• 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:
    A mobile processing station with an industrial robot arm, with which, for example, a repair of an orthotropic steel bridge deck of a highway can be carried out. The six-axle robot arm is fixed and mounted overhead within a sea container with the bottom removed and equipped above and below with greenhouses into which the forks of a forklift truck can be inserted to lift the sea container. The lower part 10 of the fixed rear wall on which the robot arm is mounted is pivotally mounted around a horizontal hinge. The sea container equipped with retractable bicycles contains the power supply and control for the robot arm.
    公开号:NL2020672A
    申请号:NL2020672
    申请日:2018-03-26
    公开日:2018-07-06
    发明作者:Van Buuren Henrie
    申请人:Volkerrail Nederland Bv；
    IPC主号:
    专利说明:

    Mobile processing station and repair methodology
    The invention relates to a mobile processing station with an industrial robot arm, with which, for example, a repair of an orthotropic steel bridge deck of a highway can be carried out.
    Before going into the processing station, the repair of an orthotropic steel bridge deck of a highway is first explained.
    Heavy steel traffic in particular means that a steel bridge deck (also known as a bridge driving floor), in particular an orthotropic steel bridge driving floor, is increasingly suffering from fatigue cracking. By removing the asphalt pavement of asphalt concrete usually present on top of the bridge road floor, the steel surface is exposed for inspection and repair if necessary.
    FIG. 1 shows a schematic cross-section of the bridge deck, a horizontal steel plate with V-shaped or trough-shaped reinforcement profiles (reinforcement trough) welded to it at the bottom, the arrow indicates the location of the weld bead.
    FIG. 2 is a view to clarify details such as the location of the weld bead (see arrows) between bridge deck and stiffener trough. In the case of a cracked bridge deck (the dotted arrow indicates the typical crack location), the bridge deck must be replaced over the area indicated by the horizontal arrow (over the length of the paper of the drawing of approximately 1 meter) with a slightly thicker steel plate ( so an area on both sides well outside the place of attachment between bridge deck and stiffening trough). During the replacement, the stiffening trough must remain in place and be welded to the thicker steel plate in the original way. During the repair, a temporary bridge structure (so-called staple; an 8 cm thick solid steel plate) welded on top of the bridge deck keeps the repair area form-retaining. This staple is also shown, with roughly the shape of a U standing upside down.
    According to the known procedure, a worker located under the bridge deck removes the welding bead between the bridge deck and stiffening trough.
    According to an alternative procedure, the removal of the welding bead under the bridge deck is prevented by a worker, saving time and money and, moreover, mechanizing the work. To this end, the opening of an inspection hole is started, as shown in FIG. The inspection hole falls well within the welding tracks, respectively the upright walls, of the stiffening trough.
    Via the inspection hole, from the top of the bridge deck, the position of the stiffening trough can be precisely measured (for example by inserting a sensing instrument through the inspection hole), and on the basis of this measurement the original bridge deck is cut away to the prescribed size, whereby of the bridge deck let alone two strips that exactly overlap with the upright walls of the stiffening trough. The photo above shows the middle, wide strip with the inspection hole that is still completely cut in place in the bridge deck and on both sides of it a narrow strip and between a narrow and the middle wide strip each time the still trough and the rest of the the strip stuck on the bridge deck.
    The photo of fig. 4 shows the bridge deck cut open to the prescribed size, except for two strips that coincide with the place where the upright walls of the stiffening trough connect to the bridge deck. The middle wide strip and the two narrow strips on both sides have now been removed so that you can look down into and along the stiffening trough.
    Now these two strips have also been cut loose (see Fig. 5), as a result of which the upper edges of the upright trough walls are slightly lowered so that the thicker repair plate with its upper surface comes to be flush with the upper surface of the rest of the bridge deck.
    The repair procedure is summarized as follows on the basis of sketched cross sections of a piece of bridge deck with a corresponding stiffening trough below. step 1 (fig. 6): start of the repair, step 2 (fig. 7): make inspection hole step 3 (fig. 8): cutting off the middle wide strip and on both sides a narrow strip, in between are the welded to the stiffening trough stripping step 4 (fig. 9): removing the cut middle middle and narrow strips on both sides step 5 (fig. 10): cutting loose and removing the strips so that the upper edge of the stiffening trough is below its original level (indicated by the thin line). step 6 (fig. 11): placing the (thicker) repair plate and welding it again (from below the bridge through a welder) of the stiffening trough. The repair plate is welded to the surrounding bridge deck by the industrial robot that is located above the bridge deck.
    These steps 1 to 6 can be performed in any other order. One or more of steps 1 to 6 can be omitted.
    This is followed by disclosure of the invented mobile processing station with industrial robot arm and how this mobile processing station can be used to repair an orthotropic steel bridge deck of a highway.
    FIG. 12 shows an industrial 6-axis robot arm fixedly mounted on a free and stable movable structure on top of the bridge deck. The robot arm hangs above the upper surface of the bridge deck and has the inspection hole and then the middle wide strip and the two narrow strips on both sides and then the strips with the weld bead to the stiffening trough cut loose so that the stiffening trough is cut free by the robot. The temporary staple welded to the top of the bridge deck is partially visible, in particular one of the feet with which the staple is attached to the bridge deck.
    FIG. 13 shows in detail the 6-axis robot arm with horizontal pivot axis of the shoulder joint (Axis 1), mounted on a movable structure, for example inside a sea container or at the rear of a truck or forklift.
    FIG. 14 shows the name of the axes of a 6-axis robot arm, in this picture the pivot axis of the shoulder joint (Axis 1) is oriented vertically, this is the usual orientation of this type of robot arm.
    A lot of manual work is done on an existing building. This is expensive, requires a lot of manpower, is slow and inaccurate and the quality varies.
    The inventor has devised a solution in the form of a mobile processing station which is equipped with an industrial robot arm whose "hand" is adapted to operate a tool as desired, such as a cutting torch, a drilling or milling tool or a welding torch or a other tools with which an industrial robot arm can be equipped.
    With the invention, various disadvantages of manual labor can be reduced or avoided.
    The invention can be used, for example, for repairing a fatigue crack in the steel bridge floor of a bridge of a highway. Many other applications are also conceivable.
    Preferably one or more of the following applies: the robot arm is mounted "overhead" (preferably permanently) on a support frame; the supporting frame is adapted to be moved and stably temporarily put down at the place where the robot arm must perform its work; the supporting frame is constructed so that the robot arm remains within the area bounded by the supporting frame during the time that it is stored and / or in operation, the supporting frame preferably being designed so that it forms a barrier to human access to the working area of the robot , for example, in that the supporting frame comprises a (preferably substantially completely surrounding) shell construction (for example, the access-preventing side walls and possibly a roof), which barrier may be provided with an access opening (for example with a door) that can be closed; the shell construction is self-supporting (monocoque); the robot is mounted at a fixed location on the support frame; the supporting frame has form-retaining, preferably fixedly fixed to the supporting frame, supporting edges which are positioned so that they offer a stable three-point or multi-point support; the support frame has retractable bicycles; the supporting frame forms a tent or canopy; the supporting frame carries the peripheral equipment for the robot, such as the control unit, data logger, energy source, generating set, batteries, compressed air unit, fuel tank, tools, power supply for the tools, such as a gas bottle; the mobile processing station is an independent and / or fully self-sufficient unit; the processing station comprises wall units that delimit a spatial area within which the robot operates; a measure revealed in the following, apart from the measures in combination with which this measure is presented:
    FIG. 15 shows a 7-axis robot arm, axis No. 3 is missing with a 6-axis robot arm.
    FIG. 16 shows a 6-axis robot arm, compared to the 7-axis robot arm, the upper arm cannot rotate about its own longitudinal axis. The axis of the shoulder joint (Axis 1) runs vertically when the base is set on the bridge deck, as shown, and horizontally when the base is mounted 90 degrees tilted relative to this display overhead ("vertical overhead"), and again vertically when the base is tilted 180 degrees relative to this display overhead ("horizontal overhead").
    FIG. 17 shows the maximum pivot angles with a 6-axis robot arm.
    FIG. 18 shows a 6-axis robot arm mounted overhead ("vertical overhead"), its free end can cover a large contiguous part of the surface of the bridge deck. The base is fixedly fixed to an upright or vertical support, the support is directly or indirectly detached from the bridge deck. The axis of the shoulder joint runs horizontally.
    FIG. 19 shows the same 6-axis robot arm, mounted overhead ("horizontal overhead"), which can cover a large surface area of the bridge deck located under the robot arm.
    FIG. 20 shows a 3-axis robot arm with 3 parallel axes and a linear (e.g. vertical) movable spacer between the forearm and the hand to adjust the level of the hand (at the lower end of the spacer). The lower arm and upper arm move parallel to the bridge deck with vertical axes, so that the tool can cover a large surface area of the bridge deck at the free lower end of the robot arm (at the free lower end of the intermediate piece). In addition or as an alternative to the vertically displaceable intermediate piece, the level of the base or the location of the upper arm along the vertical column connecting to the base (the "trunk") can be adjusted, which is indicated by dotted arrows.
    FIG. 21 shows the same 3-axis robot arm of FIG. 20, now mounted overhead ("horizontal overhead"), with its base hanging under a horizontal or vertical support.
    FIG. 22 shows a 5-axis overhead ("vertical overhead") mounted robot arm, sliding along the portal as indicated by the arrow, the portal is located horizontally above the bridge deck, a support leg (one of which is visible) freely supported on the bridge deck is at each end of the portal mounted and support the portal. Combination of two support legs and gantry, which is supported by a robot arm, can be moved over the bridge deck using bicycles at the lower end of the support legs (not visible). Whether this assembly can be lifted by a hoisting installation, such as forklift truck, to be moved across the bridge deck, for which purpose the assembly can be mounted at high and / or low or other suitable level with greenhouses for the forks of a forklift truck or with other hoisting devices, such as lifting eyes. are equipped. The axis of the shoulder joint (Axis 1) is rigid compared to a 6-axis robot arm.
    FIG. 23 - 24 show a perspective view and a sectional side view of a sea container (an example of a self-supporting shell construction) with cornercastings, in which an industrial 6-axis robot arm is mounted overhead. Part of the bottom of the container has been removed. The top wall and the two side walls have been left intact, the rear wall has been modified. The container is placed directly on the bridge deck, over the leg. The robot welds the staple to the bridge deck and then cuts a hole in the bridge deck. The lower part of the fixed rear wall on which the robot arm is mounted is pivotally mounted around a horizontal hinge and is shown in the open position so that the sea container can be driven over the staple. The sea container has retractable wheels at one end (the fixed wall that supports the robot arm) and by lifting the other (opposite) end (equipped with doors as shown) the sea container can run on the bridge deck. The sea container contains a cabinet that contains the power and control for the robot arm. The robot arm is equipped with a welding torch and a cutting torch, for which the power supply is contained in the sea container. The sea container is equipped above and below with greenhouses into which the forks of a forklift truck can be inserted to lift the sea container.
    The sea container thus forms a sturdy supporting frame for the robot arm and at the same time a bottomless covering for the working area of the staple. Preferably, the underside of the support frame is suitable for stably placing the robot arm on the bridge deck, so that during operation of the robot freight traffic passing on the adjacent roadway of the bridge deck cannot cause the robot arm to move in a nuisance. The steel sea container that rests with its flat steel bottom on the bridge deck offers such a stable support frame.
    The robot arm has a weight of at least 100 or 150 or 175 or 200 kilograms.
    The invention includes all disclosed measures in an individual sense, independently of the combination in which they are presented, and also in any combination or permutation with one or more other disclosed measures, in an individual sense.
    权利要求:
    Claims (3)
    [1]
    A mobile processing station with an industrial robot arm, the "hand" of which is adapted to operate a tool as desired, such as a cutting torch, a drilling or milling tool or a welding torch or other tool with which an industrial robot arm can be equipped, which robot arm is vertical overhead (see Fig. 18) is permanently mounted at a fixed location within a self-supporting shell construction and is of a minimum six-axis type and whose pivot axis of the shoulder joint (Axis 1) is oriented horizontally; and wherein the following further applies to the processing station: the self-supporting shell structure is adapted to be moved and stably temporarily put down at the place where the robot arm is to perform its work; part of the bottom of the self-supporting shell construction is missing; the self-supporting shell construction has an upper wall and two side walls, which are substantially closed and has a front wall and has a rear wall, the lower part of which is pivotally mounted around a horizontal hinge; the bottom, top, side, front and rear wall are fixed; the rear wall carries the robot arm permanently mounted thereto with its base; the front wall has an access opening for personnel; the self-supporting shell structure is equipped with retractable bicycles at the end of the self-supporting shell structure that contains the rear wall to which the robot arm is mounted; the self-supporting shell construction contains a cabinet containing the power supply and control for the robot arm and carries the peripheral equipment for the robot arm, namely the control unit, data logger, energy source, power unit, batteries, compressed air unit, fuel tank, tools, power supply for the tools, such as a gas bottle ; the robot arm is equipped with a welding torch and a cutting torch, for which the power supply is located in the self-supporting shell construction; the self-supporting shell structure is equipped above and below with greenhouses into which the spoons of a fork-lift truck can be inserted to lift the self-supporting shell structure; the self-supporting shell construction forms a sturdy support frame for the robot arm and forms a bottomless roof; the underside of the self-supporting shell structure is arranged for stable positioning on the substrate, and is therefore provided with a flat steel bottom so that the self-supporting shell structure has form-retaining support edges fixed to the self-supporting shell structure and positioned so that they have a stable triple or offer multi-point support if placed on a bridge deck; the robot arm has a weight of at least 150 kilograms; the self-supporting shell structure is constructed so that the robot arm remains and operates within the area bounded by the self-supporting shell structure during the time it is stored and in operation, the self-supporting shell structure being designed to form a barrier to human access to the working area of the robot arm, in that the self-supporting shell construction comprises a substantially completely surrounding unit of walls, which barrier is provided with an access opening that can be closed with a door; the mobile processing station is an independent and fully self-sufficient unit.
    [2]
    2. Processing station as claimed in claim 1, wherein the self-supporting shell construction is provided by a steel sea container with cornercastings from which a part of the bottom of the container has been removed, the top wall and the two side walls are left intact, and the rear wall is modified and the sea container is designed to rest on a bridge deck with its flat steel bottom.
    [3]
    Method for repairing an orthotropic steel bridge deck of a highway using the processing station according to claim 2, wherein the sea container is placed directly on the bridge deck and supports its bottom side stably on the bridge deck and at the same time forms a bottomless roof and the robot arm of the processing station within the bottomless roof first weld a so-called staple to the bridge deck and then cut a hole in the bridge deck, then the lower part of the fixed rear wall on which the robot arm is mounted is pivoted around the horizontal hinge in the open position and held in the open position and then the sea container is driven over the staple, which passes through the lower opened part of the rear wall and under its horizontal hinge, for which purpose the sea container runs on its retractable wheels and on the retractable wheels other opposite end is lifted by a forklift truck so that the sea contour drive on the bridge deck.
    类似技术:
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    同族专利:
    公开号 | 公开日
    EP3078774A1|2016-10-12|
    NL2020672B1|2019-02-25|
    NL2016551A|2016-10-10|
    NL2016551B1|2018-04-13|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE3532305A1|1985-09-11|1987-03-12|Messer Griesheim Gmbh|Production and/or assembly cell for workpieces|
    WO2007120438A2|2006-03-28|2007-10-25|Abb Inc.|Modular robotic work cell|
    WO2009059432A1|2007-11-10|2009-05-14|Weatherhaven Resources Ltd.|Extendible height container and shelter|
    GB2420365B|2004-11-18|2009-11-11|Intelligent Engineering|Method of reinforcing a bridge|
    CA2584300A1|2007-04-10|2008-10-10|Les Machineries Automatech Inc.|Robotic work cell and method of operation|WO2019220827A1|2018-05-18|2019-11-21|株式会社アットロボティクス|Vertical multi-joint welding robot|
    CN109859158A|2018-11-27|2019-06-07|邦鼓思电子科技（上海）有限公司|A kind of detection system, method and the machinery equipment on the working region boundary of view-based access control model|
    CN109555019A|2019-01-10|2019-04-02|广东省路桥建设发展有限公司|The method of more slurry type asphalt repairing asphalt paving of steel bridge|
    法律状态:
    2020-03-25| PD| Change of ownership|Owner name: VOLKERWESSELS INTELLECTUELE EIGENDOM B.V.; NL Free format text: DETAILS ASSIGNMENT: CHANGE OF OWNER(S), ASSIGNMENT; FORMER OWNER NAME: VOLKERRAIL NEDERLAND B.V. Effective date: 20200317 |
    2021-12-08| MM| Lapsed because of non-payment of the annual fee|Effective date: 20210501 |
    优先权:
    申请号 | 申请日 | 专利标题
    NL2014590|2015-04-07|
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