Walking-climbing modular robot preferably for extinguishing fires

Abstract

The present invention relates to a robot that can walk or climb over flat objects (100) or non-flat objects (200) arranged horizontally, vertically or inclined. The robot incorporates at least two clamping units (300) that can tilt around a cylindrical articulation (19) and are intended to support or clamp objects (100, 200). Each of the clamping units (300) comprises two locomotion modules (1) that can move linearly with respect to one another guided by the cylindrical articulation (19). Each locomotion module comprises a frame (4) and an articulated leg (50) located on a side of the frame (4) that is actuated via motors (70, 71, 72) to facilitate its displacement and climbing movement.

Description

[0001] MODULAR WALKING-CLIMBING ROBOT, PREFERABLY INTENDED FOR FIRE EXTINGUISHING

[0002] OBJECT OF THE INVENTION

[0003] The invention relates to a robot capable of both walking and climbing objects such as tree trunks and other similarly shaped bodies, which can be used to carry a hose to assist in extinguishing fires and for surveillance tasks.

[0004] BACKGROUND OF THE INVENTION

[0005] Forest fires are a recurring problem that each year causes serious damage to ecosystems, infrastructure, and even deaths, both among firefighters and other firefighting personnel and among the general public. After detecting a fire, firefighting teams respond by land and air. Ground access can be complex and dangerous because firefighters need to get close to the flames, which produce toxic and very hot particles and gases. They also run the risk of being trapped by the flame front.

[0006] To avoid these and other risks to firefighters, autonomous and remote-controlled robots have been proposed, designed for firefighting tasks at different heights and with different means of locomotion, avoiding the proximity of firefighting personnel to the fire. It has been identified that a firefighting robot that can operate at a certain height above the ground will be advantageous, as it will have a better view of the fire and a greater range for the water jet or other extinguishing agent. Even more advantageous is a robot that can approach the flame front on the ground and then, without human intervention (beyond remote control, where appropriate), climb a tree to reach its operational position. Therefore, it needs the ability to both walk on complex surfaces (uneven surfaces, rocks, branches) and to move away from the ground to climb vertical surfaces, which may be tree trunks, to reach a certain height above the ground.

[0007] The locomotion modes of currently identified robots are classified as: wheels or tracks, air (flying), crawlers, and walking. Wheels and tracks, while useful in transporting firefighting materials, are typically used on large, heavy machines that cannot easily navigate obstacles. Therefore, they cannot climb vertical surfaces and are limited to operating at ground level.

[0008] As for flying robots, although they solve the problem of vision and range, they generate a new problem: flight stability due to the forces and moments produced by the expulsion of water.

[0009] Crawling robots, inspired by the crawling behavior of animals such as snakes, feature complex locomotion control due to the contact and friction forces created.

[0010] Finally, walking robots feature multiple articulated legs, a widely studied means of locomotion. Legs are well-suited to overcoming obstacles, however, no designs have been developed that can lift off the ground and climb a vertical surface while carrying a hose.

[0011] Therefore, there is no satisfactory solution to the need for a fire-extinguishing robot that can move autonomously and position itself at a certain height from the ground with stability to operate.

[0012] Although the above discussion focuses on the application of fire extinguishing using a hose that expels the extinguishing compound, it is also valid for fire surveillance and other prevention actions such as the collection and disposal of waste that causes or promotes the spread of fires using appropriate devices such as sensors and arms, as well as other tasks that require the mobility capabilities described.

[0013] DESCRIPTION OF THE INVENTION

[0014] To address the above needs, a modular walking-climbing robot is provided, preferably intended for firefighting, which is capable of both walking on the ground and climbing objects such as trees and poles. In one application, the modular walking-climbing robot may be equipped with fire detection sensors and send images or videos to a receiver for processing and analysis. In another application, the modular walking-climbing robot may incorporate a sprinkler module that expels a fluid to extinguish the flames of a fire, and it could also be used for both purposes, to detect and extinguish fires.

[0015] Likewise, the modular walking-climbing robot can be used not only for firefighting tasks, but also for other tasks involving the detection and response to any other phenomenon, provided it is equipped with the appropriate sensors and response tools.

[0016] Another feature of the modular walking-climbing firefighting robot is its modularity, as it is formed by joining several modules together according to requirements such as the load the robot carries and its ability to grip the surface on which it walks and / or climbs.

[0017] For these purposes, the robot object of the invention comprises at least two clamp units. Each clamp unit is capable of gripping the object the robot is going to climb by embracing it. The clamp units are coupled one after the other in a longitudinal direction on both sides of a cylindrical joint arranged between at least two clamp units, which allows relative rotation between said clamp units.

[0018] Each clamp unit comprises two locomotion modules that are coupled to telescopic bars that link the two modules and push them closer and further apart, where the cylindrical joint guides the relative movement between the modules of each clamp unit.

[0019] In one possible embodiment, the telescopic bars are passive and equipped with a spring that regulates the distance between the locomotion modules of each clamp unit. In another embodiment, the telescopic bars are activated by an actuator that moves both modules of the clamp unit toward or away from each other.

[0020] Each locomotion module comprises a frame and an articulated and actuated leg located on one side of the frame that articulates with respect to the frame.

[0021] The frame is the element on which the other parts of the locomotion module are mounted. The frame can be a rectangular plate or a lattice structure to save weight.

[0022] The articulated legs enable the robot to move, both walking and climbing, and to adapt to varied surfaces. In one possible embodiment, the articulated and actuated leg comprises:

[0023] -an articulated coupling on the frame,

[0024] -a tilting segment articulated at the coupling,

[0025] -an elbow articulated in the tilting segment,

[0026] -a gripping segment articulated at the elbow.

[0027] These elements are primarily driven by motors that move the articulated leg according to a sequence of movements that propel the robot. Both segments, along with the frame, are designed to surround the object the robot is climbing.

[0028] The coupling is mounted rotatably on the frame, rotates in a plane parallel to the frame by means of a first motor, allows the distance between the frame and the surface on which the robot walks to be adjusted, as well as helps the leg to attach or hug the object on which the robot climbs.

[0029] When the coupling is turned, it moves the tilting segment and, in turn, the elbow and the grip segment.

[0030] The tilting segment is articulated by a second motor mounted on the coupling.

[0031] The movement of the elbow relative to the tilting segment is carried out by a third motor; in one possible embodiment, the third motor may be located in the elbow, and in another possible embodiment, the third motor is located in the coupling and moves the elbow by means of an articulated parallelogram.

[0032] The elbow also allows rotation of the gripping segment relative to the elbow. This rotation can be actuated by an actuating element, which can be passive, in which case the actuating element would be a torsional spring, or active, in which case the actuating element would be a fourth motor. This rotation improves the grip of the gripping segment regardless of the orientation of the articulated and actuated leg.

[0033] These movements help the leg engage the object the robot is climbing and aid in the robot's forward motion. In one embodiment, the cylindrical joint is passive, meaning it exerts no force or torque between the clamping units. In another embodiment, the cylindrical joint is actuated by a fifth motor coupled to one of the frames of one of the clamping units and angularly displaces the two clamping units articulated by means of the cylindrical joint. This allows the robot to change planes of motion (e.g., between the ground and a vertical tree trunk) more easily, as the clamping unit tilts to adapt to the orientation of the trunk.

[0034] To improve its grip on the object it climbs, the robot incorporates adhesive elements on the inside of the gripping segments, such as micro-spines that rest on or dig into the surface of the object.

[0035] Furthermore, the robot also includes lugs arranged on the side faces of the gripping segments. These lugs improve grip on the object and allow the gripping segment to self-position relative to the climbing object upon contact.

[0036] The gripping segment rests on the ground as the robot walks. To improve stability, the surface of the segment that touches the ground is coated with a material with a high coefficient of friction, such as rubber.

[0037] In a possible embodiment, the irrigation module incorporating a hose can be fixed to one of the frames of the locomotion modules.

[0038] DESCRIPTION OF THE DRAWINGS

[0039] To complement the description being made and in order to help better understand the characteristics of the invention, in accordance with a preferred example of practical implementation thereof, a set of drawings is attached as an integral part of said description, in which the following has been represented for illustrative and non-limiting purposes:

[0040] Figure 1.- Shows a perspective view of the robot object of this invention.

[0041] Figure 2.- Shows a plan view of the robot. Figure 3.- Shows a plan view of one of the robot's clamps attached to the cylindrical joint.

[0042] Figure 4.- Shows an elevation view of the robot on a flat surface.

[0043] Figure 5.- Shows a side view of the robot on a flat surface.

[0044] Figure 6.- Shows a detailed view of the robot leg in contact with a cylindrical surface.

[0045] Figure 7.- Shows a detailed perspective view of the robot leg in contact with a cylindrical surface.

[0046] Figure 8.- Shows a plan view of the detail in Figure 7.

[0047] PREFERRED EMBODIMENT OF THE INVENTION

[0048] A preferred embodiment of the modular walking-climbing robot object of the invention is described below.

[0049] The robot can walk or climb on flat objects (100), as seen in figures 1 and 4 for example, or on non-flat objects (200), shown in figure 6, arranged in a horizontal, vertical or inclined position.

[0050] In figure 1 it can be seen that the robot comprises:

[0051] -two tilting clamp units (300) intended to support or clamp objects (100, 200),

[0052] -a cylindrical joint (19) arranged between the two clamp units (300), on which each of the clamp units (300) are coupled on each side of this in a tilting manner.

[0053] On the other hand, each clamp unit (300) comprises in turn:

[0054] -two locomotion modules (1) that can be moved linearly between them, guided by the cylindrical joint (19),

[0055] -telescopic bars (40) arranged between the two locomotion modules (1) of each clamp unit (300) on which the two locomotion modules (1) are coupled, facilitating the relative linear movement between the locomotion modules (1), with the help of an actuator (6).

[0056] Each locomotion module (1) comprises in turn a frame (4) and an articulated leg (50) located on one side of the frame (4) that is actuated by motors (70, 71, 72) to facilitate its movement of displacement and climbing, where the frame (4) is a plate with lattice to lighten the weight of the robot that allows maintaining the rigidity of the frame (4).

[0057] Each of the articulated legs (50), represented in figure 3, comprises:

[0058] -a rotating coupling (5) mounted on the frame (4) which rotates in the plane of the frame by means of a first motor (70) mounted on the frame (4), as shown in Figure 4,

[0059] -a tilting segment (7) articulated in the coupling (5) by the action of a second motor (71) mounted in the coupling (5), as can be seen in figure 2, which gives it a tilting movement with respect to the frame (4),

[0060] - an elbow (14) with respect to which the tilting segment (7) articulates, which rotates by the action of a third motor (72) with the intermediation of a parallelogram structure (61), as can be seen in figures 2 and 4 in which said third motor (72) appears mounted on the coupling (5),

[0061] -a grip segment (13) articulated with respect to the elbow (14) through the intermediation of a torsion spring (63), as shown in Figure 4, which rotates with respect to the tilting segment (7), where the grip segment (13) is provided with a rotary or approach movement that is intended to establish contact with the object (100, 200) on which the robot walks or climbs.

[0062] The rotation of the coupling (5) with respect to the frame (4) helps locomotion since the articulated leg (50) is coupled to the object (200) on which the robot climbs. When the coupling (5) rotates, it completely moves the articulated leg (50), and when the tilting segment (7) rotates with respect to the coupling (5), it moves the elbow (14) and the gripping segment (13) in solidarity with it.

[0063] The elbow (14) articulates the movement between the tilting segment (7) and the gripping segment (13).

[0064] As can be seen in the figures, the elbow (14) allows the rotation of the grip segment (13) with respect to the elbow (14), in which this rotation is passively actuated by the torsional spring (63), which when no torque is applied, keeps the grip segment (13) in a resting position in the same plane defined by the tilting segment (7).

[0065] The robot additionally comprises lugs (16) arranged on lateral faces of the grip segments (13), as seen in Figure 7, which improve the grip and self-positioning of the grip segments (13) with respect to the object (200) on which it climbs.

[0066] The gripping segments (13) bear on the ground when the robot walks. To improve the support, the surface of the gripping segments (13) in contact with the ground is coated with a material with a high coefficient of friction, such as a rubber polymer.

[0067] To improve the grip when the robot climbs the object (200), the gripping segment (13) is provided with microspines (15), shown in Figure 4 for example, which extend from an inner face of the gripping segment (13). These microspines (15) contact or dig into a surface of the object (200), this inner face facing the frame (4).

[0068] As can be seen in figure 5, the robot mounts on one of the locomotion modules (1), more specifically linked to the frame (4), an irrigation module (2) coupled to the end of a hose (3).

Claims

1.- A modular walking-climbing robot, preferably intended for fire extinguishing, which can walk or climb on flat objects (100) or on non-flat objects (200) arranged in a horizontal, vertical or inclined position, characterized in that it comprises: -at least two tilting clamp units (300), intended to support or clamp objects (100, 200), -a cylindrical joint (19) arranged between the two clamp units (300), on which each of the clamp units (300) are coupled on each side of this in a tilting manner, where each of the clamp units (300) comprises: -two locomotion modules (1) that can be moved linearly between them, guided by the cylindrical joint (19), in which each locomotion module comprises a frame (4) and an articulated leg (50) located on one side of the frame (4) that is actuated by motors (70, 71, 72) to facilitate its movement of displacement and climbing, and -telescopic bars (40) arranged between the two locomotion modules (1) of each clamp unit (300) on which the two locomotion modules (1) are coupled, facilitating the relative linear movement between the locomotion modules (1). 2.- The modular robot of claim 1, wherein the articulated leg (50) comprises: -a rotating coupling (5) mounted on the frame (4) which rotates in a plane parallel to the frame by means of a first motor (70) mounted on the frame (4), -a tilting segment (7) articulated in the coupling (5) by the action of a second motor (71) which gives it a tilting movement with respect to the frame (4), -an elbow (14) with respect to which the tilting segment (7) is articulated, which rotates by the action of a third motor (72), -a gripping segment (13) articulated with respect to the elbow (14), wherein the elbow (14) provides a rotation of the gripping segment (13) with respect to the elbow (14) caused by a drive element, which determines that the gripping segment (13) is provided with a rotary or approaching movement that is intended to establish contact with the object (100, 200) on which the robot walks or climbs. 3.- The modular robot of claim 2, wherein the grip segment (13) comprises lugs (16) arranged on lateral faces of the grip segments (13) that improve the grip and the self-positioning of the grip segments (13) with respect to the object (100, 200). 4.- The modular robot of claim 2, wherein the gripping segment (13) is coated on an inner face with adhesive elements, 5.- The modular robot of claim 4, wherein the adhesive elements are microspines intended to contact or stick into the object (100, 200). 6.- The modular robot of claim 1 in which the locomotion modules (1) move relative to each other with the collaboration of an actuator (6). 7.- The modular robot of claim 1 wherein the third motor (72) acts on the elbow (14) with the intermediation of a parallelogram structure (61). 8.- The modular robot of claim 1 wherein the second motor (71) is mounted on the coupling (5). 9.- The modular robot of claim 1 wherein the third motor (72) is mounted on the coupling (5). 10.- The modular robot of claim 1, additionally comprising an irrigation module (2) linked to the frame (4) of one of the clamp units (300) that has a hose (3) to project fluid to extinguish the fire. 11.- The modular robot of claim 2, wherein the drive element is a torsion spring (63). 12.- The modular robot of claim 2, wherein the drive element is a fourth motor.

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