A movable robot unit for performing industrial processing operations within a work environment, and an associated stabilizer arm having stationary feet.

Abstract

A movable robot unit (1) configured to perform industrial processing operations within a work environment, - Multiple retractable stationary feet (8) supported by stabilizer arms (9) extending from the frame (6) of the vehicle (3) Equipped with, -Each stabilizer arm (9) includes an automatic leveling assembly (13) associated with a retractable stationary foot (8), which is configured to detect the contact position between the stationary foot (8) and the ground and to stop the downward movement of the foot (8) if it contacts the ground before reaching the end of its stroke position. Movable robot unit (1).

Description

Technical Field

[0001] [Description text] The present invention generally relates to - a multi-axis manipulator robot holding an operation head configured to perform one or more of the above operations, - a frame holding the above robot, and a vehicle comprising advancing means configured to move a vehicle on the ground and refers to a mobile robot unit comprising the same.

[0002] The mobile robot unit may be configured to perform construction and / or assembly and / or maintenance and / or repair and / or inspection operations within a work environment, such as within a hull or a floating or semi-submersible offshore structure, or inside an aircraft or a building structure, or in an outdoor space.

[0003] The mobile robot unit may be configured to perform any type of industrial processing using continuous or discontinuous processes, such as welding, sealing, riveting, nailing, screwing, cutting, sealant deposition, material addition by additive manufacturing techniques, and the like.

[0004] [Prior Art] A mobile robot unit of the type shown above, comprising a vehicle holding a multi-axis manipulator robot, is disclosed, for example, in document CN 107 030 349 A. In fact, this document shows a mobile robot unit configured to perform welding operations, particularly in an internal work environment, inside a hull.

[0005] Furthermore, there are various known solutions for creating stabilizing means to assist the wheels of the vehicle, which can be actuated by electric or hydraulic actuators.

[0006] The present invention stems from the need to manufacture the above-described type of mobile robot unit that enables the vehicle to be stabilized in a highly effective manner, even when the vehicle is moving over uneven ground such as metal surfaces or surfaces made of other materials, and soil.

[0007] [Purpose of the invention] The object of the present invention is to manufacture the above-described type of mobile robot unit that generally has high flexibility and efficiency characteristics with respect to stabilizing a vehicle before processing is performed.

[0008] A further object of the present invention is to manufacture a mobile robot unit of the type described above that is extremely intuitive to the operator controlling it, thereby providing a stabilization means that is particularly simple to implement.

[0009] A further objective of the present invention is to make the movement of a movable robot unit extremely easy, even when passing through a space with a limited width. [Overview of the Initiative]

[0010] To achieve these objectives, the present invention, for the purpose of this purpose, has a movable robot unit having features that form the subject matter of one or more of the following claims, which form an integral part of the technical teachings provided herein in connection with the present invention.

[0011] In particular, the object of the present invention is realized by a movable robot unit having the features described in appended claim 1. [Brief explanation of the drawing]

[0012] Further features and advantages of the present invention will become apparent from the following description with reference to the accompanying drawings, which are provided merely as non-limiting examples: [Figure 1] This is a perspective view showing a preferred embodiment of the vehicle according to the present invention. [Figure 2]This is a cross-sectional view showing some of the vehicle's features related to each stabilizer arm. [Figure 3] This is a cross-sectional view showing some of the vehicle's features related to each stabilizer arm. [Figure 4] This perspective view shows further features of the stabilizer arm, which allows a vehicle to pass through a space with limited width. [Figure 5] This perspective view shows further features of the stabilizer arm, which allows a vehicle to pass through a space with limited width. [Figure 6A] This is a schematic cross-sectional view at an enlarged scale, showing portions of the stabilizer arm in both the free, non-blocked position and the final blocked position. [Figure 6B] This is a schematic cross-sectional view at an enlarged scale, showing portions of the stabilizer arm in both the free, non-blocked position and the final blocked position. [Modes for carrying out the invention]

[0013] The following description provides various specific details intended to provide a deeper understanding of one or more embodiments. Embodiments may be produced without one or more of these specific details, or using other methods, components, materials, etc. In other cases, known structures, materials, or operations are not shown or described in detail, in order to avoid obscuring the various aspects of the embodiments.

[0014] In this description, the phrase "an / one embodiment" indicates that a particular configuration, structure, or feature described in relation to that embodiment is included in at least one embodiment. Therefore, phrases such as "in one embodiment," which may appear in various parts of this description, do not necessarily refer to the same embodiment.

[0015] Furthermore, certain forms, structures, or features may be appropriately combined in one or more embodiments and / or associated with the embodiments in a manner different from that shown herein. Thus, for example, features illustrated in connection with a figure herein may be applied to one or more embodiments illustrated in a different figure.

[0016] The reference signs shown herein are merely for convenience and thus do not limit the scope of protection or the scope of the embodiments.

[0017] Particularly referring to FIG. 1, reference sign 1 indicates a movable robot unit configured to perform industrial processing operations in a work environment, such as construction and / or assembly and / or maintenance and / or repair and / or inspection in the work environment.

[0018] The movable robot unit 1 may be configured to perform any type of processing using continuous / discontinuous processes, such as welding, sealing, riveting, nailing, screwing, cutting, sealant deposition, material addition by additive manufacturing techniques, and the like.

[0019] FIG. 1 shows an embodiment relating to a movable robot unit 1 for performing a welding operation, particularly arc welding. However, as shown above, since the present invention is applicable to any type of industrial processing using continuous or discontinuous processes, this example should not be construed as being at all limiting.

[0020] According to the present invention, the movable robot unit 1 includes a multi-axis manipulator robot 2 that holds an operation head 4, and a vehicle 3 on which the robot 2 is mounted. The operation head 4 includes processing means configured to perform a plurality of construction and / or assembly and / or maintenance and / or repair operations in a work environment.

[0021] In a preferred embodiment, the work environment consists of a hull structure, and the movable robot unit 1 is designed to perform the assembly of parts of the hull under construction.

[0022] Referring to FIG. 1 in which a movable robot unit 1 is shown, robot 2 is a multi-axis manipulator robot having a base 2' and a column rotatably mounted on the base 2' about an axis oriented in a first vertical direction. Robot 2 has a 2'' arm articulatedly mounted on the column about a second axis oriented in a horizontal direction; reference numeral 2''' indicates a front arm mounted on the 2'' arm. The front arm 2''' is also articulatedly connected about a third axis oriented in a horizontal direction; the front arm 2'' also has the possibility of rotating about its longitudinal axis, and at its end, there is mounted a wrist portion mounted with the possibility of rotating about two mutually perpendicular axes. According to techniques known per se, each of the six axes of robot 2 is controlled by a respective electric motor. The electric motors of robot 2 are controlled in a manner known per se by an electronic control unit. At the distal end of the wrist portion of robot 2, there is a flange for attaching an operating head 4 that holds processing means for performing operations using a continuous or discontinuous process. Preferably, the attachment flange is a flange with sensors to avoid any collision with external objects.

[0023] In the embodiment shown in FIG. 1, the operating head 4 comprises a welding torch 5 configured to perform arc welding (MIG / MAG) using a metal under gas protection. Of course, the present invention also relates when welding means configured to perform other types of welding are provided (for example laser welding, resistance welding, etc.).

[0024] As previously shown, the multi-axis manipulator robot 2 is held by a vehicle shown generally by reference numeral 3.

[0025] Referring again to Figure 1, the vehicle 3 comprises a frame 6 and a forward means 7 configured to move the vehicle on the ground. Preferably, the forward means 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 forward means 7.

[0026] In a preferred embodiment of the present invention, the vehicle 3 is configured to be guided by a wire or remotely controlled by an operator O. However, it should be noted that the vehicle 3 may be configured to move automatically in a predetermined or programmed manner to autonomously reach various zones of the work area where various processing operations are to be performed.

[0027] According to further features shown in Figure 1, the mobile robot unit 1 may be mechanically connected to a service trolley 10 in a trailer configuration. Preferably, the latter has at least one support section designed to support several components for controlling the unit 1, including a human-machine interface (HMI) 12 configured to allow the operator O to program and control work cycles, at an ergonomic height for the operator O.

[0028] According to the basic features of the present invention, the vehicle 3 comprises a plurality of stationing feet 8, each supported by stabilizer arms 9 extending from the frame 6. Preferably, the stabilizer arms 9 are positioned symmetrically with respect to the centerline of the movable robot unit 1, creating a total of four stabilizing points for the vehicle on the ground.

[0029] As described in detail below and partially shown in Figure 1, the stabilizer arm 9 is configured to be movable between a lowered horizontal position that allows contact with the ground by the stationing foot 8, and a raised position that extends substantially perpendicular to the ground, allowing the vehicle 3 to easily pass through a space of limited width. In other words, as described below, the stabilizer arm 9 is articulated to each support portion 6' of the frame 6 so that it can rotate around an articulation axis and create various operating positions as needed.

[0030] According to the basic features of the present invention, when the stabilizer arms 9 are in a lowered horizontal position, the stationing feet 8 can be operated to change their protrusions relative to the stabilizer arms 8 that support them, thereby achieving contact with the ground. In other words, the stationing feet 8 are retractable and configured to be movable between an elevated position substantially close to each arm 8 (Figure 2) and a lowered position further away from each arm 8 (see Figure 3), and vice versa.

[0031] According to a further specific feature of the present invention, each stabilizer arm 9 is provided with an automatic leveling assembly 13 associated with a retractable stationary foot 8, which is configured to detect the contact position between the stationary foot 8 and the ground and to stop the downward movement of the foot 9 if it makes contact with the ground before reaching the stroke end position. In this view, to control the operation of the automatic leveling assembly 13, the movable robot unit 1 is provided with at least one electronic control unit configured and programmed to transmit control signals to the assembly 13 in accordance with relevant commands given by an operator.

[0032] These features relating to the automatic leveling of the stationing foot 9 are important in working environments with uneven ground to ensure effective stabilization of the vehicle before robotic processing is carried out, even under unfavorable conditions.

[0033] Figures 2 and 3 are cross-sectional views showing preferred embodiments of the arm 9 and associated automatic leveling assembly 13. In particular, Figure 2 shows the stabilizer arm 9 with the stationing foot 8 in a raised position relative to the ground, while Figure 3 shows the same stabilizer arm 8 with the stationing foot 9 in a lowered position for contact with the ground.

[0034] Referring to this embodiment, the automatic leveling assembly 13 is - A screw-nut coupling including a screw 14 extending axially along the stabilizer arm 8, and a nut screw 15 slidably engaged on the screw 14; - At least one actuator 16 for driving the rotation of the screw 14; - A bushing 17 that is freely movable along the screw 14 and positioned at a distance from the nut screw 15; - At least one connecting element 18 provided for mechanically connecting the bushing 17 and the nut screw 15 in such a manner that the nut screw and bushing slide integrally along the screw following the operation of the actuator 16; - An elastic element 19 interposed between the nut screw 15 and the bushing 17; Here, the bushing 17 is connected to the stationary foot 8 by a foot kinematic drive mechanism 20 configured to drive the movement of the foot 8 between a raised position relative to the ground and a lowered position in contact with the ground (and vice versa), and - To stop the downward movement of the actuator 16 and the foot before the stroke end position of the nut screw 15 is reached, the system may include at least one sensor 21 adapted to detect the proximity of the nut screw 15 and the bushing 17 following contact between the stationary foot 8 and the ground.

[0035] According to these features, in order to initiate the lowering operation of the foot 8, the electronic control unit sends a control signal to the actuator 16. During the lowering operation of the foot 8, which is caused by the operation of the screw-nut screw mechanism, if the foot 8 comes into contact with the ground, the bushing 17 is mechanically connected to the foot 8 by the drive mechanism 20 of the foot kinematic, so the mechanical resistance generated by the contact between the foot 8 and the ground causes the bushing 17 to stop at a specific position along the screw. After the bushing 17 is locked, the actuator 16 continues to rotate the screw 14 until it reaches a contact position—or at least a proximity position—between the nut screw 15 and the bushing 17. The sensor 21 detects this contact position and, as a result, sends a warning signal to the electronic unit to stop the operation of the actuator 16.

[0036] In one or more embodiments, the sensor 21 is a contact sensor or proximity sensor configured to detect contact—or proximity exceeding a threshold—between the nut screw 15 and the bushing 17. In this case, the contact sensor 21 is configured to transmit a relevant signal to an electronic control unit, which receives the signal and is programmed to control the stopping of the actuator 16 before the nut screw 15 reaches its stroke end position.

[0037] In one or more embodiments, the actuator 16 is an electric gear motor axially connected to the screw 14. The actuator 16 is advantageously positioned along the end portion of a stabilizer arm 9 fixed to a support portion 6' of the frame 6.

[0038] In one or more embodiments, the mechanical connecting element 18 between the nut screw and the bushing is provided by a plurality of connecting screws radially arranged around the screw 14 and extending axially between the bushing 17 and the nut screw 15, such that the bushing 17 slides integrally along the screw 15 following the translational movement of the nut screw 15. Naturally, the translation of the bushing 17 following the movement of the nut screw 15 occurs in both operating directions (i.e., from left to right in Figure 2 for lowering the foot 8, and from right to left in Figure 3 for raising the foot 8).

[0039] In one or more embodiments, the elastic element 19 is a spring mounted axially along the screw 14 between the nut screw 15 and the bushing 17 such that when the nut screw 15 begins an approach stroke toward the bushing 17, the spring tends to compress, thereby suppressing contact between the nut screw 15 and the bushing 17. From this perspective, the sensor 21 may also be configured to detect spring compression exceeding a predetermined value and, at the same time, send a warning signal to the unit controller E to stop the actuator 16. It should also be noted that the electronic unit E may be configured to continue operating the actuator 16 for a limited time after the signal from the sensor 21 to ensure that the striking surface of the forward means 7 separates from the ground.

[0040] As previously shown, the bushing 17 is connected to the stationary foot 8 by a foot kinematic drive mechanism 20, which is configured to drive the movement of the foot 8 between a raised position relative to the ground and a lowered position in contact with the ground (and vice versa).

[0041] In one or more embodiments, as shown in Figures 2 and 3, the drive mechanism 20 of the foot kinematic is a pantograph mechanism comprising a pair of levers that are substantially connected to each other and pivotably around an articular axis I oriented laterally with respect to the longitudinal direction of the stabilizer arm 9.

[0042] More specifically, each pair of levers is: - A first lever 22 having a lower end that holds the stationary foot 8 and an upper end connected to a bushing 17 that is freely movable along the screw 14; - A second lever 23 has a lower end that pivots relative to the first lever 22 and an upper end that pivots relative to the end of the stabilizer arm 9, at a position substantially intermediate to the first lever. It may include.

[0043] In light of the configuration shown above, the drive mechanism 20 is substantially Y-shaped, with the lower end of the mechanism defined by the stationary foot 8, while the upper end of the mechanism, which is positioned with space between it, is connected to the bushing 17 and the end of the stabilizer arm 9, respectively.

[0044] Therefore, in accordance with the features previously described, the movable robot unit 1 is designed to ensure automatic stabilization operation on any type of surface, even uneven, without requiring operator attention to stop the stationary foot 8 before the stroke end position.

[0045] As previously shown, the stabilizer arm 9 is configured to be movable between a lowered horizontal position that allows contact with the ground by the stationing foot 8, and a raised position that substantially extends along the vertical direction relative to the ground, allowing the vehicle 3 to easily pass through a space of limited width.

[0046] Figures 4 to 6B illustrate various features related to these features, which are aimed at minimizing the size of Unit 1 while Vehicle 1 is in motion.

[0047] According to the first feature, each stabilizer arm 9 is provided with locking means that can be activated to lock the arm 9 in 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.

[0048] In one embodiment, as shown in Figures 4 and 5, the locking mechanism of each arm 9 may include at least one adjustment lever 24 suitable for locking the arm 9 in a lowered horizontal position and unlocking the arm 9 from that position before moving it to its raised vertical position. The lever 24 controls the movement of a locking element 25 designed to lock the arm 9 in the lowered horizontal position. The locking element 25 may be made in the form of a locking pin that can be fixed within its respective locking seat. Thus, when the stabilizer arm 9 is moved from the raised position toward the horizontal stabilized position during operation, upon reaching the final horizontal position, the lever 24 must be actuated to lock the arm 9 in that position. Similarly, before moving the stabilizer 9 toward the raised position, the adjustment lever 24 must be actuated to release the locking element 25.

[0049] Similarly, the locking mechanism may further include additional adjustment elements 29 suitable for locking each stabilizer arm 9 in an elevated vertical position.

[0050] Further features indicate that each stabilizer arm 9 may be equipped with an elastic resistance mechanism adapted to contact at least one portion of the arm 9 during the final phase of the arm 9's descent from the raised position to the lowered horizontal position. This elastic resistance mechanism is designed to inform the operator that the arm has actually reached the final horizontal position before activating the locking mechanism.

[0051] According to the embodiments shown in Figures 5 to 6B, the elastic resistance mechanism is contained within the support portion 6' of the frame 6, which is suitable for supporting the stabilizer arm 9.

[0052] This mechanism may include a cam element 26 operably associated with a compression resistance spring 27 extending along a horizontal direction substantially parallel to the longitudinal axis of the arm 9 in the lowered horizontal position. The cam element 26 is pivotally connected around the articulation axis II and rotates from the maximum space raised position shown in Figure 6A to the minimum space lowered position shown in Figure 6B, and vice versa. In the raised position, the cam element 26, for example having a substantially trapezoidal shape, is configured to hold the stabilizer arm 9 slightly elevated relative to its final horizontal position through contact between the upper portion 26' of the cam element 26 projecting toward the arm 9 and the lower surface of the arm 9. Therefore, in order to lock the arm 9 in the final lowered position, the operator must apply final pressure to the arm 9 to overcome the resistance of the cam element 26 and the spring 27 associated with it.

[0053] As further features shown in Figures 6A and 6B, each stabilizer arm 9 also includes an auxiliary sensor 28 configured to detect the displacement of the cam element 26 in the lowest position in the smallest space. This auxiliary sensor 28 is configured to send an acknowledgment response signal to the control unit regarding the locking of the arm 9 in its final horizontally stabilized position, thereby enabling the operation of the previously described automatic leveling assembly 13.

[0054] Therefore, it will be understood that the elastic resistance mechanism included in each arm 9 also performs a safety function aimed at preventing unit 1 from stabilizing when arm 9 is not properly stabilized in its final horizontal position.

[0055] Thanks to the features previously described, the movable robot unit according to the present invention is - To provide high flexibility and efficiency characteristics regarding the stabilization of the vehicle before processing; - To provide a stabilization means that is extremely intuitive for the operator controlling it, thereby making implementation particularly simple, and that incorporates safety features; and - To make the movement of the mobile robot unit extremely easy, even when passing through a space with a limited width. This enables the realization of a series of important benefits, including [mention specific benefits here].

[0056] According to further optional features, when it is necessary to perform an action involving the application of a significant force that, due to the reaction, tends to cause the vehicle to move from its correct position, the foot 8 may be in the form of an electromagnetic element that can be activated after being placed on a floor made of a ferromagnetic material in order to stably anchor the foot itself to the floor.

[0057] Naturally, regardless of the principles of the present invention, structural details and embodiments may vary significantly from those described and shown, without departing from the scope of the invention as defined by the appended claims.

Claims

1. A movable robot unit (1) for performing industrial processing operations within a work environment, - A multi-axis manipulator robot (2) that holds a working head (4) configured to perform one or more of the above operations, - A vehicle (3) having a frame (6) for holding the robot (2), and a forward means (7) configured to move the vehicle (3) on the ground. Equipped with, - The vehicle (3) has a plurality of retractable stationary feet (8) supported by stabilizer arms (9) extending from the frame (6), - Each stabilizer arm (9) includes an automatic leveling assembly (13) associated with the retractable stationary foot (8), which is configured to detect the contact position between the stationary foot (8) and the ground and to stop the downward movement of the foot (8) if it contacts the ground before reaching the stroke end position. A movable robot unit (1) characterized by the following features.

2. The movable robot unit (1) according to claim 1, wherein the vehicle (3) is configured to be guided by a wire by an operator, remotely controlled, or equipped with autonomous driving, thereby being able to move near a predetermined work area in the work environment and thus being locked in that position before performing processing.

3. The automatic leveling assembly (13) is - A screw-nut screw coupling including a screw (14) extending axially along the stabilizer arm (9), and a nut screw (15) slidably engaged on the screw (14), - At least one actuator (16) for driving the rotation of the screw (14), - A bushing (17) that is freely movable along the screw (14) and is positioned at a distance from the nut screw (15), - At least one connecting element (18) provided for mechanically connecting the bushing (17) and the nut screw (15), - Here, the bushing (17) is connected to the stationary foot (8) by a drive mechanism (20) of the foot kinematic, which is configured to drive the movement of the foot (8) between the raised position relative to the ground and the lowered position in contact with the ground, and vice versa, and - To stop the downward movement of the actuator (16) and the foot before the nut screw (15) reaches the stroke end position, at least one sensor (21) adapted to detect the proximity of the nut screw (15) and the bushing (17) following contact between the stationary foot (8) and the ground, A movable robot unit (1) according to claim 1, characterized by including the above.

4. The movable robot unit (1) according to claim 3, characterized in that the sensor (21) is a contact sensor or proximity sensor configured to detect the contact or proximity exceeding a threshold between the nut screw (15) and the bushing (17).

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

6. The movable robot unit (1) according to any one of claims 3 to 5, characterized in that the automatic leveling assembly (13) includes an elastic element (19) interposed between the nut screw (15) and the bushing (17).

7. The movable robot unit (1) according to claim 3, characterized in that the drive mechanism (20) of the foot kinematic is substantially a pantograph mechanism comprising a pair of levers that are connected to each other and pivotably around at least one joint axis (I).

8. Each pair of levers is, - A first lever (22) including a lower end that holds the stationary foot (8) and an upper end connected to the bushing (17) which is freely movable along the screw (14); - A second lever (23) including a lower end that pivots with respect to the first lever (22) at substantially an intermediate position of the first lever, and an upper end that pivots with respect to the end of the stabilizer arm (9). A movable robot unit (1) according to claim 7, characterized by including the above.

9. The movable robot unit (1) according to any one of the above claims, characterized in that the stabilizer arm (9) is configured to be movable between a lowered horizontal position that allows the stationing foot (8) to make contact with the ground, and an elevated position that substantially extends along the vertical direction with respect to the ground, allowing the vehicle (3) to easily pass through an opening of limited width.

10. The movable robot unit (1) according to claim 9, wherein each stabilizer arm (9) includes a locking means that can be activated to lock the arm (9) in at least one of the lowered position and the raised position, and can be deactivated to allow the arm (9) to move from one of the aforementioned positions to the other.

11. The movable robot unit (1) according to claim 10, wherein each stabilizer arm (9) includes an elastic resistance mechanism adapted to contact at least one portion of the arm (9) during the terminal phase of the lowering operation of the arm (9) to communicate the realization of the final position to the operator before activating the locking means.

12. The movable robot unit (1) according to claim 11, wherein the elastic resistance mechanism includes a cam element (26) operably associated with a compression resistance spring (27), the cam element (26) being pivotably connected around an articulation axis (II) and rotating from a maximum space raised position adapted to maintain the stabilizer arm (9) raised relative to its horizontal final position to a minimum space lowered position adapted to lock the arm (9), and vice versa.

13. The movable robot unit (1) according to claim 11, characterized in that each stabilizer arm (9) includes an auxiliary sensor (28) configured to detect the displacement of the cam element (26) at the lowered position in the minimum space and to transmit a confirmation response signal indicating that the arm (9) is locked in the final horizontal position.

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

15. The movable robot unit (1) according to claim 1, characterized in that the foot portion (8) is electromagnetic.

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