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Robot for inspection of confined spaces

A confined space, robot technology, applied in the field of robotics, can solve problems such as the inability of robots to meet

Inactive Publication Date: 2016-11-30
EJRBAS DIFENS END SPEJS SAS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] However, these robots cannot meet all the conditions required to access the interior of aeronautical structures - the end effector must move in tight spaces that are difficult to access and must overcome obstacles

Method used

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  • Robot for inspection of confined spaces
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  • Robot for inspection of confined spaces

Examples

Experimental program
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Embodiment Construction

[0020] In the following, a robot 10 according to the invention, in particular for inspection of confined spaces of aircraft, such as fuel tanks, is described.

[0021] Robot 10 includes:

[0022] - a robotic arm 11 and an end effector 13 configured to position the end effector 13 in a precise position within a confined space for inspection of said confined space, the end effector 13 having the task of performing the inspection Required devices such as vision cameras and IR (infrared) cameras.

[0023] - A control, power and interaction system formed by all means necessary to control and supply power to the components of the robotic arm 11 and end effector 13 .

[0024] - A user interface allowing an operator to interact with and control the robot 10 .

[0025] - The support structure 19, which may also have displacement means.

[0026] The robotic arm 11 is formed by a fixed base 21 , a first module 23 (which will also be called a tendon module) and a second module 25 (whic...

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PUM

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Abstract

The disclosure herein provides a robot for inspecting confined space comprising a robotic arm, an end-effector provided with inspection equipment and a control system. The robotic arm is formed by a fixed base and first and second modules respectively formed by first and second links connected by first and second articulations that are configured such that the maximum opening angles alpha and beta of their first and second articulations are, respectively, + / -30 DEG C and + / -55 DEG C. The first links are driven by tendons attached to them by one of their ends and to first actuating devices located at the fixed base by the other end. The second links are driven by second actuating devices located on the second links. The different configuration of the first and second module of the robot arm allows access to confined spaces in environments with obstacles.

Description

technical field [0001] The invention relates to a robot for inspecting confined spaces, especially in aeronautical structures. Background technique [0002] In the aviation industry, the occurrence of dry leaks in storage tanks and piping is very common due to the fact that they occur in places where detection techniques based on helium, bubbles or specific trace gas (specific trace gaz) are not easily implemented In the narrow confined space of , it is sometimes difficult to be detected. [0003] Another problem is that it is difficult to detect obstructions inside the pipeline. [0004] In order to solve said problems, it has been proposed, for example in US 7,171,279, to use a snake-type robot, in particular a pipeline, provided with an end effector with a suitable inspection device. [0005] However, these robots cannot meet all the conditions required to gain access to the interior of aeronautical structures - the end effector must move in tight spaces that are diffic...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/06B25J9/10B25J19/00
CPCB25J9/065B25J9/109B25J19/0004B25J9/104Y10S901/15Y10S901/23Y10S901/25Y10S901/44Y10S901/47B25J19/023F16L2101/30
Inventor 费尔南多·恩里克·埃斯特万芬克弗朗西斯科·乔斯·莱昂阿雷瓦洛安东尼奥·吉龙克鲁兹弗朗西斯科·哈维尔·桑切斯里瓦斯卢卡斯·希雷拉巴埃纳
Owner EJRBAS DIFENS END SPEJS SAS