• 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:
    Robot for the maintenance of approximately vertical surfaces, with a device to prevent the pitching of the robot when it moves along vertical surfaces and elements that ensure adherence to metal surfaces; as well as wireless control and guidance devices, a high-pressure water cannon, a photographic camera and a videographic camera. The robot can be used for tasks, such as cleaning, inspection, maintenance and repair of vertical surfaces, for example the tower of a wind turbine, or elements located near them, such as the blades of the mentioned wind turbine. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2554705A1
    申请号:ES201531658
    申请日:2015-11-16
    公开日:2015-12-22
    发明作者:José Antonio CASANOVA GAYOSO
    申请人:Tratamiento Superficial Robotizado S L；
    IPC主号:
    专利说明:

    image 1 DESCRIPTION
    Maintenance robot 5 Object of the invention
    The object of the present invention is a novel robot for the maintenance of approximately vertical surfaces, preferably of the towers or shafts and of the blades of the wind generators, which incorporates a device to prevent the overturning of the pitch of the
    10 robot when moving through vertical surfaces and elements that ensure adherence to metal surfaces, as well as wireless control and guidance devices. The robot can be used for work, such as cleaning, inspection, maintenance and repair of vertical surfaces, for example the tower of a wind turbine, or of elements located near them, such as the blades of said wind turbine.
    fifteen Background of the invention
    Wind generators are well known in the state of the art since ancient times in the form of the well-known windmills whose function could be the milling of
    20 cereals or water elevation. In the last years of the last century, wind generators were developed that use wind energy to produce electricity and that do not contribute to the emission of pollutants into the atmosphere, so their numbers have increased rapidly.
    25 Wind generators comprise a tower or shaft that supports a gondola that houses
    or it supports the rest of the elements or devices, a blades with aerodynamic profile and the rest of devices, reducers, alternators and cooling, control and safety systems.
    30 One of the problems faced by the companies that operate the wind farms is the dirt that accumulates in the shaft and in the blades, which translates, in the latter case, into a loss of performance of the wind generators. To carry out the cleaning, inspection, maintenance and repair of both the shaft and the blades, a multitude of devices and procedures have been developed, among which we can mention the
    35 following:
    image2
     Operators who pick up the ropes from the gondola and pressurized water sprayers clean the shaft and the blades, this procedure has the disadvantage of the safety of the operators and that they are not
    5 can be carried out from a certain wind speed.
     Motorized scaffolding that either lift from the gondola, or rise from the ground, and where workers equipped with various cleaning, maintenance, repair or inspection instruments are located. This method has several drawbacks: first, the low flexibility of the facilities; and in
    10 Second, the cost of transporting scaffolding and the number of operators needed both on the scaffold and on land for the control and support of the tasks performed.
     Drones for inspection, their use entails a series of inconveniences such as poor operating autonomy, due to the capacity of their batteries, 15 impossibility of flying under certain wind speed conditions and
    different legal restrictions in each state.
     Finally, one can cite the remote control robots that scale the shaft and that are attached to it by a multitude of devices ranging from magnetic chains to devices that embrace the tower. The drawbacks they present are, for
    20 on the one hand the difficulties to perform maintenance tasks of the wind turbine blades, because they are far from the tower, and on the other hand the pitching they suffer when advancing in the climbing that can separate them from the shaft and cause the fall and the very possible breakdown in the robot. The applicant does not know any robot that works on vertical surfaces and performs all the tasks performed by the
    Invention
    Among the robots for performing work on vertical surfaces, we can mention:  WO 2012158042 (priority date: 05/19/2011): Method and vehicle for inspecting or treating the surface of a wind turbine or building
    30  ES 2346617 (priority date: 10/18/2010): Climbing mechanical device applicable to cleaning, maintenance, painting or repair of large metal bodies  ES 2334186 (priority date: 08/11/2006) : Climber cleaner robot
    image3
    The present invention offers a simple and economical solution to prevent the roll-over of the robot and magnetic elements to increase adhesion, and control and guidance devices via wireless communications, and also devices that allow performing all the aforementioned tasks.
    5 Description of the invention
    The maintenance robot, preferably of the towers and blades of the wind generators 10, object of the present invention comprises:
     a vehicle that in turn comprises:
    or a first frame of approximately parallelepipedic form, to which the rest of the devices and elements are coupled,
    15 or a traction device by tracks driven by at least one set of a direct current motor and a reducer, which drives the transmission wheels, which are rear, by means of a transmission system,
    or the outer face of said tracks has a plurality of first 20 magnets for fastening the vehicle to a vertical metal surface,
    or one or more second magnets arranged on the lower face of said first frame, the lower end of each of the second magnets is located in the space defined by said lower face of the first frame and the plane generated by the portions of the surfaces outer tracks
    25 which are in contact with the vertical surface, this arrangement prevents the second magnets from coming into contact with the surface by blocking the movement of the robot and increases the adhesion they produce from the magnets of the tracks.
    or an anti-roll tip device removably attached to the part
    30 rear of the first frame and comprising a second frame of substantially rectangular plan, said second frame suitably disposes two sets of wheels, which are located symmetrically with respect to the longitudinal axis of the vehicle and close to the lower rear edge of said second frame,
    image4
    or first coupling means at will arranged in the front portion of the upper face of the first frame, for the coupling of a water cannon, a high resolution camera for the inspection of the vertical surface of the tower of a wind turbine and of his shovels or others
    5 elements or devices for maintenance and repair,
    or a DC power supply connected to the DC motors,
    or a video camera arranged on the front face of the first frame for guiding the vehicle and its corresponding power supply,
    10 or an inertial measurement unit, a geolocation system and an altimeter, with their corresponding power supplies,
    or a control unit of the power supplies, the video camera, the inertial measurement unit, the geolocation system and the altimeter, and comprising at least:
    15 • one or more hardware devices and their corresponding software,
    • one or more first wireless real-time communication devices,  a remote control comprising a hardware device and its corresponding software, a second wireless real-time communication device
    20 compatible with at least one of the first communication devices, at least one data input peripheral, for example one or more control levers and a plurality of buttons, and an information presentation and control peripheral, such as a screen,
     As a design option, the invention may comprise a computer that has a third wireless communication device compatible with at least one of the first communication devices. Description of the figures
    30 Figure 1: shows a perspective view of a scheme of the robot vehicle for cleaning Figure 2: shows another perspective view of a scheme of the robot vehicle for cleaning. Figure 3: shows a schematic perspective view of the first support with the barrel of
    35 water and its respective video camera.
    image5 Preferred Embodiment of the Invention
    Figures 1-3 show a preferred embodiment of the maintenance robot. The
    5 figures 1 and 2 show the vehicle (1) that is part of the maintenance robot in charge of cleaning or inspecting approximately vertical surfaces such as the vertical surfaces of the wind turbine shaft, the hull of ships, deposits or building facades.
    The vehicle (1) comprises a first frame (2) in which the rest of the robot's devices, mechanisms and functionality elements are mounted and coupled. The vehicle is propelled by a traction device by tracks driven by one or more sets of direct current motor and reducer that drive, by means of a transmission system, the transmission wheels, which are rear. In order to fix the vehicle to the metal surface
    15 a plurality of first magnets (5), preferably neodymium magnets, are arranged on the outer surface of the tracks (4).
    To increase the adhesion, a plurality of second magnets (8), preferably neodymium magnets, are arranged on the underside of said first frame (2),
    20 located properly, as already described above, so that they do not come into contact with the metal surface.
    The traction device by tracks has the disadvantage that when moving forward there is a moment in it that a certain number of magnets cease to hold the vehicle to the metal surface and can fall by the torque generated by the position of the center of gravity of the vehicle. In order to avoid the above inconvenience, an anti-roll device is provided that keeps the vehicle glued to the wall. Preferably said anti-roll head device comprises a second frame (3) of substantially rectangular plan and connected to the first frame by second removable joining means, and
    30 next to the lower front edge of said second frame, likewise, said second frame has, symmetrically with respect to the longitudinal axis of the vehicle, two wheels (9) that prevent the vehicle from falling from the metal surface.
    Various cleaning, maintenance, repair or inspection devices can be attached to the vehicle by the first coupling means arranged in the first
    image6
    frame. One of the devices is a high pressure water cannon (13) motorized and controlled by the control unit (7) and which is capable of rotating with respect to a first axis, which is perpendicular to the upper face of the first frame, and with respect to a second axis that is perpendicular to the first axis, that is to say it has two degrees of freedom; said water cannon 5 is hydraulically connected to a high pressure group outside the vehicle. Said water cannon is arranged in a first support (11) comprising coupling means (12) at will complementary to the first coupling means (10) of the first frame. To facilitate the handling of the water cannon, a second video camera (14), whose axis is parallel to the axis, is arranged in solidarity with said water cannon
    10 longitudinal of said cannon.
    Another device that can be attached to the vehicle is a high-resolution motorized camera controlled by said control unit, which is mounted on a second support that has coupling means at will complementary to the
    First 15 coupling means of the first frame. Said camera is capable of rotating with respect to a first axis, which is perpendicular to the upper face of the first frame, and with respect to a second axis that is perpendicular to the first axis.
    The robot will handle, with the help of a video camera (6), either from a remote control
    20 distance or from a computer. The said computer has a third wireless communication device compatible with at least one of the first communication devices of the control unit and which is capable of transmitting and receiving data.
    In the case of operation via a remote control, communications between the second
    25 communication device and at least one of the first communication devices are carried out by means of a radio frequency communications protocol, and in the case of operation by means of a computer, the communications will be carried out using Wi-Fi technology.
    权利要求:
    Claims (7)
    [1]
    image 1
    1. Maintenance robot characterized in that it comprises: 5  a vehicle that in turn comprises:
    or a first frame of approximately parallelepipedic form, to which the rest of the devices and elements are coupled,
    or a traction device by tracks driven by at least one set of a direct current motor and a reducer for each track, which
    10 propels the transmission wheels, which are rear, by means of a transmission system; the outer face of said belts has a plurality of first magnets,
    or one or more second magnets arranged on the lower face of said first frame, the lower end of each of the second magnets is located
    15 between the underside of the first frame and the plane defined by the outer surfaces of the portions of the tracks that are in contact with the vertical surface,
    or an anti-roll over device removably attached to the rear of the first frame and comprising a second floor frame
    20 substantially rectangular, in said second frame two sets of wheels are suitably arranged, which are located symmetrically with respect to the longitudinal axis of the vehicle and close to the lower rear edge of said second frame,
    or first coupling means at will arranged in the front portion 25 of the upper face of the first frame,
    or a DC power supply connected to the DC motors,
    or a first video camera arranged on the front face of the first frame for guiding the vehicle and its corresponding power supply,
    30 or an inertial measurement unit, a geolocation system and an altimeter, with their corresponding power supplies,
    or a control unit of the power supplies, the first video camera, the inertial measurement unit, the geolocation system and the altimeter, and comprising at least:
    35 • one or more hardware devices and their corresponding software,
    8
    image2
    • one or more first wireless real-time communication devices,  a remote control comprising a hardware device and its corresponding software, a second wireless real-time communication device
    5 compatible with at least one of the first communication devices, at least one data entry peripheral and one information presentation and control peripheral,
    [2]
    2. Maintenance robot according to claim 1, characterized in that it comprises
    10 a first support that has coupling means at will complementary to the first coupling means, said first support has a high pressure water cannon motorized and controlled by the control unit and which is capable of rotating with respect to a first axis, which is perpendicular to the upper face of the first frame, and with respect to a second axis which is
    15 perpendicular to the first axis; said water cannon is hydraulically connected to a high pressure group outside the vehicle.
    [3]
    3. Maintenance robot according to claim 2, characterized in that the first
    The support has a second video camera in solidarity with the water cannon and whose axis is parallel to the longitudinal axis of said water cannon.
    [4]
    4. Maintenance robot according to claim 1, characterized in that it comprises a second support having coupling means at will complementary to the first coupling means, said second support
    25 has a motorized high resolution camera controlled by said control unit, which is capable of rotating with respect to a first axis, which is perpendicular to the upper face of the first frame, and with respect to a second axis which is perpendicular to the first axis.
    A maintenance robot according to any of the preceding claims, characterized in that it comprises a computer that has a third wireless communication device compatible with at least one of the first communication devices, capable of transmitting and receiving data.
    [6]
    6. Maintenance robot, according to any of the preceding claims, characterized in that the communications between at least one of the first and the second communication devices use radiofrequency communication protocols.
    [7]
    7. Maintenance robot according to claim 5 or 6, characterized in that at least one of the first communication devices and the third communication device use Wi-Fi technology.
    10. Maintenance robot according to any of the preceding claims, characterized in that the first and second magnets are neodymium magnets.
    9
    image3
    5
    [9]
    9. Maintenance robot according to any of the preceding claims,
    characterized in that the second frame has an approximately 15 parallelepipedic shape.
    10
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    同族专利:
    公开号 | 公开日
    ES2554705B2|2016-04-05|
    WO2017085345A1|2017-05-26|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    WO1999007489A1|1997-08-07|1999-02-18|Broadbent's, Inc.|Remotely controlled pressurized liquid dispensing mobile unit|
    CN101850727A|2010-02-26|2010-10-06|湖南山河智能机械股份有限公司|Remote control wheel type mobile robot platform|
    WO2012158042A1|2011-05-19|2012-11-22|Magntrac B.V.|Method and vehicle for inspecting and/or treating a surface of a wind turbine or building, and wind turbine provided therewith|
    WO2014044886A1|2012-09-18|2014-03-27|Eliot Systems, S.L.|Robot for treating metal structures|
    ES1104255U|2014-01-17|2014-03-24|Tsr S. L.|Cleaning robot |
    法律状态:
    2016-04-05| FG2A| Definitive protection|Ref document number: 2554705 Country of ref document: ES Kind code of ref document: B2 Effective date: 20160405 |
    优先权:
    申请号 | 申请日 | 专利标题
    ES201531658A|ES2554705B2|2015-11-16|2015-11-16|Maintenance robot|ES201531658A| ES2554705B2|2015-11-16|2015-11-16|Maintenance robot|
    PCT/ES2016/070814| WO2017085345A1|2015-11-16|2016-11-15|Maintenance robot|
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