Mobile robotic unit for performing industrial processing operations within working environment and associated stabilizer arm with fixed foot

Abstract

A mobile robotic unit (1) configured for performing industrial processing operations within a working environment, the mobile robotic unit comprising:-a plurality of telescopic fixed feet (8) supported by respective stabilizer arms (9) extending from a frame (6) of a vehicle (3),-each stabilizer arm (9) being supported by a first stabilizer arm (9) and a second stabilizer arm (9) extending from the frame (6) of the vehicle (3), it comprises an automatic leveling assembly (13) associated with the telescopic fixed foot (8), the automatic leveling assembly being configured to detect the contact position of the fixed foot (8) with the ground and to stop the lowering action of the foot (8) in the event of contact with the ground before reaching the end-of-travel position.

Description

Technical Field

[0001] This invention generally relates to a mobile robot unit, comprising:

[0002] - A multi-axis manipulator robot, wherein the manipulator head is arranged to perform one or more of the operations.

[0003] - A vehicle comprising a frame that carries the robot and a propulsion device configured to move the vehicle on the ground.

[0004] Mobile robotic units can be configured to perform construction and / or assembly and / or maintenance and / or repair and / or inspection operations within a working environment, such as inside a ship, a floating or semi-submersible offshore structure, an aircraft, a building structure, or an outdoor space.

[0005] Mobile robot units can be configured to perform any type of industrial processing, whether it involves continuous or discontinuous processes, such as welding, sealing, riveting, stapling, threading, cutting, sealant deposition, and adding materials via additive manufacturing. Background Technology

[0006] For example, a mobile robot unit of the above type is disclosed in document CN 107 030 349 A, which includes a vehicle carrying a multi-axis manipulator robot. This document actually illustrates a mobile robot unit arranged to perform welding operations in an internal working environment, particularly inside a ship.

[0007] In addition, there are various known solutions for creating stabilizing devices to assist the wheels of a vehicle, which can be actuated by means of electric actuators or hydraulic actuators.

[0008] The present invention is based on the desire to manufacture mobile robot units of the type described above, which allow vehicles to be fixed in an extremely efficient manner, even when the vehicle is moving on irregular ground (such as, for example, metal surfaces or surfaces made of other materials, and soil).

[0009] Purpose of the invention

[0010] The general objective of this invention is to manufacture a mobile robot unit of the type described above, which possesses high flexibility and efficiency in terms of vehicle stability before performing processing.

[0011] Another object of the present invention is to manufacture a mobile robot unit of the type described above, which is extremely intuitive for the operator controlling it and provides a stabilizing device that is particularly simple to implement.

[0012] Another object of the present invention is to make the movement of mobile robot units extremely easy, even when traversing spaces with limited width. Summary of the Invention

[0013] In order to achieve these objectives, the present invention aims to provide a mobile robotic unit having features that form part of the subject matter of one or more of the appended claims, which form part of the technical teachings provided herein in relation to the invention.

[0014] Specifically, the object of the present invention is achieved by a mobile robot unit having the features set forth in appended claim 1. Attached Figure Description

[0015] Further features and advantages of the invention will become apparent from the following description with reference to the accompanying drawings, which are provided by way of non-limiting example only, in which:

[0016] - Figure 1 This is a perspective view showing a preferred embodiment of a vehicle according to the present invention;

[0017] - Figure 2 , Figure 3 It is a cross-sectional view showing some features of the vehicle related to the corresponding stabilizer arm;

[0018] - Figure 4 , Figure 5 This is a perspective view showing further features of the stabilizer arm that allows vehicles to pass through a space with a limited width, and

[0019] - Figure 6A , Figure 6B It is a schematic cross-sectional view at magnified scale, showing a portion of the stabilizer arm in the free, unblocked, and finally blocked positions, respectively. Detailed Implementation

[0020] The following description illustrates various specific details intended to provide a thorough understanding of one or more embodiments. These embodiments may be produced without one or more specific details, or using other methods, components, materials, etc. In other instances, known structures, materials, or operations have not been shown or described in detail to avoid obscuring various aspects of the embodiments.

[0021] The reference to "one / an embodiment" in this specification indicates that a particular configuration, structure, or feature described in connection with that embodiment is included in at least one embodiment. Therefore, phrases such as "in one / an embodiment," which may appear in different places in this specification, do not necessarily refer to the same embodiment.

[0022] Furthermore, specific constructions, structures, or features may be suitably combined in one or more embodiments and / or associated with embodiments in a manner different from that shown herein. Thus, for example, features illustrated herein and associated with the drawings may be applied to one or more embodiments illustrated in different drawings.

[0023] The references shown herein are for convenience only and therefore do not limit the scope of protection or the scope of the embodiments.

[0024] See details Figure 1 Reference numeral 1 in the figure indicates a mobile robot unit configured to perform industrial processing operations within a working environment, such as, for example, building and / or assembling and / or maintaining and / or repairing and / or inspecting within a working environment.

[0025] The mobile robot unit 1 can be configured to perform any type of processing with continuous or discontinuous processes, such as welding, sealing, riveting, stapling, threading, cutting, sealant deposition, adding materials by additive manufacturing technology, etc.

[0026] Figure 1 An embodiment related to a mobile robot unit 1 for performing welding operations (particularly arc welding) is shown. However, this example should not be construed as limiting at all, as the invention can be applied to any type of industrial process, whether continuous or discontinuous, as stated above.

[0027] According to the present invention, the mobile robot unit 1 includes a multi-axis manipulator robot 2 carrying an operating head 4 and a vehicle 3 on which the robot 2 is mounted. The operating head 4 includes a processing device configured to perform a variety of construction and / or assembly and / or maintenance and / or repair operations within a working environment.

[0028] In a preferred embodiment, the working environment is formed by a ship structure, and the mobile robot unit 1 is designed to perform the assembly of parts of the ship under construction.

[0029] The reference shows the mobile robot unit 1. Figure 1Robot 2 is a multi-axis manipulator robot having a base 2' and a column rotatably mounted on the base 2' about a first vertically oriented axis. Robot 2 has a 2'' arm hinged to the column about a second horizontally oriented axis; reference numeral 2''' denotes a forearm mounted on the 2'' arm. The forearm 2''' is hinged about a third axis, also horizontally oriented; the forearm 2''' also has the possibility of rotation about its longitudinal axis and is equipped with a wrist at its end, which can be rotatably mounted about two mutually orthogonal axes. According to the art known per se, each of the six axes of robot 2 is controlled by a corresponding electric motor. The electric motors of robot 2 are controlled by an electronic control unit in a manner known per se. At the distal end of the wrist of robot 2, there is a flange for attaching an operating head 4, which carries processing devices for performing operations having continuous or discontinuous processes. Preferably, the attachment flange is a sensor-equipped flange to avoid any collision with external objects.

[0030] exist Figure 1 In the illustrated embodiment, the operating head 4 includes a welding device, preferably a welding torch 5, which is arranged to perform arc welding with metal under gas shielded (MIG / MAG) conditions. Of course, the invention also relates to providing welding devices configured to perform other types of welding (e.g., laser welding, resistance welding, etc.).

[0031] As previously mentioned, the multi-axis manipulator robot 2 is carried by a vehicle generally indicated by reference numeral 3 in the attached figure.

[0032] Refer again Figure 1 The vehicle 3 includes a frame 6 and a propulsion device 7 configured to move the vehicle on the ground. Preferably, the propulsion device 7 is a pair of tracks configured to allow the robot unit 1 to move easily even on deformable and poorly cohesive soil. Of course, instead of tracks, the vehicle 3 may provide other types of propulsion devices 7.

[0033] In a preferred embodiment of the invention, vehicle 3 is configured to be wire-guided or remotely controlled by operator O. However, it should be noted that vehicle 3 can be configured to move automatically in a predetermined or programmed manner to autonomously reach different areas of the work area and perform various processing operations in those areas.

[0034] according to Figure 1As further shown, the mobile robot unit 1 can be mechanically connected to the service cart 10 via a trailer configuration. Preferably, the service cart has at least one support portion designed to support several components at an ergonomic height for the operator O to control the unit 1. These components include a human-machine interface (HMI) 12 configured to allow the operator O to program and control work cycles.

[0035] According to the basic features of the invention, the vehicle 3 includes a plurality of fixed legs 8, each supported by a stabilizer arm 9 extending from the frame 6. Preferably, the stabilizer arms 9 are positioned symmetrically with respect to the centerline of the mobile robot unit 1, forming a total of four stabilizing points for the vehicle on the ground.

[0036] According to the details below and Figure 1 As shown in the middle section, the stabilizer arm 9 is configured to move between a lowered horizontal position (allowing it to contact the ground via the fixed foot 8) and a raised position (extending substantially vertically relative to the ground) to allow the vehicle 3 to easily traverse spaces of limited width. In other words, according to the features described below, the stabilizer arm 9 is hinged to the corresponding support portion 6' of the frame 6 so that it can rotate about the hinge axis and form different operating positions as needed.

[0037] According to a fundamental feature of the invention, when the stabilizer arm 9 is in a lowered horizontal position, the fixed foot 8 can be actuated to change the protrusion of the fixed foot relative to the stabilizer arm 8 supporting it, and to achieve contact with the ground. In other words, the fixed foot 8 is configured to be telescopic, in a position substantially close to the corresponding arm 8 in an elevated position (…). Figure 2 ) and further away from the lowered position of the corresponding arm 8 (see Figure 3 Move between ( ), and vice versa.

[0038] According to a further specific feature of the invention, each stabilizer arm 9 includes an autoleveling assembly 13 associated with a retractable fixed leg 8, the autoleveling assembly being configured to detect the contact position of the fixed leg 8 with the ground and to stop the descent of the leg 9 upon contact with the ground before reaching the end of its travel position. From this perspective, to control the operation of the autoleveling assembly 13, the mobile robot unit 1 includes at least one electronic control unit configured and programmed to send control signals to the assembly 13 according to relevant commands given by the operator.

[0039] These features related to the automatic leveling of the fixed legs 9 are important in working environments with uneven ground to ensure that the vehicle can be effectively stabilized even under adverse conditions before the robot performs the processing.

[0040] Figure 2 , Figure 3 This is a cross-sectional view showing a preferred embodiment of the arm 9 and the associated automatic leveling assembly 13. Specifically, Figure 2 The stabilizer arm 9 is shown, wherein the fixed support leg 8 is in an elevated position relative to the ground, while Figure 3 The same stabilizer arm 8 is shown, wherein the fixed foot 9 is in a lowered position to contact the ground.

[0041] Referring to this embodiment, the automatic leveling component 13 may include:

[0042] - A screw-nut threaded connector, comprising a screw 14 extending axially along a stabilizer arm 8 and a nut threaded member 15 slidably engaged on the screw 14;

[0043] - At least one actuator 16 for driving the screw 14 to rotate;

[0044] - Bushing 17, which is freely movable along the screw 14 and spaced apart from the nut thread 15;

[0045] - At least one connecting element 18 is configured to mechanically connect the bushing 17 and the nut thread 15 in such a way that the nut thread and the bushing are configured to slide integrally along the screw as the actuator 16 is operated;

[0046] - Elastic element 19, which is placed between nut thread 15 and bushing 17;

[0047] - Wherein, bushing 17 is connected to fixed leg 8 by means of drive mechanism 20 of leg movement device, drive mechanism being arranged for driving leg 8 to move between a raised position relative to the ground and a lowered position in contact with the ground (and vice versa), and

[0048] - At least one sensor 21 is adapted to detect the approach of the nut thread 15 to the bushing 17 after the fixed foot 8 has made contact with the ground, so as to stop the descent of the actuator 16 and the foot before reaching the end position of the stroke of the nut thread 15.

[0049] Based on these characteristics, in order to initiate the lowering action of the outrigger 8, the electronic control unit sends a control signal to the actuator 16. During the lowering action of the outrigger 8 caused by the actuation of the screw-nut threaded mechanism, when the outrigger 8 contacts the ground, the bushing 17 stops at a certain position along the screw due to the mechanical resistance generated by the contact between the outrigger 8 and the ground, because the bushing 17 is mechanically connected to the outrigger 8 by means of the drive mechanism 20 of the outrigger movement device. After the bushing 17 is locked, the actuator 16 continues to drive the screw 14 to rotate until the screw reaches the contact position or at least near the position between the nut threaded member 15 and the bushing 17. The sensor 21 detects this contact position and therefore sends a warning signal to the electronic unit to stop the operation of the actuator 16.

[0050] In one or more embodiments, sensor 21 is a contact sensor or proximity sensor configured to detect contact or proximity above a threshold between the nut thread 15 and the bushing 17. Contact sensor 21 is then configured to send a relevant signal to an electronic control unit (ECU) before reaching the end-of-stroke position of the nut thread 15, the ECU being programmed to receive the signal and control the actuator 16 to stop.

[0051] In one or more embodiments, the actuator 16 is an electric geared motor axially connected to the screw 14. The actuator 16 is advantageously positioned along the end portion of the stabilizer arm 9 (the support portion 6' fixed to the frame 6).

[0052] In one or more embodiments, the mechanical connection element 18 between the nut thread and the bushing is provided by a plurality of connecting threaded elements arranged radially about the screw 14 and extending axially between the bushing 17 and the nut thread 15, such that as the nut thread 15 translates, the bushing 17 slides integrally along the screw 15. Of course, with the movement of the nut thread 15, the translation of the bushing 17 occurs in two actuation directions (i.e., in...). Figure 2 From left to right, so that support leg 8 can be lowered, and in Figure 3 From right to left, so that the support leg 8 is raised.

[0053] In one or more embodiments, the elastic element 19 is a spring axially mounted along the screw 14 between the nut thread 15 and the bushing 17, such that when the nut thread 15 begins its approach stroke toward the bushing 17, the spring compresses, tending to inhibit contact between the nut thread 15 and the bushing 17. From this perspective, the sensor 21 can also be configured to detect spring compression exceeding a predetermined value and simultaneously send a warning signal to the unit controller E to stop the actuator 16. It should also be noted that the electronic unit E can be configured to continue actuating the actuator 16 for a finite period of time after the signal from the sensor 21 to ensure the separation of the impact surface of the propulsion device 7 from the ground.

[0054] As previously described, bushing 17 is connected to fixed leg 8 by means of a drive mechanism 20 of the leg movement device, which is arranged to drive leg 8 to move between a raised position relative to the ground and a lowered position in contact with the ground (and vice versa).

[0055] In one or more embodiments, such as Figure 2 , Figure 3 As shown, the drive mechanism 20 of the outrigger motion device is essentially a scaling mechanism, which includes a pair of levers pivotally connected to each other about a hinge axis I, which is laterally oriented relative to the longitudinal direction of the stabilizer arm 9.

[0056] More specifically, each pair of levers may include:

[0057] - A first lever 22 has a lower end that supports a fixed leg 8 and an upper end that is connected to a bushing 17 that can move freely along the screw 14;

[0058] - A second lever 23, which has a pivot point at the lower end of the first lever 22 at a substantially intermediate position and an upper end pivoting to the end of the stabilizer arm 9.

[0059] Given the above configuration, the drive mechanism 20 is substantially Y-shaped, in which the lower end of the mechanism is defined by the fixed support leg 8, while the spaced-apart upper ends of the mechanism are respectively connected to the ends of the bushing 17 and the stabilizer arm 9.

[0060] Therefore, it should be understood that, based on the features described above, the mobile robot unit 1 is designed to ensure automatic and stable operation on any type of surface (even irregular surfaces), without requiring operator attention to stop the fixed legs 8 before the end of the stroke.

[0061] As previously mentioned, the stabilizer arm 9 is configured to move between a lowered horizontal position (allowing it to contact the ground via the fixed foot 8) and a raised position (extending substantially vertically relative to the ground) to allow the vehicle 3 to easily pass through spaces with limited width.

[0062] Figures 4-6B Various features associated with these features are shown, designed to minimize the size of unit 1 during the movement of vehicle 1.

[0063] According to the first feature, each stabilizer arm 9 includes a locking device that can be activated to lock the arm 9 to at least one of a lowered position and an elevated position, and can be deactivated to allow the arm 9 to move from one of the aforementioned positions to the other.

[0064] In one embodiment, such as Figure 4 , Figure 5 As shown, the locking device for each arm 9 may include at least one adjusting lever 24 adapted to lock the arm 9 in a lowered horizontal position and unlock it from said position before the arm 9 moves to its raised vertical position. The lever 24 controls the movement of a locking element 25, which is designed to lock the arm 9 in the lowered horizontal position. The locking element 15 may be made in the form of a locking pin, which may be fixed in a corresponding locking seat. Therefore, in operation, when the stabilizer arm 9 moves from the raised position toward the horizontal stabilized position, once the final horizontal position has been reached, the lever 24 must be actuated to lock the arm 9 in that position. Conversely, before the stabilizer 9 can move toward the raised position, the adjusting lever 24 must be actuated to release the locking element 25.

[0065] Similarly, the locking device may further include an additional adjustment element 29 adapted to lock the corresponding stabilizer arm 9 in an elevated vertical position.

[0066] According to a further feature, each stabilizer arm 9 may include a resilient drag mechanism adapted to contact at least a portion of the arm 9 during the final phase of its descent from an elevated position to a lowered horizontal position. This resilient drag mechanism is designed to signal to the operator that the final horizontal position has actually been reached prior to actuating the locking device.

[0067] according to Figures 5-6B In the embodiment shown, the elastic resistance mechanism is included within the support portion 6' of the frame 6 (suitable for supporting the stabilizer arm 9).

[0068] The mechanism may include a cam element 26 operably associated with a compression spring 27, which, in a lowered horizontal position, extends in a horizontal direction substantially parallel to the longitudinal axis of arm 9. The cam element 26 is pivotally connected about hinge axis II to... Figure 6A The maximum space height position shown in the figure is rotated to Figure 6B The minimum space is shown in the lowered position, and vice versa. In its raised position, for example, a cam element 26 having a generally trapezoidal shape is configured to keep the stabilizer arm 9 slightly raised relative to its final horizontal position through contact between the upper portion 26' of the cam element 26 protruding toward the arm 9 and the lower surface of the arm 9. In order to lock the arm 9 in the final lowered position, the operator will therefore have to apply a final pressure on the arm 9 to overcome the resistance of the cam element 26 and the spring 27 associated therewith.

[0069] According to still Figure 6A , Figure 6B Another feature shown is that each stabilizer arm 9 also includes an auxiliary sensor 28 configured to detect displacement of the cam element 26 in its lowered position in the minimum space. This auxiliary sensor 28 is configured to send a confirmation signal to the control unit regarding the arm 9 locking into its final horizontal stable position, which will enable the automatic leveling assembly 13 to operate as previously described.

[0070] Therefore, it should be understood that the elastic resistance mechanism included in each arm 9 also performs a safety function to prevent the unit 1 from stabilizing if the arm 9 is not properly stabilized in its final horizontal position.

[0071] Due to the features described above, the mobile robot unit according to the invention allows for a number of important advantages, including:

[0072] - Provides high flexibility and efficiency in terms of vehicle stability before processing is performed;

[0073] - It is very intuitive for the operator controlling the mobile robotic unit of the present invention, providing a stabilizing device that is particularly simple to implement and equipped with safety features; and

[0074] - Makes the movement of the mobile robot unit easy, even when traversing a space with a limited width.

[0075] According to another optional feature, the support leg 8 can be in the form of an electromagnetic element that can be activated after being placed on a floor made of ferromagnetic material when an operation involving the application of a significant force (which tends to cause the vehicle to move from its correct position through reaction) is required, so as to stably anchor the support leg itself to the floor.

[0076] Of course, regardless of the principles of the invention, structural details and embodiments may vary extensively with respect to what has been described and shown, without departing from the scope of the invention as defined in the appended claims.

Claims

1. A mobile robotic unit (1) for performing industrial processing operations within a work environment, comprising: - a multi-axis manipulator robot (2) carrying an operating head (4) arranged to perform one or more of said operations, - a vehicle (3) comprising a frame (6) carrying said robot (2) and propulsion means (7) configured for moving said vehicle (3) on the ground, characterized in that: - said vehicle (3) comprises a plurality of telescopic fixed feet (8) supported by respective stabilizer arms (9) extending from said frame (6), - each stabilizer arm (9) comprises an automatic leveling assembly (13) associated with said telescopic fixed feet (8), configured for detecting the position of contact of said fixed feet (8) with the ground and stopping the lowering action of said feet (8) in case of contact with the ground before reaching an end-of-travel position.

2. Mobile robot unit (1) according to claim 1, characterized in that Said vehicle (3) is configured to be guided or remotely controlled by an operator, or equipped with automatic driving, so as to be movable close to a predetermined work area of said work environment and therefore locked in that position before performing the processing.

3. Mobile robot unit (1) according to claim 1, characterized in that Said automatic leveling assembly (13) comprises: - a screw-nut threaded coupling comprising a screw (14) extending axially along said stabilizer arm (8) and a nut threaded (15) slidingly engaged on said screw (14), - at least one actuator (16) for driving the rotation of said screw (14), - a bushing (17) freely movable along said screw (14) and spaced from said nut threaded (15), - at least one connecting element (18) provided for mechanically connecting said bushing (17) and said nut threaded (15), - wherein said bushing (17) is connected to said fixed feet (8) by means of a drive mechanism (20) of the feet movement device arranged for driving said feet (8) between a raised position with respect to the ground and a lowered position in contact with the ground and vice versa, and - at least one sensor (21) adapted to detect the approach of said nut threaded (15) to said bushing (17) after the contact of said fixed feet (8) with the ground, so as to stop the lowering action of said actuator (16) and of said feet before reaching an end-of-travel position of said nut threaded (15).

4. Mobile robot unit (1) according to claim 3, characterized in that Said sensor (21) is a contact sensor or a proximity sensor configured for detecting the contact or the proximity above a threshold between said nut threaded (15) and said bushing (17).

5. Mobile robot unit (1) according to claim 3 or 4, characterized in that Said mechanical connecting element (18) is provided by a plurality of connecting threads radially arranged around said screw (14) and extending axially between said bushing (17) and said nut threaded (15).

6. Mobile robot unit (1) according to any of claims 3-5, characterized in that, Said automatic leveling assembly (13) comprises a resilient element (19) interposed between said nut threaded (15) and said bushing (17).

7. Mobile robot unit (1) according to claim 3, characterized in that The drive mechanism (20) of said foot movement device is substantially a pantograph mechanism comprising a pair of levers pivotally connected to each other about at least one articulation axis (I).

8. Mobile robot unit (1) according to claim 7, characterized in that Each pair of levers comprises: - a first lever (22) having a lower end portion carrying said fixed foot (8) and an upper end portion connected to said bushing (17) freely movable along said screw (14); - a second lever (23) having a lower end portion pivoted to said first lever (22) substantially at an intermediate position thereof and an upper end portion pivoted to the extremity of said stabilizer arm (9).

9. Mobile robot unit (1) according to any of the preceding claims, characterized in that Said stabilizer arm (9) is configured to be movable between a lowered horizontal position enabling contact with the ground by means of said fixed foot (8) and a raised position substantially extending along a vertical direction with respect to the ground, to enable easy passage of said vehicle (3) through openings of limited width.

10. Mobile robot unit (1) according to claim 9, characterized in that Each stabilizer arm (9) comprises locking means activatable to lock said arm (9) in at least one of said lowered position and said raised position, and deactivatable to enable movement of said arm (9) from one of the aforesaid positions to the other.

11. Mobile robot unit (1) according to claim 10, characterized in that Each stabilizer arm (9) comprises a resilient resistance mechanism adapted to come into contact with at least a portion of said arm (9) during the final phase of the lowering action of said arm (9), to signal to the operator the reaching of said final position before actuation of said locking means.

12. Mobile robot unit (1) according to claim 11, characterized in that Said resilient resistance mechanism comprises a cam element (26) operatively associated with a compression spring (27), said cam element (26) being pivotally connected about an articulation axis (II) to rotate from a raised position adapted to keep said stabilizer arm (9) raised with respect to a maximum space of its horizontal final position, to a lowered position adapted to lock said arm (9) with a minimum space, and vice versa.

13. Mobile robot unit (1) according to claim 11, characterized in that Each stabilizer arm (9) comprises an auxiliary sensor (28) configured to detect the displacement of said cam element (26) in the lowered position of minimum space, and to send a confirmation signal that said arm (9) has been locked in said horizontal final position.

14. Mobile robot unit (1) according to claim 13, characterized in that Said auxiliary sensor (28) is programmed to enable operation of said automatic leveling assembly (13).

15. The mobile robot unit (1) according to claim 1, characterized in that Said feet (8) are electromagnetic.

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