the second upper fixed pulley 3 and first lower fixed pulley 6 by first guide means 105.
  • the second carriage 104 is engaged in a sliding way with the portion (i.e. branch) of the second cable 15 comprised between the fourth upper fixed pulley 5 and second lower fixed pulley 7 by second guide means 106.
  • this second system 100 is the same as that of the first system 1 as described above.
  • the second system 100 is lighter than the first system 1 and is particularly suitable for inspecting and/or treating very large surfaces.
  • the system according to the present invention allows performing inspection and/or treatment tasks on large surfaces in a precise way and above all by reduced power motors for driving the motorized pulleys.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Treatments Of Macromolecular Shaped Articles (AREA)
  • Chemically Coating (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)

Abstract

The present invention relates to a system (1, 100) for inspecting and/or treating a surface which substantially extends on a plane being parallel to a X-Y plane. The system (1, 100) comprises: mobile means (8; 101, 102, 103, 104) which is movable according to a second axis (Y); a first mobile first side pulley (9) and a second mobile first side pulley (10) which are connected with said mobile means (8; 101, 102, 103, 104) and placed in said X-Y plane at a first side of said mobile means (8; 101, 102, 103, 104); a first mobile second side pulley (1 1 ) and a second mobile second side pulley (12) which are connected with said mobile means (8; 101, 102, 103, 104) and placed in said X-Y plane at a second side of said mobile means (8; 101, 102, 103, 104); a first fixed first side pulley (2), a second fixed first side pulley (3), a third fixed first side pulley (4) and a fourth fixed first side pulley (5) placed in said X-Y plane at said first side; a first fixed second side pulley (6) and a second fixed second side pulley (7) which are placed in said X-Y plane at said second side; a carrier (13) for transporting at least one inspecting device and/or said at least one treating device, wherein said carrier (13) is movable according to a first axis (X); a first cable (14) which is connected with said carrier (13) and sequentially wound on the second mobile first side pulley (10), the third fixed first side pulley (4), the second fixed first side pulley (3), the first fixed second side pulley (6), the first mobile second side pulley (1 1 ) such as to form a first closed loop; a second cable (15) which is connected with said carrier (13) and sequentially wound on the second mobile second side pulley (12), the second fixed second side pulley (7), the fourth fixed first side pulley (5), the first fixed first side pulley (2), the first mobile first side pulley (9) such as to form a second closed loop; first motor means for making said first cable (14) move in one direction or in the opposite direction; and second motor means for making said second cable (15) move in one direction or in the opposite direction; wherein the first fixed first side pulley (2), the third fixed first side pulley (4), the first mobile first side pulley (9), the second mobile first side pulley (10), the first fixed second side pulley (6), the second fixed second side pulley (7), the first mobile second side pulley (1 1 ) and the second mobile second side pulley (12) are placed such that said first cable (14) and said second cable (15) remain stationary when said first motor means and said second motor means are inactive and said first cable (14) and said second cable (15) are stationary.

Description

SYSTEM FOR INSPECTING AND/OR TREATING LARGE SURFACES
★ ★★★★
The present invention relates to a system for inspecting and/or treating large surfaces.
More specifically, this invention relates to a cable system for commanding a carrier element (i.e. an end-effector) where one or more inspection and/or measurement and/or treatment tools (e.g. cameras, ultrasound measuring systems, etc.) are placed.
The system according to the present invention is configured to work in a bi- dimensional plane, which can be for example horizontal (i.e. perpendicular to the gravity force) or vertical.
The system according to the present invention is able to reach difficult access areas (e.g. the lower part of large dimension bridge decks or building facades) and perform tasks in such areas, such as inspecting and detecting possible defects like cracks, fractures, or corrosions, or performing maintenance tasks, such as a cleaning procedure, or surface treatment tasks.
Several systems for inspecting and treating building surfaces, facades, structure parts and construction parts are known.
Nevertheless, these known systems exhibit various drawbacks and disadvantages.
In light of the above, it is an object of the present invention providing a system for inspecting and/or treating large surfaces, which needs a very low motorization, namely a very low power energy, for the proper functioning thereof.
Another object of the invention is to provide a system for inspecting and/or treating large surfaces, which causes, when in use, a very low occupancy of the relevant carrier in the direction orthogonal to the displacement plane of the latter.
Another object of the invention is to provide a system for inspecting and/or treating large surfaces, which allows to achieve a high precision for carrier displacements over the whole feasible surface to be inspected or treated by such system.
Another object of the invention is to provide a non-intrusive system for inspecting and/or treating large surfaces, which allows to be attached to the surface by means of simple nodes without requiring any rigid structure.
It is therefore a specific object of the present invention a system for inspecting and/or treating a surface which substantially extends on a plane being parallel to a X-Y plane, said system comprising: mobile means which is movable according to a second axis; a first mobile first side pulley and a second mobile first side pulley which are connected with said mobile means and placed in said X-Y plane at a first side of said mobile means; a first mobile second side pulley and a second mobile second side pulley which are connected with said mobile means and placed in said X-Y plane at a second side of said mobile means which is opposite to said first side of said mobile means; a first fixed first side pulley, a second fixed first side pulley, a third fixed first side pulley and a fourth fixed first side pulley which are rigidly connectable, in use, with a surface to be inspected and/or treated and placed in said X-Y plane at said first side of said mobile means; a first fixed second side pulley and a second fixed second side pulley which are rigidly connectable, in use, with said surface to be inspected and/or treated and placed in said X-Y plane at said second side of said mobile means; at least one inspecting device and/or at least one treating device; a carrier for transporting said at least one inspecting device and/or said at least one treating device, wherein said carrier is movable according to a first axis; a first cable which is connected with said carrier and sequentially wound on the second mobile first side pulley, the third fixed first side pulley, the second fixed first side pulley, the first fixed second side pulley, the first mobile second side pulley such as to form, together with said carrier, a first closed loop; a second cable which is connected with said carrier and sequentially wound on the second mobile second side pulley, the second fixed second side pulley, the fourth fixed first side pulley, the first fixed first side pulley, the first mobile first side pulley such as to form, together with said carrier, a second closed loop; first motor means for making said first cable move in one direction or in the opposite direction; and second motor means for making said second cable move in one direction or in the opposite direction, such that movements of said carrier in both opposite directions of said first axis and/or movements of said mobile means in both opposite directions of said second axis are obtainable by moving said first cable and said second cable by said first motor means and said second motor means; wherein the first fixed first side pulley, the third fixed first side pulley, the first mobile first side pulley, the second mobile first side pulley, the first fixed second side pulley, the second fixed second side pulley, the first mobile second side pulley and the second mobile second side pulley are placed such that said first cable and said second cable remain stationary when said first motor means and said second motor means are inactive and said first cable and said second cable are stationary.
Further aspects of the present invention are indicated in the dependent claims.
The present invention will be described hereinafter, for illustrative but not limitative purposes, according to its preferred embodiments, with particular reference to the figures of the enclosed drawings, wherein: figure 1 is a scheme of a system for inspecting and/or treating large surfaces according to a first embodiment of the present invention, in a first position; figure 2 is a detailed view which is extracted from the scheme shown in figure 1 ; figure 3 is a scheme showing the system of figure 1 , in a second position; figure 4 is a scheme of the system of figures 1 and 3, which also shows the surface which can be covered by such system; figure 5 is a scheme of a system for inspecting and/or treating large surfaces according to a second embodiment of the present invention; figure 6 shows a horizontal lower surface of a bridge deck, which can be inspected and/or treated by a system according to the present invention; and figure 7 shows a vertical surface of a building facade which can be inspected and/or treated by a system according to the present invention.
In the appended figures, similar parts will be indicated with the same numerical references.
With reference to the attached figures, with 1 there is indicated a first system for inspecting and/or treating large surfaces according to a first embodiment of the present invention.
Particularly, the first system 1 comprises a fixed frame (not shown) configured to be attached to the surface to be inspected and/or treated which extends on the X-Y plane or on a plane parallel to the X-Y plane.
The first system 1 includes an upper plurality of fixed pulleys comprising a first upper fixed pulley 2, a second upper fixed pulley 3, a third upper fixed pulley 4 and a fourth upper fixed pulley 5, which are rigidly connected to the above- mentioned fixed frame or directly to the surface to be inspected and/or treated.
According to the present invention, the above-mentioned upper plurality of fixed pulleys has to comprise at least four upper fixed pulleys. Each pulley of the upper plurality of fixed pulleys 2, 3, 4, 5 is freely rotatable about its respective rotation axis which is perpendicular to the X-Y plane shown in figure 1.
The first system 1 also includes a lower plurality of fixed pulleys comprising a first lower fixed pulley 6 and a second lower fixed pulley 7, which are rigidly connected to the above-mentioned fixed frame or directly to the surface to be inspected and/or treated.
Based on the present invention, the above-mentioned lower plurality of fixed pulleys has to comprise at least two lower fixed pulleys.
Each pulley of the lower plurality of fixed pulleys 6, 7 is rotatable about its respective rotation axis which is perpendicular to the X-Y plane shown in figure 1 .
Furthermore, the first lower fixed pulley 6 is motorized by a respective motor (not shown) for making the first lower fixed pulley 6 rotate about its rotation axis in one way V1 or in the opposite way V2 (see figure 1 ).
Also the second lower fixed pulley 7 is motorized by a respective motor (not shown) for making the second lower fixed pulley 7 rotate about its rotation axis in one way V3 or in the opposite way V4 (see figure 1 ).
The first system 1 also comprises a mobile frame 8 which is movable according to the Y-axis with respect to the above-mentioned fixed frame.
An upper pair of mobile pulleys, which comprises a first upper mobile pulley 9 and a second upper mobile pulley 10, is rigidly connected to the mobile frame 8 and placed above the latter.
The first upper mobile pulley 9 and second upper mobile pulley 10 are each freely rotatable about a respective rotation axis which is perpendicular to the X-Y plane (see figures 1 , 2).
A lower pair of mobile pulleys, which comprises a first lower mobile pulley 1 1 and a second lower mobile pulley 12, is rigidly connected to the mobile frame 8 and placed beneath the latter.
The first lower mobile pulley 1 1 and second lower mobile pulley 12 are each freely rotatable about a respective rotation axis which is perpendicular to the X-Y plane (see figures 1 , 2).
Therefore, the first upper mobile pulley 9, the second upper mobile pulley 10, the first lower mobile pulley 1 1 and the second lower mobile pulley 12 are able to move together with the mobile frame 8 along the Y-axis. Anyway, for the correct functioning of the first system 1 , at least one pulley among the first lower fixed pulley 6, the second upper fixed pulley 3, the third upper fixed pulley 4 and, less preferably, the second upper mobile pulley 10 and the first lower mobile pulley 1 1 must be motorized such as to rotate in one way and in the opposite way.
In addition, for the correct functioning of the first system 1 , at least one pulley among the second lower fixed pulley 7, the fourth upper fixed pulley 5, the first upper fixed pulley 2 and, less preferably, the first upper mobile pulley 9 and the second lower mobile pulley 12 must be motorized such as to rotate in one way and in the opposite way.
The first system 1 also includes a carrier 13 (i.e. an end-effector) for transporting one or more inspection and/or measurement and/or treatment tools (not shown in figures), such as for example a camera, an infrared sensor, an ultrasound sensor, a cleaning tool, a treatment tool, etc..
Particularly, the carrier 13 is movable along the X-axis with respect to the mobile frame 8 and along both the X-axis and y-axis with respect to the above- mentioned fixed frame.
A first cable 14 is attached to a first point A of the carrier 13 and then sequentially wound on the second upper mobile pulley 10, the third upper fixed pulley 4, the second upper fixed pulley 3, the first lower fixed pulley 6, the first lower mobile pulley 1 1 and finally connected to a second point B of the same carrier 13 such as to form a first closed loop, as shown in figure 1 .
Furthermore, a second cable 15 is attached to a third point C of the carrier 13 and then sequentially wound on the second lower mobile pulley 12, the second lower fixed pulley 7, the fourth upper fixed pulley 5, the first upper fixed pulley 2, the first upper mobile pulley 9 and finally connected to a fourth point D of the same carrier 13 such as to form a second closed loop, as shown in figure 1 .
Therefore, the first cable 14 and the second cable 15 are wound on the relevant pulleys as indicated above without being attached to any of them or to any other stationary element.
The total length of the first cable 14 and second cable 15 is constant regardless of the current position of the carrier 13 in the X-axis, which is determined by the functioning of the above-mentioned motors, and the current position of the mobile frame 8 in the Y-axis (see figures 1 , 3). The first cable 14 and second cable 15 can be of steel of compound material to support a high-tension value.
Optionally, at the two opposite end parts of the mobile frame 8 can be respectively provided a first guide element 16 and a second guide element 17 to guide, respectively, the motion (according to the T arrows in the figure 1 ) of the portion (i.e. branch) of the first cable 14 comprised between the second upper fixed pulley 3 and the first lower fixed pulley 6 and the motion (according to the T” arrows in the figure 1 ) of the portion (i.e. branch) of the second cable 15 comprised between the second lower fixed pulley 7 and the fourth upper fixed pulley 5.
Furthermore, guide means can be optionally provided in the carrier 13 to guide the motion of the latter along the X-axis with respect to the mobile frame 8.
The first cable 14 and the second cable 15 are pretensioned.
The cable tension pre-load for the first cable 14 and second cable 15 is required for two reasons: first, to reduce the displacement of the carrier 13 in a direction perpendicular to the work plane (i.e. the X-Y plane) due to gravity and, secondly, to allow the traction of the first cable 14 and second cable 15, minimizing the slippery between the driving pulleys (i.e. the first lower fixed pulley 6 and second lower fixed pulley 7) and the two cables 14, 15.
There can be also provided a system for ensuring that enough pre-load tension is applied to the two cables 14, 15.
According to the present invention, the first upper fixed pulley 2 and the first upper mobile pulley 9 have to be aligned with each other according to the Y-axis such that a first force F1 (i.e. a first tension), which is directed upwards and parallel to the Y-axis, is generated on the portion (i.e. branch) of the second cable 15 comprised between the first upper fixed pulley 2 and the first upper mobile pulley 9.
Furthermore, based on the present invention, the third upper fixed pulley 4 and the second upper mobile pulley 10 have to be aligned with each other according to the Y-axis such that a second force F2 (i.e. a second tension), which is directed upwards and parallel to the Y-axis, is generated on the portion (i.e. branch) of the first cable 14 comprised between the second upper mobile pulley 10 and the third upper fixed pulley 4.
The first lower fixed pulley 6 and the first lower mobile pulley 11 have to be placed such that a third force F3 (i.e. a third tension), which is directed downwards, is generated on the portion (i.e. branch) of the first cable 14 comprised between the first lower fixed pulley 6 and the first lower mobile pulley 1 1 , wherein the third force F3 is parallel to Y-axis and aligned with the first force F1 .
On the other hand, the second lower mobile pulley 12 and the second lower fixed pulley 7 have to be placed such that a fourth force F4 (i.e. a fourth tension), which is directed downwards, is generated on the portion (i.e. branch) of the second cable 15 comprised between the second lower mobile pulley 12 and the second lower fixed pulley 7, wherein the fourth force F4 is parallel to Y-axis and aligned with the second force F2.
Particularly, the first upper mobile pulley 9, the second upper mobile pulley 10, the second lower mobile pulley 12 and the first lower mobile pulley 1 1 have to be placed so as to form together a rectangle which is directed according to the X- axis.
On the other hand, the second upper fixed pulley 3 and the fourth upper fixed pulley 5 are not necessarily to be placed in the positions depicted in the figures 1 , 3 and 4.
In order to make the mobile frame 8 move upwards according to the Y-axis, the first lower fixed pulley 6 has to be rotated in the way indicated with V1 and the second lower fixed pulley 7 has to be simultaneously rotated in the way indicated with V4.
On the contrary, in order to make the mobile frame 8 move downwards according to the Y-axis, the first lower fixed pulley 6 has to be rotated in the way indicated with V2 and the second lower fixed pulley 7 must be simultaneously rotated in the way indicated with V3.
In order to make the carrier 13 move along the X-axis in the direction shown in figure 1 (i.e. in the right direction of figure 1 ) with respect to the mobile frame 8, the first lower fixed pulley 6 has to be rotated in the way indicated with V1 and the second lower fixed pulley 7 has to be simultaneously rotated in the way indicated with V3.
Contrarily, in order to make the carrier 13 move along the X-axis in the direction opposite to the direction shown in figure 1 with respect to the mobile frame 8, the first lower fixed pulley 6 has to be rotated in the way indicated with V2 and the second lower fixed pulley 7 has to be simultaneously rotated in the way indicated with V4.
In figure 4, with S1 is indicated the maximum area which can be covered, and consequently inspected and/or treated, by the first system 1 ; as a matter of fact, the carrier 13 of the first system 1 can be positioned over any point of the maximum area S1 .
An equilibrium of the mobile frame 8 is ensured in static situations since the first upper mobile pulley 9, second upper mobile pulley 10, second lower mobile pulley 12 and first lower mobile pulley 1 1 are placed so as to form together a rectangle and since the first force F1 is equal and opposite to the third force F3 and the second force F2 is equal and opposite to the fourth force F4 (see figure 2).
With this approach, a torque equilibrium in all the pulleys cited above is achieved and thus, if pulley friction is neglected, the torque that has to be generated by the above motors is zero to maintain the kinetic status of the first system 1 when the latter is stopped or moving with constant speed.
Therefore, the above-mentioned motors for driving the first lower fixed pulley 6 and second lower fixed pulley 7 only need to provide a tension increment to move the carrier 13 along the X-axis caused by inertial or friction forces.
These forces will typically be much lower than cable tensions as the latter are within the working plane.
Therefore, the torque to be provided by the motors must only overcome the difference between cable tensions when the first system 1 is stopped and when it is moving.
For this reason, the above motors require a much lower power, for the proper functioning of the system based on the present invention, than the motors employed in the known system for inspecting and/or treating surfaces.
The first system 1 as described above can properly work even if rotated by 180° in the X-Y plane.
Furthermore, such first system 1 can properly work even if placed in a horizontal plane.
In figure 5, with 100 it is indicated a second system for inspecting and/or treating large surfaces according to a second embodiment of the present invention.
The second system 100 is identical to the first system 1 except for the fact that the mobile frame 8 is replaced by a third cable 101 , a fourth cable 102, a first carriage 103 and a second carriage 104.
Particularly, the first carriage 103 and second carriage 104 are placed on opposite sides with respect to the carrier 13 along the X-axis and are connected therebetween by the third cable 101 and fourth cable 102, where both the third cable 101 and the fourth cable 102 are in tension.
The first carriage 103 is engaged in a sliding way with the portion (i.e. branch) of the first cable 14 comprised between the second upper fixed pulley 3 and first lower fixed pulley 6 by first guide means 105.
On the other hand, the second carriage 104 is engaged in a sliding way with the portion (i.e. branch) of the second cable 15 comprised between the fourth upper fixed pulley 5 and second lower fixed pulley 7 by second guide means 106.
The functioning of this second system 100 is the same as that of the first system 1 as described above.
The second system 100 is lighter than the first system 1 and is particularly suitable for inspecting and/or treating very large surfaces.
In figure 6, with S2 is indicated a lower horizontal surface of a bridge that could be inspected or treated by a system according to the present invention; in this case, the working plane of the system is horizontal (not vertical as shown in figures 1 , 3, 4).
In figure 7, with S3 is indicated a facade surface of a building that could be inspected or treated by a system according to the present invention; in this case, the working plane of the system is vertical.
As it may be inferred from the foregoing description, the system according to the present invention allows performing inspection and/or treatment tasks on large surfaces in a precise way and above all by reduced power motors for driving the motorized pulleys.
The present invention has been described for illustrative but not limitative purposes, according to its preferred embodiments, but it is to be understood that modifications and/or changes can be introduced by those skilled in the art without departing from the relevant scope as defined in the enclosed claims.

Claims

1 . System (1 , 100) for inspecting and/or treating a surface which substantially extends on a plane being parallel to a X-Y plane, said system (1 , 100) comprising: mobile means (8; 101 , 102, 103, 104) which is movable according to a second axis (Y); a first mobile first side pulley (9) and a second mobile first side pulley (10) which are connected with said mobile means (8; 101 , 102, 103, 104) and placed in said X-Y plane at a first side of said mobile means (8; 101 , 102, 103, 104); a first mobile second side pulley (1 1 ) and a second mobile second side pulley (12) which are connected with said mobile means (8; 101 , 102, 103, 104) and placed in said X-Y plane at a second side of said mobile means (8; 101 , 102, 103, 104) which is opposite to said first side of said mobile means (8; 101 , 102, 103, 104); a first fixed first side pulley (2), a second fixed first side pulley (3), a third fixed first side pulley (4) and a fourth fixed first side pulley (5) which are rigidly connectable, in use, with a surface to be inspected and/or treated and placed in said X-Y plane at said first side of said mobile means (8; 101 , 102, 103, 104); a first fixed second side pulley (6) and a second fixed second side pulley (7) which are rigidly connectable, in use, with said surface to be inspected and/or treated and placed in said X-Y plane at said second side of said mobile means (8; 101 , 102, 103, 104); at least one inspecting device and/or at least one treating device; a carrier (13) for transporting said at least one inspecting device and/or said at least one treating device, wherein said carrier (13) is movable according to a first axis (X); a first cable (14) which is connected with said carrier (13) and sequentially wound on the second mobile first side pulley (10), the third fixed first side pulley (4), the second fixed first side pulley (3), the first fixed second side pulley (6), the first mobile second side pulley (1 1 ) such as to form, together with said carrier (13), a first closed loop; a second cable (15) which is connected with said carrier (13) and sequentially wound on the second mobile second side pulley (12), the second fixed second side pulley (7), the fourth fixed first side pulley (5), the first fixed first side pulley (2), the first mobile first side pulley (9) such as to form, together with said carrier (13), a second closed loop; first motor means for making said first cable (14) move in one direction or in the opposite direction; and second motor means for making said second cable (15) move in one direction or in the opposite direction, such that movements of said carrier (13) in both opposite directions of said first axis (X) and/or movements of said mobile means (8; 101 , 102, 103, 104) in both opposite directions of said second axis (Y) are obtainable by moving said first cable (14) and said second cable (15) by said first motor means and said second motor means; wherein the first fixed first side pulley (2), the third fixed first side pulley (4), the first mobile first side pulley (9), the second mobile first side pulley (10), the first fixed second side pulley (6), the second fixed second side pulley (7), the first mobile second side pulley (1 1 ) and the second mobile second side pulley (12) are placed such that said first cable (14) and said second cable (15) remain stationary when said first motor means and said second motor means are inactive and said first cable (14) and said second cable (15) are stationary.
2. System (1 , 100) according to claim 1 , characterized in that a first force (F1 ), a second force (F2), a third force (F3) and a fourth force (F4) act, respectively, on a portion of said second cable (15) comprised between the first fixed first side pulley (2) and the first mobile first side pulley (9), on a portion of said first cable (14) comprised between the third fixed first side pulley (4) and the second mobile first side pulley (10), on a portion of said first cable (14) comprised between the first fixed second side pulley (6) and the first mobile second side pulley (11 ) and on a portion of said second cable (15) comprised between the second fixed second side pulley (7) and the second mobile second side pulley (12), wherein said first force (F1 ) and said third force (F3) are equal and opposite to each other, and wherein said second force (F2) and said fourth force (F4) are equal and opposite to each other when said first motor means and said second motor means are inactive and said first cable (14) and said second cable (15) are stationary.
3. System (1 , 100) according to claim 2, characterized in that said first force (F1 ), said second force (F2), said third force (F3) and said fourth force (F4) are directed parallel to one another.
4. System (1 , 100) according to any one of preceding claims, characterized in that the first mobile first side pulley (9), the second mobile first side pulley (10), the second mobile second side pulley (12) and the first mobile second side pulley (1 1 ) are placed such as to jointly form a rectangle or a square.
5. System (1 , 100) according to any one of preceding claims, characterized in that said first motor means are configured to rotate, in both opposite directions, at least one among the second mobile first side pulley (10), the third fixed first side pulley (4), the second fixed first side pulley (3), the first fixed second side pulley (6) and the first mobile second side pulley (1 1 ), preferably at least one among the third fixed first side pulley (4), the second fixed first side pulley (3) and the first fixed second side pulley (6); and in that said second motor means are configured to rotate, in both opposite directions, at least one among the second mobile second side pulley (12), the second fixed second side pulley (7), the fourth fixed first side pulley (5), the first fixed first side pulley (2) and the first mobile first side pulley (9), preferably at least one among the second fixed second side pulley (7), the fourth fixed first side pulley (5), the first fixed first side pulley (2).
6. System (1 ) according to any one of preceding claims, characterized in that said mobile means comprise a frame (8) with which the first mobile first side pulley (9), the second mobile first side pulley (10), the first mobile second side pulley (1 1 ) and the second mobile second side pulley (12) are solidly connected.
7. System (1 ) according to claim 6, characterized in that said frame (8) comprises first guide means for guiding movements of said carrier (13) along said first axis (X) with respect to said frame (8).
8. System (1 ) according to claim 6 or 7, characterized in that said frame (8) comprises second guide means (16), with which said first cable (14) is engaged in a slidable way according to said second axis (Y), and third guide means (17), with which said second cable (15) is engaged in a slidable way according to said second axis (Y).
9. System (100) according to any one of claims 1 to 5, characterized in that said mobile means comprise a first carriage (103), which is engaged with said first cable (14) in a movable way along said second axis (Y), a second carriage (104), which is engaged with said second cable (15) in a movable way along said second axis (Y), and a third cable (101 ) and a fourth cable (102) which are each connected to said first carriage (103) and to said second carriage (104).
10. System (1 , 100) according to any one of preceding claims, characterized in that said system (1 , 100) comprises a fixed frame which is rigidly connectable, in use, with a surface to be inspected and/or treated and connected with the first fixed first side pulley (2), the second fixed first side pulley (3), the third fixed first side pulley (4), the fourth fixed first side pulley (5), the first fixed second side pulley (6) and the second fixed second side pulley (7).
PCT/IT2022/050321 2022-01-13 2022-12-12 System for inspecting and/or treating large surfaces WO2023135614A1 (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2743024A (en) * 1944-07-31 1956-04-24 Otto H Schmitt Translation system
US2785941A (en) * 1953-11-12 1957-03-19 Macklem F Sutherland Low-inertia plotting-board drive
US4833785A (en) * 1984-09-06 1989-05-30 United Innovations Division Of United Engineers, Inc. Positioning systems

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2743024A (en) * 1944-07-31 1956-04-24 Otto H Schmitt Translation system
US2785941A (en) * 1953-11-12 1957-03-19 Macklem F Sutherland Low-inertia plotting-board drive
US4833785A (en) * 1984-09-06 1989-05-30 United Innovations Division Of United Engineers, Inc. Positioning systems

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