Robot for the renovation and / or the inspection of at least one wall having a large curved surface and / or a large height, in particular a wall of a structure having a circular cross section, by stripping and / or painting, use for stripping and painting a hull or a bottom of a ship, a tank, such as a petroleum tank, or a pipeline

Abstract

The present invention relates mainly to an autonomous robot (1) manufactured on the basis of a scissor lift (2), which can be standard, on which a Cartesian robot (3) is installed, the load-bearing structure (30) of which slides on the platform of the lift and supports a tool holder assembly, which is robust, precise and reliable.

Description

Technical Field

[0001] This invention relates to the general field of inspection and / or refurbishment of large structures / objects through surface treatment and coating.

[0002] More specifically, this invention relates to the field of refurbishment by surface stripping and, where appropriate, painting walls with large surfaces (more specifically curved surfaces) and / or large heights, particularly walls of structures with one or more circular cross-sections. These structures can be, in particular, hulls, ship bottoms, storage tanks (such as oil storage tanks), or pipelines.

[0003] The term “wall with large surface area and / or large height” should be understood to mean any object that cannot be inspected and / or renovated by an individual alone and generally requires at least the use of scaffolding and / or any moving equipment for moving an individual.

[0004] More specifically, this invention aims to provide an autonomous robot for refurbishing and / or inspecting such walls to reduce service time, associated costs, and risks to operators and the environment.

[0005] Although the invention is described with reference to its advantageous application in refurbishing cylindrical storage tanks, it is applicable to any robot used for any type of inspection and / or maintenance work on large structures. Background Technology

[0006] Ship hulls require regular maintenance after a period of service; they typically undergo maintenance operations involving multiple procedures to give them / restore the desired aesthetic appearance, such as surface preparation, surface stripping (water jetting or grinding), and painting.

[0007] Due to its mandatory nature, this maintenance operation requires the vessel to be docked in a dry dock.

[0008] Essentially, this involves removing the existing outer coating and any oxide layer, and replacing it with a new coating.

[0009] Generally, maintenance or refurbishment involves properly preparing the surface for the application of a new paint coating. For example, this preparation may include surface stripping using abrasive blasting (often also known as shot peening) or ultra-high pressure (UHP) water jets, which can create or restore a certain level of surface roughness for the adhesion and application of a new paint coating.

[0010] Every step of the process of refurbishing a given vessel must be carried out with extreme care to avoid defects that could seriously compromise the final aesthetic quality.

[0011] Despite numerous different limitations and uses, all shipyards undertaking hull surface refurbishment face the same challenges: high maintenance costs, significant service disruptions, substantial impact on the vessel, personnel safety, and the effectiveness of the repairs.

[0012] To date, various refurbishment steps have typically been performed manually by operators, or by using several suitable tools to peel off the coating and spray paint onto the desired surfaces of the hull.

[0013] These manual steps have some major drawbacks.

[0014] First, each step requires a significant execution time, which impacts the final cost of the operation. Therefore, each step must be relatively precise because the area of ​​action of tools used for surface stripping—such as ultra-high pressure (UHP) water jets or shot peening guns with pressures around 3000 bar—is relatively limited, and the operator's attention must be sustained. Consequently, these operations can take a considerable amount of time, both for the purpose of the work being performed and for verification, especially given the very large surface area of ​​a ship's hull.

[0015] Secondly, the effectiveness of these steps depends largely on the skills of the operators who perform them.

[0016] Furthermore, regarding the coating process, this is done using a spray gun that atomizes paint particles. Some of these paint particles do not adhere to the surface to be coated and are thus dispersed into the environment. Since the corrosion-resistant paints used in these applications often contain toxic or polluting substances, it is easy to understand that their dispersion poses a hazard to the environment and to people working near the coating area.

[0017] In this regard, the latest EU standards include increasingly stringent restrictions on the emission of such substances into the environment.

[0018] Therefore, the applicant hopes to automate the maintenance or refurbishment of these ship hulls and to implement robots capable of performing these refurbishment operations.

[0019] However, the regulations imposed on such robots are strict and important, especially considering the strong limitations inherent in ship dry docks.

[0020] Therefore, the inventors of this invention reviewed existing solutions.

[0021] They first concluded that existing robots or mechanized systems could not meet all the requirements for ship hull refurbishment.

[0022] Certain devices for painting ship hulls and the like are known from patent documents.

[0023] WO01 / 34309 describes an apparatus for spraying paint onto the hull of a vessel in a dry dock, the apparatus comprising a row of nozzles housed in shrouds mounted at the end of a telescopic boom, the telescopic boom itself being pivotally mounted on a frame that can translate along the hull on guide rails.

[0024] US5398632 discloses a scaffolding system installed on a dock floor around a ship's hull, featuring lifts that can move in height and toward / away from the hull, and in which painters can take their positions.

[0025] US4890567 describes a cleaning system with a movable cleaning head that is fixed to the hull of a ship via an electromagnetic track, and the cleaning head includes an ultrasonic cleaning device.

[0026] EP2090506B1 discloses a platform with two wheel sets and a double scissor lift that supports a slender workbench equipped with a travel rail, along which a six-axis robot holding a paint gun can slide to paint the surface of a ship's hull.

[0027] CN105643587 discloses a system for painting ship hulls using a six-axis robot, which holds a painting tool mounted on the end of an articulated arm of an elevator that moves along the dock floor.

[0028] CN2019158233 discloses a painting robot system that uses cables to move along the hull of a ship, wherein a frame supporting the drive engine and cables is installed in and around a dry dock, and the paint nozzles are moved at an elevated position by the cables while being moved horizontally by telescopic arms that support the nozzles.

[0029] CN108942897 discloses a system for painting ship hulls, which includes a robotic painting head that moves along the ship hull using cables fixed to two bogies, one bogie moving on the ground and the other bogie moving above the ship.

[0030] CN108313237 discloses a system for shot peening a ship's hull. The system includes a robot that moves using a winch on the ship and is fixed to the hull surface by suction from a suction cup.

[0031] CN107253147 and CN107081771 both describe a sandblasting surface stripping system, which includes a sandblasting robot that rolls along the hull of a ship and is held by a permanent magnet, with anchor points on the hull and a cable winch for moving it.

[0032] KR101444392B1 relates to a coating application system in which a 6-axis robot is mounted at the end of a crane arm.

[0033] WO2012 / 080448 discloses a complete maintenance system (UHP cleaning, painting) with a scaffolding tower near the hull, on which a telescopic boom system supporting working tools can move vertically.

[0034] WO2010 / 057942 discloses a system similar to WO2012 / 080448, the essential difference being that the scaffolding tower supports multiple work cabins, one of which is directly controlled by an individual inside and carries an articulated arm supporting the work tools.

[0035] WO2018 / 209367 describes an assembled guide rail system for moving components along the hull of a ship for hull maintenance (cleaning, painting).

[0036] EP2618942B1 discloses the use of a 6-axis robot carrying a paint spray gun, supported by a lift on an aerial work platform, for painting ship hulls in a dry dock. The lift is equipped with distance sensors to measure the distance between the lift and the surface of the hull to be painted; the operation of the sensors is servo-controlled by a unit that directs and controls the movement of the platform. Furthermore, the proposed system must include an air inlet along the surface to be painted, and the defined control / commands allow adjustment of the distance between the lift and the surface to be painted to optimize the intake airflow.

[0037] All proposed solutions lack the ability to quickly, cost-effectively, and efficiently remove stubborn defects on the hull surface (especially those caused by hull corrosion), and the ability to apply a uniform coating to the entire surface of the hull regardless of its contours (flat, concave, convex).

[0038] Furthermore, the proposed solution does not allow for sufficiently precise positioning in space to ensure uniform refurbishment of the entire surface of the hull to be refurbished.

[0039] Finally, it remains far from certain whether at least one of the proposed solutions can be implemented completely autonomously across the entire surface of the ship's hull, without any human intervention.

[0040] To overcome these drawbacks, particularly to significantly reduce intervention time and associated costs, decrease operational complexity, and improve the effectiveness and uniformity of surface treatment across the entire surface of the wall to be renovated, the inventors of this invention propose a robot according to patent application WO2021 / 074327. This robot is based on an aerial work platform, which can be standard and equipped with multiple sensors that precisely compensate for deficiencies in the equipment provided by the platform manufacturer. These sensors enable the control / command unit to determine, in real time, the very precise position of the platform and the tool holder mounted on it in space.

[0041] While this robot is perfectly satisfactory for most surface textures to be refurbished, the inventors observed that certain other surface textures cannot be handled, at least not with a suitable intervention time, because the robot is physically inaccessible and / or the surface is complex (especially with significant curvature and / or overhanging structures to be reached). Such specific textures are encountered, for example, in the case of a ship's hull or bottom.

[0042] Therefore, there is a need to improve robots for refurbishing walls with large surfaces and / or great heights (more particularly walls with complex surfaces, such as the hull or bottom of a ship in a dry dock, or overhead mechanical components to be accessed) through surface stripping and / or painting.

[0043] The purpose of this invention is to at least partially satisfy this need. Summary of the Invention

[0044] Therefore, one aspect of the present invention relates to a robot for renovating and / or inspecting at least one wall of a structure having a curved surface, particularly at least one wall of a structure having one or more circular cross-sections, by surface peeling and / or coating with paint, said robot comprising:

[0045] - A scissor lift, comprising the following components:

[0046] A movable base, comprising at least one steering shaft defining a first axis (axis 1) and a translational movement engine defining a second axis (axis 2),

[0047] The platform is mounted on the movable base and is vertically movable along a third axis (axis 3).

[0048] - The Cartesian robot, which includes:

[0049] The load-bearing structure is mounted on the platform and is horizontally movable along a fourth axis (axis 4).

[0050] A tool holder assembly designed to hold refurbishing and / or inspection tools, the tool holder assembly being mounted on the support structure to rotate about a fifth axis (axis 5) orthogonal to the fourth axis (axis 4), to translate horizontally on the support structure along a sixth axis (axis 6) orthogonal to the fifth axis (axis 5), to rotate about a seventh axis (axis 7) parallel to the sixth axis (axis 6), and to translate horizontally on the support structure along an eighth axis (axis 8) orthogonal to the seventh axis (axis 7);

[0051] - Multiple sensors, said multiple sensors including:

[0052] At least one linear motion sensor is provided, the at least one linear motion sensor being designed to measure the vertical unfolding of the platform relative to the movable base along the third axis (axis 3).

[0053] At least one angle measuring sensor is provided, the at least one angle measuring sensor being designed to measure the angular position of the tool holder assembly relative to the support structure about the fifth axis (axis 5).

[0054] At least two distance measuring sensors are configured to each measure the distance between a point on the tool holder assembly and the wall to be refurbished and / or inspected;

[0055] At least two distance measurement sensors are designed to measure the tilt of the tool holder assembly relative to the wall to be refurbished and / or inspected;

[0056] - A control / command unit connected to the plurality of sensors and means for moving the elevator and components of the Cartesian robot along / around the first to the eighth axes, the control / command unit being designed to automatically move the elevator and components of the Cartesian robot along / around one and / or the other of the first to the eighth axes based on information provided by the plurality of sensors and according to a predetermined sequence of areas to be renovated and / or inspected on the wall, without having to move the movable base of the elevator.

[0057] According to an advantageous embodiment, the tool holder assembly includes:

[0058] - A first support member, which is mounted to rotate and move about the fifth axis (axis 5) on the load-bearing structure.

[0059] - A second support member, which is mounted on the first support member and is translatably movable along the sixth axis (axis 6).

[0060] - A third support member, which is mounted on the second support member and rotates about the seventh axis (axis 7).

[0061] - A fourth support member, which is mounted on the third support member and is translatably movable along the eighth axis (axis 8), and the refurbishing and / or inspection tool is used to secure it to the fourth support member.

[0062] Thanks to these supports, the tool holder assembly is mechanically robust and highly precise and reliable when moving tools. Furthermore, these supports can be composed of assembled profile elements, thereby reducing the weight of the tool holder assembly.

[0063] According to this embodiment and an advantageous variation, the robot includes an electric motor fixed to the support structure, and the output shaft of the electric motor defining the fifth axis (axis 5) is fixed to a first support member to drive the first support member to rotate.

[0064] According to this embodiment and another advantageous variant, the robot includes:

[0065] - An electric motor, which is fixed to the first support member;

[0066] - A ball screw that defines the sixth axis (axis 6) and is fixed to the first support so as to be driven to rotate by a motor of the first support;

[0067] - A nut, which together with the ball screw forms a nut system for driving the translation of the second support member.

[0068] According to this embodiment and another advantageous variant, the robot includes:

[0069] - An electric motor, which is fixed to the second support member;

[0070] - Define the shaft of the seventh axis (axis 7), which is fixed to the third support so that it can be driven to rotate by the motor of the second support, thereby driving the third support to rotate.

[0071] According to this embodiment and another advantageous variation, the robot includes a cylinder fixed to the third support, and a rod of the cylinder defining the eighth axis (axis 8) fixed to the fourth support to drive the fourth support to translate.

[0072] Therefore, the dynamics of the individual axes of the tool holder assembly can be achieved with a small number of robust, precise and reliable electrical components.

[0073] According to another advantageous embodiment, the robot includes:

[0074] - An electric motor, which is fixed to the platform of the elevator;

[0075] - A ball screw that defines the fourth axis (axis 4) and is fixed to the load-bearing structure so as to be driven to rotate by the motor of the platform;

[0076] - A nut, which is fixed to the load-bearing structure and forms a nut system with the ball screw for driving the translation of the load-bearing structure. Similarly, the dynamics of the movement of the load-bearing structure relative to the elevator can be achieved through a robust, reliable, and precise nut system connected to the electric motor.

[0077] Advantageously, the linear motion sensor used to measure the vertical unfolding of the platform is an absolute pull-wire encoder, which includes an encoder fixed to the platform and a cable mechanism, the cable mechanism including a spool fixed to the movable base, and a cable wound around the spool, the free end of the cable being fixed to the platform.

[0078] Further advantageously, the angle measuring sensor includes two first laser rangefinders fixed to the tool holder assembly at a distance from each other.

[0079] Further advantageously, the at least one linear movement sensor for measuring the horizontal movement of the tool holder assembly relative to the support structure includes a plurality of sensing sensors fixed to the support structure.

[0080] Further advantageously, the at least two sensors used to measure the distance between the tool holder assembly and the wall to be refurbished and / or inspected are two second laser rangefinders fixed to the tool holder assembly at a distance from each other.

[0081] Further advantageously, the at least two sensors used to measure the tilt of the tool holder assembly relative to the wall to be refurbished and / or inspected are two second laser rangefinders fixed to the tool holder assembly at a distance from each other.

[0082] The movable base preferably includes at least one additional steering shaft defining a ninth axis (axis 9).

[0083] According to an advantageous embodiment, the control / command unit includes: a control / command PLC connected to each of the plurality of sensors, preferably via a CAN bus; and a lift PLC connected to the control / command PLC, preferably via an Ethernet connection. The control / command PLC is designed to: on the one hand, transmit its command instructions to the lift PLC, which commands components of the lift to move along / around one and / or the other of the first to the third axes, and, if appropriate, around the ninth axis; and on the other hand, transmit its command instructions to the Cartesian robot to move the carrier structure and / or the tool holder assembly along / around one and / or the other of the fourth to the eighth axes.

[0084] Preferably, the control / command unit is designed to automatically move the movable base along / around one and / or the other of the first and second axes, and, if appropriate, around the ninth axis, once the predetermined sequence has been completed.

[0085] According to an advantageous embodiment, the robot includes a cabinet housing all electrical components and the control / command unit, the cabinet being fixed to the platform of the elevator at a longitudinal end opposite to the end where the Cartesian robot is positioned.

[0086] Advantageously, the tool holder assembly is designed to hold a shot blasting nozzle equipped with a suction hood for recovering shot, or a high-pressure water jet nozzle with a hood for re-suction of sprayed water, or a paint spray nozzle with a device for re-suction of paint not deposited on the walls of the structure.

[0087] The present invention also relates to a method for operating a robot as described above along a wall of a structure having a curved surface, particularly a structure having one or more circular cross-sections, comprising the following steps automatically executed by the control / command unit:

[0088] i / (if appropriate, via remote operation) Position the elevator, and thus the tool holder assembly holding the refurbishing tools, around the first work area opposite a given point on the wall;

[0089] ii / Use at least two measuring sensors to measure the distance and use the control unit to calculate in order to position the tool holder assembly parallel to the wall and centered around the first work area;

[0090] iii / The first work area is renovated by moving the load-bearing structure relative to the elevator and / or the tool holder assembly along a first curved strip of limited height along the wall.

[0091] iv / Once the renovation of the first work area is completed, the robot's support structure is automatically slid toward the platform of the elevator, and the elevator is retracted from the wall;

[0092] v / Repeat steps i / and iv / in one or more work areas other than the first work area until the first bend strip across the entire wall height is refurbished;

[0093] vi / moves the robot parallel to the wall by an increment to repeat steps i / to v / , thereby continuously refurbishing at least one second bend across the entire wall height immediately following the first bend.

[0094] In other words, the operating method of the present invention is performed sequentially based on information provided by installed sensors (and calibrated or corrected) to produce vertical bending operations at a limited height of the belt and then over the entire height of the belt (for cleaning, surface stripping or painting in the case of the hull or bottom of a ship), and repeats the operation along the wall to be refurbished.

[0095] By allowing remote operation of the movement of the elevator's movable base, both the base and the elevator can always be under the operator's control, thus limiting the safety constraints of using the robot.

[0096] Once the scissor lift is positioned, preferably perpendicular to the longitudinal axis of the curved wall, and the Cartesian robot is positioned relative to the wall based on measurements and calculations from an additional distance sensor, the control / command unit can execute movement commands for different axes of the tool holder assembly based on a precise, real-time understanding of the spatial position.

[0097] Finally, the invention relates to the use of the robot described above for surface peeling, preferably by abrasive jetting or water jetting, and, if appropriate, for refurbishing the hull or bottom of a vessel, or cylindrical storage tanks (such as oil storage tanks), or pipelines (especially pressure pipelines) by painting.

[0098] Therefore, the present invention mainly consists of an autonomous robot based on a scissor lift, which can be a standard scissor lift on which a Cartesian robot is mounted. The Cartesian robot's load-bearing structure can slide on the platform of the lift and support a robust, precise and reliable tool holder assembly.

[0099] Because the robot according to the invention can be implemented based on a standard scissor lift, it is not specific to a given application. Therefore, a standard scissor lift can typically lift from the ground to a height of up to 18 meters above the ground.

[0100] This robot is well-suited for renovating walls with curved surfaces, even those with significant curvature, particularly those that begin at a relatively low height above the ground.

[0101] Typically, the robot according to the invention is well-suited for refurbishing ship hulls in dry docks, where such hulls may have a large minimum radius of curvature (typically 3 to 4 m), with its lowest point at a height of 2 m above the ground and its highest point at a height of up to 10 m above the ground.

[0102] The robot, equipped with a scissor lift and a Cartesian robot, has a small footprint, making it ideal for the extremely limited accessible space around ships undergoing refurbishment, especially considering the presence of scaffolding, tools, etc. Furthermore, this small footprint allows for a wide range of activities, particularly maintenance activities around the work area operated by the robot according to the invention.

[0103] This invention has many advantages, including:

[0104] - Capable of refurbishing, especially by surface stripping, cleaning or painting curved walls, particularly large and / or highly curved circular walls, the lowest point of which may be very close to the ground, such as ship hulls in dry docks with a minimum radius of curvature of 3.8 meters, ranging from 2 meters above the ground to 10 meters above the ground.

[0105] - The robot can be easily implemented based on a standard scissor lift;

[0106] - The robot has a small footprint, which allows for refurbishment even in environments with limited accessible space and / or where simultaneous operation around it is required (such as shipyards).

[0107] - The movement of the scissor lift can be remotely controlled, making the robot safer to use;

[0108] - The movement of the Cartesian robot can be fully automated through the control / command unit, which makes the refurbishment operations performed by the tools held by the tool holder assembly of the Cartesian robot very precise and reliable.

[0109] Other advantages and features of the invention will become more apparent after reading the following detailed description of embodiments of the invention with reference to the accompanying drawings, which are provided by way of non-limiting description. Attached Figure Description

[0110] [Figure 1 ] Figure 1 This is a schematic perspective view of a robot according to the invention, used for inspecting and renovating surfaces with large curvatures, particularly circular surfaces with significant height, especially the walls of cylindrical storage tanks. Figure 1 The robot's scissor lift is shown in its fully folded position.

[0111] [ Figure 2 ] Figure 2 It is based on Figure 1 Detailed perspective view of the robot. Figure 2 The supporting structure of the Descartes robot and the device for its movement relative to the elevator platform are shown.

[0112] [ Figure 3 ] Figure 3 This is a perspective view of the Cartesian robot according to the present invention.

[0113] [ Figure 4 ] Figure 4 Repeated Figure 3 A perspective view, but only the supporting structure is shown.

[0114] [ Figure 5 ] Figure 5 This is a perspective view of the first support member of the robot's tool holder assembly, which is mounted to rotate on a load-bearing structure and supports a laser rangefinder and means for translating the second support member of the tool holder assembly.

[0115] [ Figure 6 ] Figure 6 It is a perspective view showing the load-bearing structure and the device for the first support member to rotate on the load-bearing structure.

[0116] [ Figure 7 ] Figure 7 It is a perspective view showing a first support member installed to rotate on a load-bearing structure and a second support member installed to translate on the first support member.

[0117] [ Figure 8 ] Figure 8 This is a perspective view showing the arrangement of the second support member and the third support member for rotating the tool holder assembly.

[0118] [ Figure 9 ] Figure 9 It is a perspective view of the third support and the laser rangefinder supported by the third support.

[0119] [ Figure 10 ] Figure 10It is a perspective view of the second, third, and fourth support members, the fourth support member being mounted to translate on the third support member, and refurbishment and / or inspection tools being used to secure it to the fourth support member.

[0120] [ Figure 11 ] Figure 11 This is a perspective view of the fourth support member, which is mounted to translate on the third support member, and refurbishment and / or inspection tools are used to secure it to the fourth support member.

[0121] [ Figure 12 ] Figure 12 This is a perspective view of the fourth support member, and renovation and / or inspection tools are used to attach them to the fourth support member.

[0122] [ Figure 13 ] Figure 13 This is a schematic side view of a robot according to the invention, showing the robot's scissor lift in its fully extended position, its supporting electrical cabinet, and a pull-wire encoder as a linear motion measuring sensor for measuring the vertical extension of the platform relative to a movable base.

[0123] [ Figure 14 ] Figure 14 This is a schematic diagram showing a refurbished area of ​​a cylindrical tank accessible to a robot according to the invention, the area corresponding to the most unfavorable position for robot stability.

[0124] [ Figure 15 ] Figure 15 This is an overview of the connections between the robot's position and distance sensors and the PLC control / command unit, as well as between the latter, according to the present invention.

[0125] [ Figure 16A ]、[ Figure 16B ]and[ Figure 16C ] Figures 16A to 16C This is a schematic diagram illustrating various refurbishment areas of a cylindrical storage tank accessible by a robot according to the present invention.

[0126] [ Figure 17 ] Figure 17 This is a block diagram of a method for operating a robot according to the invention to perform automated cyclical renovation of the walls of curved walls, particularly those of structures with circular cross-sections (such as cylindrical storage tanks).

[0127] [ Figure 18A ]、[ Figure 18B ] Figure 18A and Figure 18B This is a schematic diagram illustrating the steps of removing the robot according to the invention from the wall before performing an automatic cycle.

[0128] [ Figure 19A]、[ Figure 19B ]and[ Figure 19C ] Figures 19A to 19C This is a schematic diagram illustrating the steps involved in positioning the Cartesian robot relative to the work area (i.e., the area of ​​the wall to be renovated) before initiating the automatic cycle.

[0129] [ Figure 20 ] Figure 20 Various automated cycles and movement sequences in adjacent renovation zones are schematically illustrated and to be performed according to the method for operating the robot of the present invention. Detailed Implementation

[0130] It should be noted that throughout this application, the terms "above," "below," "bottom," "top," "lower," and "upper" refer to the operating configuration of the scissor lift of the robot according to the present invention. Thus, for example, the highest position of the lift platform is the highest height that can be reached relative to the movable base by maximum deployment.

[0131] It should also be noted that in all diagrams showing wheels supported by a fourth support of the tool holder assembly, these wheels should not be considered as refurbishment tools. These wheels are used for testing the curvature of walls (e.g., the walls of cylindrical tanks) to enable contact work with the wall without damaging it. These wheels should not be considered as a fourth support for directly securing inspection tools (cameras) or refurbishment tools (surface stripping, cleaning, painting). Therefore, they will not be discussed in detail below.

[0132] Figure 1 A robot 1 according to the invention is shown, which is used for inspection using a camera and / or refurbishment by surface stripping through shot blasting or high-pressure water jetting, and then, if appropriate, refurbishment as part of maintenance by painting the walls C of a cylindrical tank or ship hull.

[0133] Storage tanks or ship hulls may have multiple circular cross sections, typically at least 3.5 m in length, and be located at a height of 2 to 10 meters above the ground.

[0134] like Figure 1 As shown, robot 1 first includes a scissor lift 2. The scissor lift 2 includes, in a manner known per se, a movable base 20 having two axes 21, 22 (at least one of which is a pivot axis forming a steering axis defining a first axis "axis 1"), a motor (not shown) for translational movement defining a second axis "axis 2", and a platform 23 mounted on the movable base for vertical translational movement along a third axis "axis 3".

[0135] The lifting platform 2 used can be a commercially available standard lifting platform, especially one that can be remotely operated, i.e., controlled using a wired or wireless remote control. Typically, when its platform 23 is in the fully extended position, the lifting platform 2 can reach a height of 12 meters. The platform 23 can be raised by hydraulic cylinders arranged in the scissor lift structure.

[0136] The movable base 20 can be equipped with a stabilizer, which enables it to distribute the mass evenly on the ground and ensures high stability when fully deployed.

[0137] According to the present invention, the robot according to the present invention includes a Cartesian robot 3 mounted on a scissor lift 2.

[0138] More specifically, the Descartes robot 3 includes: a support structure 30 mounted for horizontal translation along a fourth axis "axis 4" on a platform; and a tool holder assembly 31 designed to hold refurbishment and / or inspection tools. The tools (not shown) may be shot peening nozzles fitted with suction hoods for recovering shot, high-pressure water jet nozzles with hoods for re-suction of sprayed water, or paint spray nozzles with means for re-suction of paint not deposited on the walls of the structure.

[0139] Translation along axis 4 allows the tool holder assembly 31 to be brought closer to the hull C to be refurbished. The translational travel is typically about 800 mm and is limited to less than 600 mm for safety reasons. As shown, the load-bearing structure 30 is advantageously composed of profile elements with square cross-sections, particularly those made of steel, welded together.

[0140] like Figure 2 As shown in more detail, this translation along axis 4 can be ensured by an electric motor 24 fixed to the platform and driving the lead screw 25 of the lead screw and nut system to rotate, particularly by a remote transmission device, such as a conveyor belt, wherein the nut (not visible) is fixed to the support structure 30. The platform 23 is also provided with a pair of guide rails 230, and at least a pair of sliders 300, such as two sliders, fixed to the support structure 30, can slide on the guide rails 230.

[0141] like Figure 3 As shown in more detail, the tool holder assembly 31 is mounted on the support structure 30 to rotate about a fifth axis "axis 5" orthogonal to axis 4, to translate horizontally on the support structure along a sixth axis "axis 6" orthogonal to axis 5, to rotate about a seventh axis "axis 7" parallel to axis 6, and to translate on the support structure along an eighth axis "axis 8" orthogonal to the seventh axis at axis 7.

[0142] A tool (not shown) for refurbishing and / or inspecting the wall to be refurbished is fixed to the end of the tool holder assembly 3. Preferably, for surface peeling operations, the tool is a shot peening nozzle equipped with a suction shroud for recovering shot, or a high-pressure water jet nozzle with a shroud for re-suction of sprayed water.

[0143] Rotation about axis 5 allows the tool holder assembly 31 to be oriented parallel to the hull at a travel angle typically in the range of -30° to +30°.

[0144] Translation along axis 6 will enable the tool to move horizontally for refurbishment in the horizontally moving belt, with a stroke typically up to 610 mm, which can be limited to 500 mm for safety reasons.

[0145] Rotation along axis 7 will allow the tool to be oriented parallel to the hull at an angle typically in the range of -45° to +90°.

[0146] Translation along axis 8 will allow the tool to move inward or outward relative to the hull C by a distance typically 200 mm. Therefore, this translation will allow the tool to be pressed against the hull during refurbishment operations.

[0147] According to a favorable variant, such as Figure 1 As shown, the movable base 20 may include at least one additional steering shaft 22 defining a ninth axis (axis 9). The additional steering shaft can make it easier to operate the scissor lift 2, especially in congested environments, such as renovation sites, particularly if other operations are underway nearby, especially those requiring scaffolding.

[0148] Multiple implementations are conceivable for forming the tool holder assembly 31 on the support structure 30 of the Cartesian robot 3.

[0149] according to Figures 3 to 12 In the embodiment shown, the tool holder assembly 31 consists of four supports 32, 33, 34, and 35, which are mounted to move relative to each other along / around each other's axes 5 to 8.

[0150] More precisely, the first support member 32 is mounted to rotate and move about axis 5 on the load-bearing structure.

[0151] Therefore, such as Figures 4 to 6As shown, the motor 320 is fixed to the first support member 32 to drive its rotation. The motor 320 is fixed to the load-bearing structure, and its output shaft 321 defines the axis 5. The output shaft 321 can be mounted via a bushing retainer 322 and a shaft support member 323, both of which are mounted in a mounting plate 324 spaced apart from each other and directly fixed to the load-bearing structure 30. As shown, the second support member 33 can be composed of folded metal sheets, particularly aluminum sheets, with reinforcements made of profile elements, particularly aluminum.

[0152] The second support member 33 is mounted on the first support member 32 and is movable along axis 6. For this purpose, as follows: Figures 7 to 9 As shown, the motor 330 is fixed to the first support 32, and the ball screw 331 defining the axis 6 is fixed to the first support 32 so as to be driven to rotate by the motor 330. A nut 332, such as a ball bearing, forms a nut system with the screw 331 for driving the translation of the second support 33. An elastic coupling 333 can advantageously be disposed between the output end of the shaft of the motor 330 and the screw 331.

[0153] To enable the second support member 33 to translate on the first support member 32, the first support member 32 may be provided with a pair of guide rails 325, and at least one pair of sliders 333, preferably two sliders, of the second support member 33 can slide on the guide rails 325. As shown in the figure, the second support member may consist of two metal plates, particularly aluminum plates, and have reinforcing members spaced apart from each other and connected to each other by another metal plate, particularly aluminum plate.

[0154] The third support member 34 is mounted on the second support member 33 and is rotatable about axis 7. For this purpose, as follows: Figure 8 and Figure 9 As shown, a motor 340 is fixed to a second support 33. The motor 340 can drive a shaft 341 defining an axis 7 to rotate, and the shaft is fixed to a third support 34. The shaft 341 can be mounted to rotate within a ball bearing 334 fixed to the second support 33.

[0155] The fourth support member 35 is mounted on the third support member 34 and is movable along axis 8. For this purpose, as follows: Figures 9 to 12As shown, cylinder 350 is fixed to a third support member, and rod 351 of cylinder 350, defining axis 8, is fixed to a fourth support member 35 to drive its translation. To securely guide the translation of the fourth support member 35, the fourth support member 35 may include a guide rod 352, fixed to a mounting plate 353 of the fourth support member 35, and mounted parallel to the rod 351 of cylinder 350 sliding in a ball bushing 342 fixed in the third support member 34. As shown, the third support member 34 may be in the form of a protective cage for cylinder 350, which may consist of two metal plates (particularly aluminum plates) and four metal profile rods (particularly aluminum profile rods) to ensure the rigidity of the protective cage while reducing the weight of the tool holder assembly 31.

[0156] To optimize the fourth support 35 and thus ultimately its ability to conform the supported tool to the curvature of the wall to be renovated, the support 35 is advantageously configured as two mounting plates 353, 354, hinged together by at least one universal joint device 355. A return device 356 can also be provided to return to a resting position where the two mounting plates 353, 354 are parallel to each other. These return devices 356 can consist of compression springs, for example, three compression springs distributed at 120° intervals. Therefore, through this hinged system with universal joints 355 and return devices 356, the fourth support 35, and thus the tool it supports for the renovation operation, will follow the curvature of the wall C to be renovated as closely as possible. In other words, the return device 356 allows for the attenuation of forces absorbed by the tool, absorbs surface irregularities of the wall, and, through the universal joints 355, ensures that the tool conforms to the curvature to a certain extent. As shown, the mounting plates 353, 354 can be metal plates, particularly those made of aluminum.

[0157] The inventors performed calculations to verify that the robot 1 according to the invention is stable in any working position, i.e., in the renovation position around the wall C with the curved portion.

[0158] Therefore, this verification was conducted under the most unfavorable operating conditions, i.e., robot 1 was positioned such that Cartesian robot 3 was in a working position at -90°, and support structure 30 was fully deployed, as shown below. Figure 14 As shown.

[0159] The input data to be considered is as follows:

[0160] - The mass m of the entire Cartesian robot 3, namely the mass m of the load-bearing structure and tool holder assembly 31 and all the components (motors, mechanical parts, sensors) supported by it, is set to 170 kg;

[0161] - The distance d1 between the center of gravity of the component and the center of the front wheel 21 of the elevator is set to 1840 mm;

[0162] - The applied force F of cylinder 350 is set to 483 N;

[0163] - The distance d2 to the point of force application of cylinder 350 is set to 2455 mm.

[0164] Therefore, the torque C1 generated by the weight of the Cartesian robot 3 applied to the center of wheel 21 is equal to mx d1, which is 3100 Nm.

[0165] The torque C2 generated by cylinder 350 on the hull is equal to F x d2, which is 1186 Nm.

[0166] Therefore, the Descartes robot 3 generates a total torque Ct of 4286 Nm on the elevator 2.

[0167] According to the scissor lift manufacturer's data, the lift mass is 2940 kg, the distance between the lift's center of gravity and the center of the front wheel 21 is 1015 mm, and the torque CNac generated by the weight of the lift 2 is equal to 29274 Nm, which is approximately 6.8 times the torque Ct, meaning the safety factor is the same.

[0168] It should be noted that, for the purpose of calculation, the inventors assumed that the center of gravity of the elevator is located at the physical center of elevator 2.

[0169] Therefore, the torque generated by the weight of the scissor lift is large enough to support the weight of the Cartesian robot 3 alone when the supporting structure 30 is fully deployed. Therefore, no additional counterweight is needed for the lift.

[0170] The robot 1 according to the invention is also equipped with a plurality of sensors 5, which, on the one hand, accurately compensate for the deficiencies of the equipment provided by the scissor lift manufacturer, and on the other hand, measure all the movements of the Cartesian robot in order to position the various parts of the Cartesian robot 3 in space with high precision, thereby positioning the tool with high precision.

[0171] Therefore, at least one linear motion sensor 50 enables the measurement of the vertical unfolding of the platform 23 relative to the movable base 20 along axis 3. Figure 13 As shown, the sensor 50 is preferably in the form of an absolute draw-wire encoder, which allows for real-time measurement of the height of the platform 23 relative to the movable base 20. This type of sensor changes continuously as the scissor lift rises, and the measurement can be calibrated according to the actual deployment of the platform 23. Furthermore, the draw-wire encoder enables accurate measurement while also providing mechanical robustness.

[0172] The absolute pull-wire encoder 50 includes an encoder 500 fixed to a platform and a cable mechanism, the cable mechanism including a drum 501 fixed to a movable base 20, and a cable 502 wound around the drum 501, the free end of the cable being fixed to the platform 23.

[0173] At least one angle measuring sensor 51 enables the measurement of the angular position of the tool holder assembly relative to the support structure about axis 5. For example... Figure 4 and Figure 6 As shown, it can advantageously consist of multiple sensing sensors 51, which are fixed to the mounting plate 322 of the support structure. These sensing sensors 51, arranged at intervals between each other, allow for initialization and tracking of the rotation process around axis 5 with high accuracy.

[0174] At least two sensors 52 and 53 enable the measurement of the distance between the tool holder assembly 31 and the wall C to be refurbished and / or inspected. Figure 5 and Figure 7 As shown, these sensors can advantageously be two second rangefinders 52, 53, which are fixed at a certain distance from each other on the first and second supports 33 of the tool holder assembly, i.e., fixed along axis 6.

[0175] At least two distance measuring sensors 54, 55 enable the measurement of the tilt of the tool holder assembly 31 relative to the wall to be refurbished and / or inspected. Figure 9 and Figure 10 As shown, these sensors can be two second rangefinders 54 and 55, which are fixed at a certain distance from each other on the third support 34 of the tool holder assembly, i.e., so as to rotate and move about axis 7.

[0176] All sensors 50 to 55 described above and installed in the scissor lift 2 and the Cartesian robot 3 enable the supply of useful information to the dedicated PLC of the control / command unit of the robot according to the invention for determining the position of the tool in space.

[0177] The robot 1 according to the invention finally includes a control / command unit 10 connected to a plurality of sensors 50 to 53 and means for moving the components of the elevator and the tool holder of the Cartesian robot along / around the first to eighth axes. The control / command unit is designed to automatically move the components of the elevator and the Cartesian robot along / around one and / or the other of the first to eighth axes based on information provided by the plurality of sensors and according to a predetermined sequence of areas to be refurbished and / or inspected, without having to move the movable base 20 of the elevator.

[0178] Figure 15An advantageous implementation of the control / command unit architecture 12 is shown: it includes a main PLC 10 connected to each of the multiple sensors 5. These connections are preferably CAN bus connections.

[0179] The main PLC 10 is also connected to the lift PLC 11, which is already integrated into the lift 2, multiple devices for moving the Cartesian robot, and the installed refurbishment tools.

[0180] During robot operation, the main PLC 10 communicates with the PLC 11 of the elevator 2 to control the vertical unfolding or folding of the platform 23 relative to the movable base 20 based on the renovation work area pre-selected on the wall C.

[0181] The main PLC 10 also controls the five axes of the Cartesian robot 3, namely axes 4 to 8, based on feedback from various sensors 50 to 55 and the selected working area.

[0182] Finally, the main PLC 10 controls each refurbishment tool O and related workstations based on the trajectory and tool characteristics (surface stripping via shot peening, water jetting, coating, etc.).

[0183] The electrical network of robot 1 can be centralized within a single electrical cabinet 24 containing all electrical components. For example... Figure 3 As shown, for reasons of mass distribution and floor space requirements, the cabinet 24 is advantageously fixed to the platform 23 of the elevator 2, preferably on the opposite side of the Cartesian robot 3. The cabinet 24 can specifically accommodate the main PLC 10 for controlling the robot and its associated input and output boards, the transmission and starter for controlling various motors (particularly electric motors 320, 330, 340 and cylinder 320), power supplies, and transformers, thereby providing the different voltages required to power the components. Furthermore, the cabinet 24 can accommodate a radio controller connected to the PLC, which can control the robot when necessary. Finally, various components for protecting the equipment, such as circuit breakers and fuses, or relays and safety relays, can be installed in the cabinet 24.

[0184] The operation of robot 1, as just described, allows it to follow the contour of wall C by moving from the top to the bottom in all possible configurations, such as the following locations:

[0185] - Robot 1 is in the upper working position, with the tool orientation at -45° ( Figure 16A );

[0186] - Robot 1 is in a vertical working position, with the tool orientation at 0° ( Figure 16B );

[0187] - Robot 1 is in the lower working position, with the tool orientation at +90° ( Figure 16C ).

[0188] The working area Z covered by the Cartesian robot 3 corresponds to a vertical band of width l and height H defined by axis 6 (horizontal movement), the height of which is based on the extension along axis 4 (translation of the supporting structure 30) and the travel along axis 3 (deployment of platform 23). Work is performed horizontally from top to bottom. For reference, width l can be equal to 200 mm, and height H approximately 610 mm.

[0189] The operation of robot 1 can be automatically executed by control / command unit 10 to follow the contour of wall C, starting from its upper part and moving downward to the lowest part of the wall.

[0190] The operator can remotely operate the robot to move the elevator 2 closer to or further away from the hull between two cycles limited by the deployment of the support structure 30 along axis 4.

[0191] Manual control is also provided, allowing users to move the elevator 2 and the Cartesian robot 3 as needed. Two manual control modes are available, for example, using a dual position selector implemented on the remote control:

[0192] - So-called local control uses the original remote control of elevator 2 to execute and take over all basic commands of the elevator;

[0193] - So-called remote control is performed from the radio controller connected to the main PLC 10.

[0194] This remote control mode allows operation of the Descartes robot 3 and direct control of the elevator 2.

[0195] The fully automated operation cycle of Descartes Robot 3 enables Robot 1 to autonomously execute a complete refurbishment cycle (surface stripping, cleaning, painting), as shown in the diagram below. Figure 17 As shown.

[0196] This cycle proceeds according to the following sequence:

[0197] (0) Initialization steps PLC 10 is waiting for the operator to start the automatic mode.

[0198] (1) Steps to select work area Z The operator indicates the desired work area Z to ensure proper initialization of the axis positioning, covering the largest possible surface area. There are two possible scenarios:

[0199] - If the work area is located on the upper part of the hull C, axis 5 will extend fully, and as the platform 23 of the elevator is lowered, axis 5 will have to retract.

[0200] - If the work area is located under the hull C, the load-bearing structure 30 (axis 4) is completely folded and must be unfolded as the platform 23 of the elevator descends.

[0201] (2) Operator guidance steps (optional) Operators can correctly position elevator 2 and Descartes robot 3 before starting renovation work.

[0202] (3) Calculate the position of Descartes robot 3 This calculation allows the robot to return to the positioning setpoint, enabling it to correctly position itself relative to the hull C and the selected work area Z.

[0203] (4) Verify accessible location setpoints The verification process involves calculating the returned setpoints to ensure that the Cartesian robot 3 can physically reach these setpoints. If this is not the case, the loop stops, and the elevator 2 must be repositioned so that the robot 3 can refurbish the required area.

[0204] (5) Positioning robot The robot correctly positions itself facing the selected work area Z.

[0205] (6) Start the operation cycle of robot 3 The Cartesian robot 3 performs a refurbishment operation by extending tool O and moving at a constant speed along the horizontal translation X parallel to the central axis of the hull C to cover the band Z of width l.

[0206] (7a) Folding (optional) load-bearing structure 30 When robot 1 is in Figure 16A When the position is shown, tool O must be retracted before lowering platform 23 to the next work area. If retraction of the support structure 30 is not required, this step can be skipped to save cycle time.

[0207] (7b) Move elevator 2 away from hull C If it is necessary to retract the supporting structure 30 and the latter reaches the end of its stroke, the cycle stops, and the operator must manually control the elevator 2 to move it away from the hull C.

[0208] (8a) Lower the elevator 2 Robot 3 descends until it reaches the next work area Z, until the elevator is fully lowered or reaches the stop point.

[0209] (8b) End the loop The termination is activated when platform 23 of elevator 2 is fully lowered. The operator needs to reset the program to continue using the robot, and initialization step (0) is activated until the next automatic cycle begins.

[0210] As described above, the operator must select the work area Z at the start of the cycle to correctly initialize the axes of robot 1. This step allows the PLC to be instructed to retract at the start of the cycle. Figure 18A ) or extend ( Figure 18B ) Supporting structure 30 (axis 4).

[0211] Optional operator guidance steps enable the operator to correctly position robot 1 so that a cycle can begin under the correct conditions. Therefore, the operator must be able to control robot 1 axis-by-axis by specifically indicating the required features and positioning distances: the robot must be positioned facing the work area Z, and the operator must orient tool O parallel to wall C. Operator guidance can be given from a separate HMI (such as a monitor) or a monitor on a radio controller.

[0212] The steps of calculating the robot's localization enable the robot to be correctly positioned relative to its work area, thereby processing the lx H strip uniformly over the entire requested work length.

[0213] Figure 19A , Figure 19B and Figure 19C The intermediate steps for repositioning the robot toward the requested work area are shown.

[0214] Since the curvature diameter of wall C is approximately several meters, wall C can be considered a plane on the scale of the working area, which is on the order of decimeters, as shown in the figure.

[0215] The positioning calculation is based solely on information returned by rangefinders 54 and 55, located at the top and bottom respectively, and the known orientation of axis 7 in the loop. This data allows the slope of hull C to be determined, thereby determining the orientation setpoint of axis 7.

[0216] Next, trigonometric equations were used to determine the vertical and horizontal offsets. These calculations returned satisfactory positioning results, with a positioning accuracy of approximately 1 cm facing the work area.

[0217] Once the robot is correctly oriented and positioned in the work area, the cycle of the Cartesian robot 3 can begin, which involves processing the horizontal strip of l x H.

[0218] Then, the calculations required to move the robot to the next work area follow the same logic as those performed by the robot that performs Z-positioning towards the work area.

[0219] The automatic cycle ends once all required areas have been processed, or once the platform 23 of the elevator has been lowered to its minimum height.

[0220] The operator then controls the elevator 2 to move longitudinally along the hull C to position the refurbishment tools at the edge of the already refurbished space. For example, a laser pointer can be used for visual verification of the movement increments.

[0221] Then, the tool is moved without changing the orientation of the movable base 20 of the elevator 2.

[0222] Then, the operator starts the automatic cycle according to the above instructions.

[0223] Figure 20 The sequence of processing (refurbishment) and movement steps of robot 1 along hull C is shown.

[0224] Other variations and modifications of the robot according to the invention may be considered without departing from the scope of the invention.

[0225] For example, other types of sensors besides the aforementioned sensors can be used as devices to measure various moving axes of components in scissor lifts and Cartesian robots.

Claims

1. A robot (1) for renovating and / or inspecting at least one wall of a structure having a curved surface, particularly at least one wall of a structure having one or more circular cross-sections, by surface peeling and / or applying paint, said robot comprising: - Scissor lift (2), the scissor lift comprising the following components: A movable base (20) comprising at least one steering shaft defining a first axis (axis 1) and a translational movement engine defining a second axis (axis 2). Platform (23), the platform is installed on the movable base and can be vertically translated along the third axis (axis 3). - Cartesian robot (3), the Cartesian robot comprising: The supporting structure (30) is installed on the platform to translate horizontally along the fourth axis (axis 4). A tool holder assembly (31) is designed to hold a refurbishing and / or inspection tool (O), the tool holder assembly being mounted on the support structure to rotate about a fifth axis (axis 5) orthogonal to the fourth axis (axis 4), to translate horizontally on the support structure along a sixth axis (axis 6) orthogonal to the fifth axis (axis 5), to rotate about a seventh axis (axis 7) parallel to the sixth axis (axis 6) on the support structure, and to translate horizontally on the support structure along an eighth axis (axis 8) orthogonal to the seventh axis (axis 7); - Multiple sensors (5), said multiple sensors including: At least one linear motion sensor (50) is configured to measure the vertical unfolding of the platform relative to the movable base along the third axis (axis 3). At least one angle measuring sensor (51) is configured to measure the angular position of the tool holder assembly relative to the support structure about the fifth axis (axis 5). At least two distance measuring sensors (52, 53) are configured to each measure the distance between a point on the tool holder assembly and the wall to be refurbished and / or inspected. At least two distance measuring sensors (54, 55) are configured to measure the tilt of the tool holder assembly relative to the wall to be refurbished and / or inspected. - A control / command unit (10), connected to the plurality of sensors and means for moving the elevator and components of the Cartesian robot along / around the first axis to the eighth axis, the control / command unit being designed to automatically move the elevator and components of the Cartesian robot along / around one and / or the other of the first axis to the eighth axis based on information provided by the plurality of sensors and according to a predetermined sequence of areas to be renovated and / or inspected on the wall, without having to move the movable base of the elevator.

2. The robot (1) as claimed in claim 1, wherein, The tool holder assembly includes: - A first support member, which is mounted to rotate and move about the fifth axis (axis 5) on the load-bearing structure. - A second support member (33), which is mounted on the first support member and can translate along the sixth axis (axis 6). - A third support member, which is mounted on the second support member and rotates about the seventh axis (axis 7). - A fourth support member, which is mounted on the third support member and is translatably movable along the eighth axis (axis 8), and the refurbishing and / or inspection tool is used to secure it to the fourth support member.

3. The robot (1) of claim 2, comprising an electric motor fixed to the support structure, and an output shaft of the electric motor defining the fifth axis (axis 5) fixed to the first support member to drive the first support member to rotate.

4. The robot (1) as described in claim 2 or 3, comprising: - An electric motor, which is fixed to the first support member; - A ball screw that defines the sixth axis (axis 6) and is fixed to the first support so as to be driven to rotate by a motor of the first support; - A nut, which together with the ball screw forms a nut system for driving the translation of the second support member.

5. The robot (1) as claimed in any one of claims 2 to 4, comprising: - An electric motor, which is fixed to the second support member; - Define the shaft of the seventh axis (axis 7), which is fixed to the third support so that it can be driven to rotate by the motor of the second support, thereby driving the third support to rotate.

6. The robot (1) of any one of claims 2 to 5, comprising a cylinder fixed to the third support member, and a rod of the cylinder defining the eighth axis (axis 8) fixed to the fourth support member to drive the fourth support member to translate.

7. The robot (1) as described in any of the preceding claims, comprising: - An electric motor, which is fixed to the platform of the elevator; - A ball screw that defines the fourth axis (axis 4) and is fixed to the load-bearing structure so as to be driven to rotate by the motor of the platform; - A nut, which is fixed to the load-bearing structure and forms a nut system with the ball screw for driving the translation of the load-bearing structure.

8. The robot (1) as claimed in any of the preceding claims, wherein, The linear motion sensor used to measure the vertical unfolding of the platform is an absolute pull-wire encoder, which includes an encoder fixed to the platform and a cable mechanism. The cable mechanism includes a spool fixed to the movable base, and a cable wound around the spool, with the free end of the cable fixed to the platform.

9. The robot (1) as claimed in any of the preceding claims, wherein, The angle measurement sensor includes two first laser rangefinders fixed at a certain distance from each other on the tool holder assembly.

10. The robot (1) as claimed in any of the preceding claims, wherein, The at least one linear motion sensor for measuring the horizontal movement of the tool holder assembly relative to the support structure includes a plurality of sensing sensors fixed to the support structure.

11. The robot (1) as claimed in any of the preceding claims, wherein, The at least two distance measuring sensors used to measure the two distances between the tool holder assembly and the wall to be refurbished and / or inspected are two second laser rangefinders (52) fixed to the tool holder assembly at a certain distance from each other.

12. The robot (1) as claimed in any of the preceding claims, wherein, The at least two distance measuring sensors (53) used to measure the tilt of the tool holder assembly relative to the wall to be refurbished and / or inspected are two second laser rangefinders (53) fixed to the tool holder assembly at a distance from each other.

13. The robot (1) as claimed in any of the preceding claims, wherein, The movable base (20) includes at least one additional steering shaft defining a ninth axis (axis 9).

14. The robot (1) as claimed in any of the preceding claims, wherein, The control / command unit includes: a control / command PLC (10) connected to each of the plurality of sensors, preferably via a CAN bus; and a lift PLC (11) connected to the control / command PLC, preferably via an Ethernet connection, the control / command PLC being designed to: on the one hand, transmit its command instructions to the lift PLC, which commands the components of the lift to move along / around one and / or the other of the first to the third axes, and, if appropriate, around the ninth axis; and on the other hand, transmit its command instructions to the Cartesian robot to cause the carrier structure and / or the tool holder assembly to move along / around one and / or the other of the fourth to the eighth axes.

15. The robot (1) as claimed in any of the preceding claims, wherein, The control / command unit is designed to automatically move the movable base along / around one and / or the other of the first and second axes, and, if appropriate, around the ninth axis, once the predetermined sequence has been completed.

16. The robot (1) as claimed in any of the preceding claims, comprising a cabinet housing all electrical components and the control / command unit (10), the cabinet being fixed to the platform of the elevator at a longitudinal end opposite to the end where the Cartesian robot is positioned.

17. The robot (1) as claimed in any of the preceding claims, wherein, The tool holder assembly is designed to hold a shot blasting nozzle equipped with a suction hood for recovering shot, or a high-pressure water jet nozzle with a hood for re-suction of sprayed water, or a paint spray nozzle with a device for re-suction of paint not deposited on the walls of the structure.

18. The robot as claimed in any of the preceding claims is used for surface peeling, preferably by abrasive jetting or water jetting, and, if appropriate, for refurbishing the hull or bottom of a vessel by painting, or cylindrical storage tanks, such as oil tanks, or pipelines, particularly pressure pipelines.

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