• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Transformable humanoid submarine robot. The present invention concerns a transformable humanoid robot in a remotely operated submarine vehicle or "rov". The transformation takes place from a humanoid configuration in which the robot tilts the trunk (1) forward and flexes the legs (3), keeping the head (4) upright, so that the maneuver culminates in a posture in which the robot bends down, while the next phases involve the complete flexion of the torso (1) coordinated this action with the flexion of the arms (2), while the head (4) continues upright. The opposite process of transformation is equally possible in the reverse order. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2544007A1
    申请号:ES201430253
    申请日:2014-02-25
    公开日:2015-08-26
    发明作者:Gonzalo EJARQUE RINALDINI；Roque Saltaren Pazmiño；Rafael Aracil Santonja；Gabriel Armando POLETTI RUIZ
    申请人:Universidad Politecnica de Madrid；
    IPC主号:
    专利说明:

    OBJECT OF THE INVENTION
    The present invention relates to a humanoid underwater robot that can navigate
    10 adopting the configuration of a remotely operated underwater vehicle (Remotely Operated Vehicle: ROV), or that can change its configuration, transforming from a ROV vehicle configuration to a humanoid robot configuration, with legs and arms, to move on the seabed with hominid movements or climbing along an underwater construction by using its limbs formed by
    15 legs and arms.
    The object of the invention is to provide a single device or robot, navigation, manipulation and movement functions can be combined in any direction.
    BACKGROUND OF THE INVENTION
    The work to be done on underwater structures such as ship hulls, oil rig structures, civil construction bases such as ports,
    25 columns of bridges, dams, or seabed in general, require devices that can be moved on the work surface.
    There is an important difference in the technical characteristics of work in underwater environments.
    30 On the one hand, there are underwater works that involve navigating in the water, for example in exploration work, sampling, mechanical work in relatively open environments, etc. Frequently characterized by lateral obstacles or because they are carried out remotely or punctually on a specific surface environment;
    35 in all these cases ROV vehicles are used. Which can often carry


    mechanical arms and work tools. The movements of these vehicles are characterized by a high degree of difficulty in navigation maneuvers, especially handling maneuvers, as several factors are involved, such as disturbances caused by sea currents, collisions with obstacle projections, etc. In any case, ROV-type vehicles are not suitable for moving or climbing along an immersed surface, even a short distance from it, the projections can impede its correct operation, affecting the stability of navigation and may cause vehicle blockage. or serious mechanical damage due to collisions.
    On the other hand there are the works that must be carried out on surfaces of submerged bodies or underwater installations. Often, these works must be carried out along the surface in question. In these cases it is necessary for the vehicle to move, linked by a series of limbs to the work surface, in order to walk, crawl or slide on it. These functional requirements have an implication on the architecture of the vehicle or device that must perform this type of work. In essence it would be a device with several limbs that would rest on the surface with the ability to hold, to give stability to the displacement and the work that must be performed.
    In the current technique there is no underwater device that meets these characteristics of navigation-manipulate-walk.
    A study of the state of the art indicates that the navigating robots developed for work in underwater environments are known in the state of the art as ROV. Underwater vehicles, also called ROV robots (Anglo-Saxon notation for Remotely Operated Vehicle) differ from other types of underwater devices because they are connected to their control center through an umbilical cable through which power is supplied and two-way communications are established of control data and activity monitoring.
    There are patents for underwater vehicles that are related to ROVs, the US2012210926 (A1) patent, which features a typical ROV based on its umbilical cord feeding and multiple impellers on the coordinate axes. Taking this case there are a number of patents that present underwater robots of similar morphologies, but never as robots that can be transformed as ROVs or robots


    humanoids In general and consequently, no patent reflects the invention of an ROV robot that can be transformed into a humanoid robot.
    5 DESCRIPTION OF THE INVENTION
    The humanoid underwater robot that can be transformed into ROV for work on seabed and in marine constructions, is a robot with humanoid morphology that corresponds to the kinematic proportions of a chimpanzee-type hominid, with limbs
    10 lower ideal to move and upper limbs to perform work and / or to move and climb using all its limbs.
    The robot has at least 23 degrees of servo freedom hydraulically operated. Through this number of degrees of freedom in conjunction with its kinematic design, the robot can
    15 be configured in two ways. The robot can be in the ROV configuration to navigate, using strategically placed marine propeller impellers, or in the humanoid configuration if the robot deploys its limbs to move through hominid movements, functionality that corresponds to moving through rough surfaces through its legs with the support of the arms (lower extremities and
    20 higher).
    The reason for having this type of transformation capacity in ROV or humanoid, is that in underwater environments to move from one place to another at an important distance, it is preferable to navigate through the use of marine impellers. The
    25 navigation is therefore inherent in covering important distances in a work environment. When underwater work is characterized by operations on local seabed environments or on underwater structures or constructions, then it is preferable to move on the surface and support, if necessary, which means that the solid contact cannot be navigated Between the robot and the environment.
    30 The robot is moved by hydraulic servo actuation and is formed by a trunk, a pair of legs, a pair of arms and a head. The robot has at least 23 degrees of freedom operated by a set of servo valves and hydraulic drives.
    35 The trunk of the robot is formed by a sealed container in which the


    control system. The robot control system is formed by an arrangement of at least 23 servo valves assembled on a distributor plate that concentrates the connections to all hydraulic actuators. Also on the control system is the on-board computer for the multi-axis real-time servo control. Also in the trunk are located the system of sensors necessary for navigation and control, such as: depth sensors, sensors for navigation such as inertial unit, electronic compass, flood sensors. All the connections for the hydraulic circuits, the electrical power and control connections and the umbilical cord that connects the robot with the external control center are arranged on the trunk vessel.
    Assembled on the trunk of the robot are the mechanical interfaces that make humanoid "hip", humanoid "shoulder" and head.
    On the mechanical interfaces, which will be called hip supports, a pair of articulated legs and hydraulically operated servo are assembled on each side, in each leg joint are sealed rotary position sensors assembled. Each leg is formed by three articulated links and a foot with servo heel acted.
    Each pair of arms is supported by a structure that acts as a shoulder. Each complete arm is operated by a servo drive arranged in the shoulder structure. This joint is used to open or close the entire arm mechanism. The kinematic chain of the link corresponding to the arm is formed by the arm, forearm, wrist and hand. Individually each element of the arm mechanism is driven by two servo drives. The kinematic chain of the arm begins with a servo actuated link articulated to the shoulder also called the arm. Next to the arm is the forearm with three degrees of servo freedom actuated, at the end of the forearm there is a servo actuated rotary wrist, which has a claw similar to a hand that is also servo actuated. Therefore, each arm, from the shoulder, has seven degrees of freedom.
    The robot can incorporate into its control system, perception systems housed in the head mechanism. In the present invention patent, the robot has a head based on a cylindrical and translucent sealed container. The head is servo operated


    through a rotating joint. Inside the head vessel, a vision camera with movement capacity in three degrees of freedom is housed.
    The robot incorporates at least six propeller motors that are arranged
    5 in pairs in each of the coordinate axes. The engines are strategicallylocated so that when the robot is in the humanoid configuration, the motorsimpellers help boost the robot to increase its stability on the fly.
    The humanoid underwater robot that can be transformed into ROV for seabed work and
    10 marine constructions, it is applicable to perform tasks of manipulation, mechanical work and in general mechanical interventions.
    DESCRIPTION OF THE DRAWINGS
    15 To complement the description that is going to be made below and in order to help a better understanding of the characteristics of the invention, the present descriptive report is attached, forming an integral part thereof, a set of drawings in which with illustrative and non-limiting, the following has been represented:
    20 Figure 1.- Shows a perspective view of the humanoid underwater robot in the humanoid configuration.
    Figure 2.- Shows a perspective view of the humanoid underwater robot in the ROV configuration.
    25 Figure 3.- Shows an elevation view of the humanoid underwater robot in the ROV configuration.
    Figures 4A and 4B.-Show two perspective views of the trunk, of the underwater robot
    30 humanoid transformable in ROV for work on seabed and in marine constructions.
    Figures 5A and 5B.-They show two perspective views of the upper extremities of the humanoid underwater robot that can be transformed into ROV for seabed work and
    35 marine constructions


    Figures 6A and 6B.-They show two perspective views of the lower extremities of the humanoid underwater robot that can be transformed into ROV for work on seabed and in marine constructions.
    Figure 7.- Shows a perspective view of the head of the humanoid underwater robot that can be transformed into ROV for work on seabed and in marine constructions.
    10 Figures 8A, 8B, 9A, 9B, 10A, 10B, 11A and 11B.-Show views of a sequence illustrating transformation of the submarine humanoid robot, from the humanoid configuration to the ROV configuration.
    PREFERRED EMBODIMENT OF THE INVENTION
    The present invention relates to a humanoid underwater robot that can move on the seabed with hominid movements, can crawl or climb along a
    20 underwater construction by using its limbs formed by legs and arms. The humanoid robot can also navigate as an ROV, transforming its kinematics from a humanoid robot configuration to the configuration of a remotely operated underwater vehicle (Remotely Operated Vehicle: ROV).
    25 Figure 1 depicts the standing humanoid robot, which can be moved by the propeller impellers and is formed by the torso assembly (1), arms (2), legs (3), head (4), underwater impellers of propeller (5) and umbilical cord (6) for data transmission and electrical and hydraulic powers.
    30 A sequence illustrating transformation of the submarine humanoid robot, from the humanoid configuration, to the ROV configuration is depicted in Figures 8A and following.
    The fundamental aspect of the present invention is a versatile robot for work on the seabed and its surroundings. Underwater work in a wide environment for its efficient realization requires combining the ability to navigate to move and evade


    soil obstacles, with the ability to move locally to the ground level by means of arms and legs (upper and lower extremities).
    Consequently the present invention is about a transformable humanoid robot. An embodiment of this robot can be described according to the following sequence: A transformation sequence is followed as shown in Figures 8A to 11B. The transformation sequence from a humanoid configuration begins in the humanoid posture (Figures 8A and 8B) in which the trunk (1) is bent down and flexing the legs (3) and keeping the head upright (4). The maneuver culminates in the crouching condition (figures 9A and 9B). The following phases (Figures 10A to 11B) involve the complete flexion of the torso (1) coordinated with the flexion of the arms (2), while the head (4) remains upright.
    To perform the flexion actions of the lower extremities or legs (3), a sequence is followed that implies that the links (9), (12) and (15) are correspondingly articulated in the rotational joints (7), (11) and (14). The movements of the leg correspond to control of the movement of the servo drives: (8) acting on the link (9), the servo drive (10) acting on the link (12) and the servo drive (13) that acts on the link (15), which is functionally the foot of the leg
    (3)
    To perform the flexion actions of the upper extremities or arms (2), a sequence is followed that implies that the links that act as back (17), shoulder (19), arm (21), forearm (27), and the wrist together with the hand (28). The previous links are articulated with each other respectively and in their order through the rotational joints (18), (19) and (24) of the entire forearm. The forearm has two joints in (25) and (26) that complete the degrees of freedom for hominid arm movement (1). The wrist is articulated in correspondence with the forearm (27) and the hand or claw (28) with five fingers, is operated by cables controlled by servo actuators that are located on the torso of the robot (29 and (30). Each servo drive linear (20) move each shoulder (19), the servo drive (23) each arm (21) and each servo drive the entire forearm (26) Linear servo actuators with cables
    (29) They are responsible for operating the rotational link defined in the joint (26) and the servo actuator with cables (30) actuates the hand claw (28).


    In figure 4, in addition to the elements mentioned, the linear servo actuators (36), (37), (38), (39), (40), (41) and (42) are shown.
    The head link (4) is articulated in (31) and is servo driven by a system of cables controlled by the servo drive (32).
    In fig. 7, the element (33) corresponds to a side scan sonar sensor, the elements
    (34) correspond to lighting lamps, and at least one vision camera (35) is housed inside the housing (4) of the head.

    权利要求:
    Claims (1)
    [1]
    1st.-Transformable humanoid submarine robot, where the transformation allows to configure a remotely operated underwater vehicle, or a humanoid robot, characterized in that it is constituted from a trunk (1) with upper arms or extremities (2) and lower legs or limbs ( 3), also including a head (4) as well as underwater propeller impellers (5) and an umbilical cord (6) for data transmission and electrical and hydraulic powers, all so that in the humanoid configuration proper the robot can move on the seabed with hominid movements and even climb or crawl along an underwater surface by using its limbs or arms (2) and legs (3), as well as navigate as a remotely operated underwater vehicle, after folding over its corresponding trunk (1) of the arms (2) and legs (3), keeping the head (4) upright.
    2nd.- Transformable humanoid submarine robot, according to claim 1, characterized in that the upper extremities or arms (2) have a plurality of degrees of freedom, servo-operated and computer controlled, establishing links that serve as backs (17), shoulder (19), arm (21), forearm (27) and wrist
    (28) together with the hand, said links being articulated with each other, through rotational joints (18), (19) and (24) of the entire forearm, it being provided that such forearm includes two joints (25) and (26) which complete the degrees of freedom for the hominid movement of the corresponding arm, while the wrist has a joint in correspondence with the forearm (27), which together with the hand or claw (28), preferably five fingers, are operated by cables controlled by servo-actuators (29 and 30), each shoulder (19) being moved by a linear servo-actuator (20), while each arm (21) is driven by a servo-actuator (23), with the particularity that the servo-actuators (29) are responsible for operating the rotational link or articulation (26) and the servo actuator with cable (30) to drive the
    hand claw (28).
    3.- Transformable humanoid submarine robot, according to claims 1 and 2, characterized in that the lower extremities or legs (3) have a plurality of servo-activated degrees of freedom for the control of said lower extremities, with links provided for this purpose (9), (12) and (15) in correspondence with rotational joints (7), (11) and (14), such that the movements of the corresponding lower extremity

    (3) corresponds to the motion control imposed by the servo actuators (8) acting on the link (9), the actuator servo (10) acting on the link (12) and the actuator servo (13) acting on the link (15).
    5 - Transformable humanoid submarine robot, according to claims 1 to 3, characterized in that the corresponding head (4) has a plurality of servo-activated degrees of freedom, including said head (4) sonar type sensor (33), as well as a camera of vision (35) and illumination lamp (34).
    10th.-Transformable humanoid submarine robot, according to claims 1 to 4, characterized in that the corresponding kinematic chain is determined by a plurality of servo-driven degrees of freedom, allowing transformation, through a sequence of configurations, that starts from a humanoid configuration , tilting the trunk and flexing the lower extremities or legs (3), keeping the head (4)
    15 upright, until reaching the crouching condition, to adopt a configuration that ends in the complete flexion of the torso (1) coordinated with the flexion of the upper arms or extremities (2) and lower legs or limbs (3), keeping the erect head (4).





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