EP0162098A1 - Apparatus with legs adhering to a non horizontal surface - Google Patents

Apparatus with legs adhering to a non horizontal surface

Info

Publication number
EP0162098A1
EP0162098A1 EP85900129A EP85900129A EP0162098A1 EP 0162098 A1 EP0162098 A1 EP 0162098A1 EP 85900129 A EP85900129 A EP 85900129A EP 85900129 A EP85900129 A EP 85900129A EP 0162098 A1 EP0162098 A1 EP 0162098A1
Authority
EP
European Patent Office
Prior art keywords
lifter
suction cup
suction cups
suction
towards
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP85900129A
Other languages
German (de)
French (fr)
Inventor
Patrice Alain Kroczynski
Jean-Pierre Moreau
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
INTERNATIONAL ROBOTIC ENGINEERING Inc
Original Assignee
INTERNATIONAL ROBOTIC ENGINEERING Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by INTERNATIONAL ROBOTIC ENGINEERING Inc filed Critical INTERNATIONAL ROBOTIC ENGINEERING Inc
Publication of EP0162098A1 publication Critical patent/EP0162098A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track

Definitions

  • the present invention relates to a device for holding a non-horizontal surface of an apparatus capable of moving along this surface. It is more particularly applicable to an apparatus as described in patent application EP-A-O084012.
  • This document describes an autonomous device capable of moving along a non-horizontal surface and comprising a first crew and a second crew connected to the first by means making it possible to obtain relative displacement by translation and by rotation in a plane parallel to the surface, and first and second holding means carried respectively by the first and second crew and capable of fixing the device on the surface in a removable manner, characterized in that the holding means carried by at least one of the crews are connected to this crew by means of jacks capable of moving said crew relative to said holding means in a direction perpendicular to the surface.
  • Said holding means are advantageously according to this patent, made up of several adhesion devices which are magnetic or pneumatic suction cups, and it is provided that a suction cup can be replaced by several small ones coupled together.
  • This solution is obviously advantageous, because it makes it possible to reduce the cost price.
  • a large suction cup is, in fact, more expensive than a set of equivalent efficiency and comprising smaller suction cups.
  • a ball joint is provided between each cylinder capable of moving the crew relative to the holding means perpendicular to the surface which supports them and said holding means, which allows adaptation to variations in curvature of the surface.
  • the present invention therefore aims to solve its difficulties and provide a connection between a cylinder and a set of suction cups which is both safer, less expensive and less fragile than the arrangement initially planned.
  • a second object of the invention is to improve the accuracy of the detection of the position of the suction cups relative to the wall. It is known that the positioning of the jacks is subject to the detection of the position of the suction cups, an improvement in this detection is therefore obviously linked to the improvement of the holding means.
  • the present invention therefore provides an apparatus according to claim 1 of the main patent and in which the holding means comprise at least one assembly comprising at least two suction cups, which has the particularity that each of said assemblies comprises: a support capable of moving perpendicularly on the surface
  • a flexible lifting beam pivotally mounted in its central part on said support, and at least two magnetic or pneumatic suction cups towards the ends of the lifting beam, the flexibility of the lifting beam being sufficient to allow adaptation of the suction cups to the expected variations in curvature of the surface , but insufficient / to cause detachment of the suction cups under the effect of forces likely to result from the operation of the device.
  • the lifter is formed by an elongated blade, which carries a suction cup towards each of its ends
  • -the suction cups are fixed on the lifter by the central part of their rear face, opposite their active face, this rear face having on its edges a convexity or a taper sufficient not to hinder a bending of the lifter
  • the lifter is provided, on its face turned towards the surface which cooperates with the suction cups, with an elastic stop, placed in its part central and intended to oppose an exaggerated bending of said lifter, -the lifter present at rest, a curvature whose concavity is directed towards the surface
  • -each suction cup is equipped with a proximity detector disposed in the axial region of the suction cup and capable of emitting signals when said suction cup is substantially at surface contact.
  • This figure is a partial longitudinal section of an assembly comprising two suction cups.
  • a support l which can be linked to the rod of a jack oriented perpendicularly to the surface 2 on which the device is to be moved, and which is here represented as a flat surface, but which can be curved.
  • the support 1 can also be linked to a tool carried by the device.
  • the support 1 has a bore parallel to the surface, and through which passes an axis 3, which supports a yoke 4 secured to the flexible lifter 5, which constitutes an important element of the invention.
  • This lifting beam consists of a stainless steel blade, the flexibility of which has been determined by taking into account considerations which will be explained below.
  • the lifting beam has a generally rectangular shape elongated perpendicular to the axis 3, and which tapers a little towards the ends, the yoke 4 is fixed by screw substantially in its middle.
  • suction cups 6 are fixed by screws. These are magnetic suction cups, one of which is shown in section (on the left in the figure).
  • This suction cup is of the conventional type, with the only peculiarity that its rear face 7, that is to say that which is opposite its active face, which is turned towards the surface 2, has a frustoconical shape, the suction cup, high or more precisely its cover, being more / in the center, by which it is fixed to the spreader 5, than on its edges.
  • the suction cups 6 could be of the pneumatic type, but even in this case it is preferable that their rear face has this characteristic.
  • the spreader could be triangular or star, and carried at each vertex of the triangle or each end of the star a suction cup of the same kind.
  • the connection of the lifter with the support 1 should include a universal joint or a ball joint, the connection by the axis 3 and the yoke 4 do not allow pivoting in all directions.
  • the width of the end of the support 1 means that the latter constitutes a stop which limits the inclination of the lifter 5 relative to said support.
  • This inclination results from the average angle that the surface 2 can make with the direction of the support, and its maximum value is determined in advance.
  • an elastomer stop 8 is provided, which limits a movement of the support 1, and of the central part of the lifter, in the direction of the surface 2 to a value such that the deformation of the spreader 5 always remains in the elastic range.
  • the lifter 5 has a concavity towards the surface 2 which corresponds to the maximum curvature towards the outside of the surface 2.
  • This concavity meets the following consideration: suppose that the lifter is flat and that the assembly formed by the support , the lifter and the suction cups performs an approach maneuver in the direction of a concave surface 2, the adaptation is done without difficulty, and the lifter bends until the suction cups are applied to the surface.
  • the surface 2 is convex
  • the movement of adaptation of the shape of the spreader will be cont iied by the advance of the support 1 in the direction of the surface 2, which i tend to give to the spreader a curvature of opposite direction -due to the resistance of the suction cups resting by their edge on the surface 2. This may result in an imperfect adaptation of the suction cups.
  • This is avoided by giving the lifter the concavity that we have just indicated, because then the situation always arises as in the case where a plane spreader is in front of a concave surface 2.
  • the convexity or taper of the rear face 7 of the suction cups is intended to facilitate adaptation to the curvature of the surface 2, by allowing the flexibility of the lifter to play its role over the entire length thereof, in all circumstances.
  • the flexibility (or elasticity) of the lifter determines taking into account the following considerations: a too rigid lifter leads to exaggerated efforts for a good adaptation of the suction cups, while a too flexible lifter can allow a detachment of a suction cup under the effect of a significant lateral force transmitted by the support 1.
  • a proximity sensor 9 is arranged in the axis of each suction cup. This is an inductive sensor, but another sensor can be considered. Due to its location, it signals precisely when the suction cup is in the correct position. The signal corresponding to this moment controls the sending of the current in the coil iodine the suction cup, and the stop of the advance of the support 1 towards the surface 2. In case or, for some reason, this advance of the support is not not stopped, the stopper 9 protects the lifter against an exaggerated bending which could deform or damage it.
  • Reference 11 relates to another sensor, called “safety sensor”. It is a simple solenoid of small dimensions, fixed on the rear face of the magnetic suction cup 6. The magnetic field received by this sensor varies rapidly when the coil 10, suitably excited, approaches a ferrous surface. magnetic like the hull of a ship. The output signal from the sensor 11 decreases suddenly and goes, for example from 5 volts to 3 Volts at the time of contact. These figures correspond to a magnetic suction cup of the standard type, 90 mm. in diameter, this sensor 11 being formed of a solenoid of 500 turns for 1 cm. of diameter. The presence of a layer of paint can reduce the voltage drop, but if this voltage remains too high, this corresponds to an insufficient efficiency of the coil, and consequently to a defect in the adhesion of the device.
  • the reference 11 a corresponds to another position of the sensor 11, on the side of the magnetic suction cup. In this position the variations of the magnetic field are in opposite directions to those which have been described above, but the operation is the same.
  • the edges of the suction cups 6 carry a bead 12, made of flexible and elastic material, such as an elastomer. To simplify, this bead is only shown on one of the suction cups.
  • the function of this bead is as follows: if the suction cup moves a short distance from the wall 2 and parallel to it, and if it has an abnormally high projection, a weld bead, for example, the bead 12 will slide on this projection, by lifting the lifter 5, thanks to the flexibility of the latter, without risk of damaging the suction cup 6 and the members 9, 10, which it contains.
  • the invention is applicable to all kinds of robots with legs.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)

Abstract

Le dispositif de maintien sur une surface non horizontale d'un appareil capable de se déplacer le long de cette surface est constitué d'un support (1) mobile perpendiculairement à la surface qui porte l'appareil, d'un palonnier (5) de flexibilité maintenue dans certaines limites pour permettre son adaptation aux variations de courbure, et d'au moins deux ventouses (6) montées vers les extrémités du palonnier. On obtient ainsi un maintien plus sûr et moins coûteux.The device for maintaining on a non-horizontal surface a device capable of moving along this surface consists of a support (1) movable perpendicularly to the surface which carries the device, a lifting beam (5) of flexibility maintained within certain limits to allow it to adapt to variations in curvature, and of at least two suction cups (6) mounted towards the ends of the lifter. A safer and less costly hold is thus obtained.

Description

APPAREIL A PATTESADHERENTES SUR UNE SURFACE NON-HORIZONTALE APPARATUS WITH ADHERENT LEGS ON A NON-HORIZONTAL SURFACE
La présente invention est relative à un dispositif de maintien sur une surface non horizontale d'un appareil capable de se déplacer le long de cette surface. Elle est plus particulièrement applicable à un appareil tel que décrit dans la demande de brevet EP-A-O084012. Ce document décrit un appareil autonome capable de se déplacer le long d'une surface non horizontale et comportant un premier équipage et un second équipage relié au premier par des moyens permettant d'obtenir un déplacement relatif par translation et par rotation dans un plan parallèle à la surface, et des premiers et seconds moyens de maintien portés respectivement par le premier et le second équipage et capables de fixer l'appareil sur la surface de façon amovible, caractérisé en ce que les moyens de maintien portés par au moins l'un des équipages sont reliés à cet équipage par l'intermédiaire de vérins capables de déplacer ledit équipage par rapport auxdits moyens de maintien dans une direction perpendiculaire à la surface. Lesdits moyens de maintien sont, avantageusement selon ce brevet, constitués de plusieurs dispositifs d'adhérence qui sont des ventouses magnétiques ou pneumatiques, et il est prévu qu'on peut remplacer une ventouse par plusieurs petites couplées entre elles. Cette solution est évidemment avantageuse, car elle permet de réduire le prix de revient. Une ventouse de grandes dimensions est, en effet, plus coûteuse qu'un ensemble d'efficacité équivalente et comportant des ventouses plus petites.The present invention relates to a device for holding a non-horizontal surface of an apparatus capable of moving along this surface. It is more particularly applicable to an apparatus as described in patent application EP-A-O084012. This document describes an autonomous device capable of moving along a non-horizontal surface and comprising a first crew and a second crew connected to the first by means making it possible to obtain relative displacement by translation and by rotation in a plane parallel to the surface, and first and second holding means carried respectively by the first and second crew and capable of fixing the device on the surface in a removable manner, characterized in that the holding means carried by at least one of the crews are connected to this crew by means of jacks capable of moving said crew relative to said holding means in a direction perpendicular to the surface. Said holding means are advantageously according to this patent, made up of several adhesion devices which are magnetic or pneumatic suction cups, and it is provided that a suction cup can be replaced by several small ones coupled together. This solution is obviously advantageous, because it makes it possible to reduce the cost price. A large suction cup is, in fact, more expensive than a set of equivalent efficiency and comprising smaller suction cups.
Dans le brevet de base, il est prévu, entre chaque vérin capable de déplacer l'équipage par rapport aux moyens de maintien perpendiculairement à la surface qui les supporte et lesdits moyens de maintien, une rotule qui permet l'adaptation aux variations de courbure de la surface.In the basic patent, a ball joint is provided between each cylinder capable of moving the crew relative to the holding means perpendicular to the surface which supports them and said holding means, which allows adaptation to variations in curvature of the surface.
Il est cependant apparu qu'une telle rotule est un instrument fragile et coûteux, et qu'une seule rotule intercalée entre un vérin et un ensemble comportant plusieurs ventouses n'était pas toujours capable d'assurer une adaptation parfaite des moyens de maintien notamment lorsque la courbure n'est pas constante à l'échelle du moyen de maintien. La présente invention a donc pour but de résoudre ses difficultés et de fournir une liaison entre un vérin et un ensemble de ventouses qui soit à la fois plus sûr,moins coûteux et moins fragile que la disposition prévue initialement.However, it appeared that such a ball joint is a fragile and expensive instrument, and that a single ball joint inserted between a jack and an assembly comprising several suction cups was not always capable of ensuring perfect adaptation of the holding means, in particular when the curvature is not constant on the scale of the holding means. The present invention therefore aims to solve its difficulties and provide a connection between a cylinder and a set of suction cups which is both safer, less expensive and less fragile than the arrangement initially planned.
Un second but de l'invention est d'améliorer la précision de la détection de la position des ventouses par rapport à la paroi. On sait que le positionnement des vérins est asservi à la détection de la position des ventouses,une amélioration de cette détection est donc manifestement en liaison avec l'amélioration des moyens de maintien.A second object of the invention is to improve the accuracy of the detection of the position of the suction cups relative to the wall. It is known that the positioning of the jacks is subject to the detection of the position of the suction cups, an improvement in this detection is therefore obviously linked to the improvement of the holding means.
La présente invention fournit donc un appareil selon la revendication 1 du brevet principal et dans lequel les moyens de maintien comportent au moins un ensemble comprenant au moins deux ventouses, qui présente la particularité que chacun desdits ensembles comporte: -un support susceptible de se déplacer perpendiculairement à la surfaceThe present invention therefore provides an apparatus according to claim 1 of the main patent and in which the holding means comprise at least one assembly comprising at least two suction cups, which has the particularity that each of said assemblies comprises: a support capable of moving perpendicularly on the surface
-un palonnier flexible monté à pivot en sa partie centrale sur ledit support, et -au moins deux ventouses magnétiques ou pneumatiques vers les extrémités du palonnier, la flexibilité du palonnier étant suffisante pour permettre une adaptation des ventouses aux variations prévues de courbure de la surface, mais insuff isant/pour entraîner un décollement des ventouses sous l'effet des forces susceptibles de résulter du fonctionnement de l'appareil. Suivant des modalités avantageuses: -le palonnier est formé d'une lame allongée, qui porte une ventouse vers chacune de ses extrémités, -les ventouses sont fixées sur le palonnier par la partie centrale de leur face arrière, opposée à leur face active,cette face arrière présentant sur ses bords une convexité ou une conicité suffisante pour ne pas gêner une flexion du palonnier, -le palonnier est pourvu, sur sa face tournée vers la surface qui coopère avec les ventouses,d'une butée élastique,placée dans sa partie centrale et destinée à s'opposer à une flexion exagérée dudit palonnier, -le palonnier présente au repos, une courbure dont la concavité est dirigée vers la surface, -chaque ventouse est équipée d'un détecteur de proximité disposé dans la région axiale de la ventouse et capable d'émettre des signaux quand ladite ventouse est sensiblement au contact de la surface.a flexible lifting beam pivotally mounted in its central part on said support, and at least two magnetic or pneumatic suction cups towards the ends of the lifting beam, the flexibility of the lifting beam being sufficient to allow adaptation of the suction cups to the expected variations in curvature of the surface , but insufficient / to cause detachment of the suction cups under the effect of forces likely to result from the operation of the device. According to advantageous methods: -the lifter is formed by an elongated blade, which carries a suction cup towards each of its ends, -the suction cups are fixed on the lifter by the central part of their rear face, opposite their active face, this rear face having on its edges a convexity or a taper sufficient not to hinder a bending of the lifter, the lifter is provided, on its face turned towards the surface which cooperates with the suction cups, with an elastic stop, placed in its part central and intended to oppose an exaggerated bending of said lifter, -the lifter present at rest, a curvature whose concavity is directed towards the surface, -each suction cup is equipped with a proximity detector disposed in the axial region of the suction cup and capable of emitting signals when said suction cup is substantially at surface contact.
L'invention va maintenant être décrite plus en détail en s'aidant d'un exemple pratique, non limitatif, illustré par la figure unique.The invention will now be described in more detail with the aid of a practical, nonlimiting example, illustrated by the single figure.
Cette figure est une coupe longitudinale partielle d'un ensemble comprenant deux ventouses.This figure is a partial longitudinal section of an assembly comprising two suction cups.
Elle monte l'extrémité d'un support l,qui peut être lié à la tige d'un vérin orienté perpendiculairementt à la surface 2 sur laquelle soit se déplacer l'appareil, et qui est ici représenté comme une surface plarve, mais qui peut être courbe. Le support 1 peut également être lié à un outil porté par l'appareil.It mounts the end of a support l, which can be linked to the rod of a jack oriented perpendicularly to the surface 2 on which the device is to be moved, and which is here represented as a flat surface, but which can be curved. The support 1 can also be linked to a tool carried by the device.
Le support 1 comporte un alésage parallèle à la surface, et dans lequel passe un axé 3, lequel supporte une chape 4 solidaire du palonnier flexible 5, qui constitue un élément important de l'invention. Ce palonnier est constitué d'une lame d'acier inoxydable dont la flexibilité a été déterminée en tenant compte de considérations qui seront exposées plus loin. Le palonnier a une forme générale rectangulaire allongée perpendiculairement à 1 'axe 3 , et qui va en s'effilant un peu vers les extrémités, la chape 4 est fixée par vis sensiblement à son milieu.The support 1 has a bore parallel to the surface, and through which passes an axis 3, which supports a yoke 4 secured to the flexible lifter 5, which constitutes an important element of the invention. This lifting beam consists of a stainless steel blade, the flexibility of which has been determined by taking into account considerations which will be explained below. The lifting beam has a generally rectangular shape elongated perpendicular to the axis 3, and which tapers a little towards the ends, the yoke 4 is fixed by screw substantially in its middle.
Aux extrémités du palonnier flexible, deux ventouses 6 sont fixées par vis. Il s'agit ici de ventouses magnétiques, dont l'une est figurée en coupe ( à gauche sur la figure). Cette ventouse est de type classique, avec pour seule particularité que sa face arrière 7 , c'est-à-dire celle qui est opposée à sa face active, laquelle est tournée vers la surface 2, présente une forme tronconique, la ventouse, haute ou plus exactement son capot, étant plus/au centre, par où elle est fixée sur le palonnier 5, que sur ses bords. Les ventouses 6 pourraient être du type pneumatique,mais même dans ce cas il est préférable que leur face arrière présente cette particularité.At the ends of the flexible lifting beam, two suction cups 6 are fixed by screws. These are magnetic suction cups, one of which is shown in section (on the left in the figure). This suction cup is of the conventional type, with the only peculiarity that its rear face 7, that is to say that which is opposite its active face, which is turned towards the surface 2, has a frustoconical shape, the suction cup, high or more precisely its cover, being more / in the center, by which it is fixed to the spreader 5, than on its edges. The suction cups 6 could be of the pneumatic type, but even in this case it is preferable that their rear face has this characteristic.
Le palonnier pourrait être triangulaire ou en étoile, et porté à chaque sommet du triangle ou chaque extrémité de l'étoile une ventouse du même genre. Dans ce cas, la liaison du palonnier avec le support 1 devrait comporter un joint universel ou une rotule, la liaison par l'axe 3 et la chape 4 ne permettent pas des pivotements dans toutes les directions. La largeur de l'extrémité du support 1 fait que celui-ci constitue une butée qui limite l'inclinaison du palonnier 5 par rapport audit support.The spreader could be triangular or star, and carried at each vertex of the triangle or each end of the star a suction cup of the same kind. In this case, the connection of the lifter with the support 1 should include a universal joint or a ball joint, the connection by the axis 3 and the yoke 4 do not allow pivoting in all directions. The width of the end of the support 1 means that the latter constitutes a stop which limits the inclination of the lifter 5 relative to said support.
Cette inclinaison résulte de l'angle moyen que peut faire la surface 2 avec la direction du support, et sa valeur maximale est déterminée à l'avance.This inclination results from the average angle that the surface 2 can make with the direction of the support, and its maximum value is determined in advance.
Au droit de la chape 4,mais sur la face opposée du palonnier, il est prévu une butée en élastomère 8,qui limite un déplacement du support 1,et de la partie centrale du palonnier, en direction de la surface 2 à une valeur telle que la déformation du palonnier 5 reste toujours dans le domaine élastique.In line with the yoke 4, but on the opposite side of the lifter, an elastomer stop 8 is provided, which limits a movement of the support 1, and of the central part of the lifter, in the direction of the surface 2 to a value such that the deformation of the spreader 5 always remains in the elastic range.
Au repos le palonnier 5 présente une concavité vers la surface 2 qui correspond à la courbure maximale vers l'extérieur de la surface 2. Cette concavité répond à la considération suivante: supposons que le palonnier soit plan et que l'ensemble formé par le support, le palonnier et les ventouses exécute une manoeuvre d'approche en direction d'une surface 2 concave, l'adaptation se fait sans difficulté, et le palonnier s'incurbe jusqu'à ce que les ventouses s 'appliquent sur la surface. Supposons au contraire que la surface 2 soit convexe, le mouvement d'adaptation de la forme du palonnier sera cont iée par l'avance du support 1 en direction de la surface 2, qu i tend à donner au palonnier une courbure de sens inverse compte-tenu de la résistance des ventouses en appui par leur bord sur la surface 2. Il peut en résulter une adaptation imparfaite des ventouses. Celle-ci est évitée en donnant au palonnier la concavité qu'on vient d'indiquer, car alors la situation se présente toujours comme dans le cas où un palonnier plan se trouve en face d'une surface 2 concave.At rest the lifter 5 has a concavity towards the surface 2 which corresponds to the maximum curvature towards the outside of the surface 2. This concavity meets the following consideration: suppose that the lifter is flat and that the assembly formed by the support , the lifter and the suction cups performs an approach maneuver in the direction of a concave surface 2, the adaptation is done without difficulty, and the lifter bends until the suction cups are applied to the surface. Suppose on the contrary that the surface 2 is convex, the movement of adaptation of the shape of the spreader will be cont iied by the advance of the support 1 in the direction of the surface 2, which i tend to give to the spreader a curvature of opposite direction -due to the resistance of the suction cups resting by their edge on the surface 2. This may result in an imperfect adaptation of the suction cups. This is avoided by giving the lifter the concavity that we have just indicated, because then the situation always arises as in the case where a plane spreader is in front of a concave surface 2.
La convexité ou conicité de la face arrière 7 des ventouses est destinée à faciliter l'adaptation à la courbure de la surface 2, en permettant à la flexibilité du palonnier de jouer son rôle sur toute la longueur de celui-ci, en toutes circonstances .The convexity or taper of the rear face 7 of the suction cups is intended to facilitate adaptation to the curvature of the surface 2, by allowing the flexibility of the lifter to play its role over the entire length thereof, in all circumstances.
La flexibilité (ou élasticité) du palonnier et détermine en tenant compte des considérations suivantes: un palonnier trop rigide conduit à des efforts exagérés pour une bonne adaptation des ventouses, alors qu'un palonnier trop souple peut permettre un décollement d'une ventouse sous l'effet d'un effort latéral important transmis par le support 1.The flexibility (or elasticity) of the lifter and determines taking into account the following considerations: a too rigid lifter leads to exaggerated efforts for a good adaptation of the suction cups, while a too flexible lifter can allow a detachment of a suction cup under the effect of a significant lateral force transmitted by the support 1.
Un capteur de proximité 9 est disposé dans l'axe de chaque ventouse. Il s'agit ici d'un capteur inductif, mais un autre capteur peut être envisagé. De par sa situation, il signale avec précision le moment où la ventouse est dans la position convenable. Le signal correspondant à ce moment commande l'envoi du courant dans la bobine iode la ventouse, et l'arrêt de l'avance du support 1 vers la surface 2. Au cas ou, pour une raison quelconque, cette avance du support ne serait pas arrêtée, la butée 9 protège le palonnier contre une flexion exagérée qui pourrait le déformer ou l'endommager.A proximity sensor 9 is arranged in the axis of each suction cup. This is an inductive sensor, but another sensor can be considered. Due to its location, it signals precisely when the suction cup is in the correct position. The signal corresponding to this moment controls the sending of the current in the coil iodine the suction cup, and the stop of the advance of the support 1 towards the surface 2. In case or, for some reason, this advance of the support is not not stopped, the stopper 9 protects the lifter against an exaggerated bending which could deform or damage it.
La référence 11 est relative à un autre capteur, dit "capteur de sécurité". Il s'agit d'un simple solénoïde de petites dimensions, fixé sur la face arrière de la ventouse magnétique 6. Le champ magnétique reçu par ce capteur varie rapidement lorsque la bobine 10, convenablement excitée, s'approche d'une surface ferro-magnétique telle que la coque d'un navire. Le signal de sortie du capteur 11, diminue brusquement et passe, par exemple de 5 volts à 3 Volts au moment du contact. Ces chiffres correspondent à une ventouse magnétique du type courant, de 90 mm. de diamètre, ce capteur 11 étant formé d'un solénoïde de 500 spires pour 1 cm. de diamètre. La présence d'une couche de peinture peut réduire la chute de tension, mais si cette tension reste trop élevée, cela correspond à une efficacité insuffisante de la bobine, et par conséquent à un défaut dans l'adhérence de l'agpareil.Reference 11 relates to another sensor, called "safety sensor". It is a simple solenoid of small dimensions, fixed on the rear face of the magnetic suction cup 6. The magnetic field received by this sensor varies rapidly when the coil 10, suitably excited, approaches a ferrous surface. magnetic like the hull of a ship. The output signal from the sensor 11 decreases suddenly and goes, for example from 5 volts to 3 Volts at the time of contact. These figures correspond to a magnetic suction cup of the standard type, 90 mm. in diameter, this sensor 11 being formed of a solenoid of 500 turns for 1 cm. of diameter. The presence of a layer of paint can reduce the voltage drop, but if this voltage remains too high, this corresponds to an insufficient efficiency of the coil, and consequently to a defect in the adhesion of the device.
La référence 11 a correspond à une autre position du capteur 11, sur le côté de la ventouse magnétique. Dans cette position les variations du champ magnétique sont en sens opposé à celles qui ont été décrites plus haut, mais le fonctionnement est le même.The reference 11 a corresponds to another position of the sensor 11, on the side of the magnetic suction cup. In this position the variations of the magnetic field are in opposite directions to those which have been described above, but the operation is the same.
Il est possible de remplacer le capteur à solénoïde par un autre capteur sensible au champ magnétique, par exemple un capteur à effet Hall.It is possible to replace the solenoid sensor with another sensor sensitive to the magnetic field, for example a Hall effect sensor.
On notera, par ailleurs que les bords des ventouses 6 portent un bourrelet 12, en matière flexible et élastique, telle qu'un élastomère. Pour simplifier, ce bourrelet n'est représenté que sur une des ventouses. La fonction de ce bourrelet est la suivante : si la ventouse se déplace a faible distance de la paroi 2 et parallèlement à celle-ci, et si elle présente une saillie anormalement haute, un cordon de soudure, par exemple, le bourrelet 12 glissera sur cette saillie, en soulevant le palonnier 5, grâce a la souplesse de celui-ci, sans risqua d'endommager la ventouse 6 et les organes 9, 10, qu'elle contient. L ' invent ion est applicable à tous genres de robots à pattes. It will also be noted that the edges of the suction cups 6 carry a bead 12, made of flexible and elastic material, such as an elastomer. To simplify, this bead is only shown on one of the suction cups. The function of this bead is as follows: if the suction cup moves a short distance from the wall 2 and parallel to it, and if it has an abnormally high projection, a weld bead, for example, the bead 12 will slide on this projection, by lifting the lifter 5, thanks to the flexibility of the latter, without risk of damaging the suction cup 6 and the members 9, 10, which it contains. The invention is applicable to all kinds of robots with legs.

Claims

REVENDICATIONS
1. Dispositif de maintien sur une surface non horizontale d'un appareil capable de se déplacer le long de cette surface, ce dispositif de maintien comportant au moins un ensemble comprenant au moins deux ventouses, caractérisé en ce que chacun desdits ensembles comporte :1. Holding device on a non-horizontal surface of an apparatus capable of moving along this surface, this holding device comprising at least one assembly comprising at least two suction cups, characterized in that each of said assemblies comprises:
- un support (1) susceptible de se déplacer perpendiculairement à la surface.- a support (1) capable of moving perpendicular to the surface.
- un palonnier (5) flexible monté à pivot en sa partie centrale sur ledit support, et - au moins deux ventouses (6) magnétiques ou pneumatiques vers les extrémités du palonnier, la flexibilité du palonnier étant suffisante pour permettre une adaptation des ventouses aux variations prévues de courbure de la surface, mais insuffisante pour entraîner un décollement des ventouses sous l'effet des forces susceptibles de résulter du fonctionnement de l'appareil. - a flexible lifter (5) pivotally mounted in its central part on said support, and - at least two magnetic or pneumatic suction cups (6) towards the ends of the lifter, the flexibility of the lifter being sufficient to allow adaptation of the suction cups to variations provided for curvature of the surface, but insufficient to cause detachment of the suction cups under the effect of the forces likely to result from the operation of the device.
2. Dispositif selon la revendication 1, caractérisé en ce que le palonnier est formé d'une lame allongée, qui porte une ventouse vers chacune de ses extrémités. 2. Device according to claim 1, characterized in that the lifter is formed by an elongated blade, which carries a suction cup towards each of its ends.
3. Dispositif selon la revendication 1 ou 2, caractérisé en ce que les ventouses (6) sont fixées sur le palonnier par la partie centrale de leur face arrière (7), opposée à leur face active, cette face arrière présentant sur ses bords une convexité ou une conicité suffisante pour ne pas gêner une flexion du palonnier.3. Device according to claim 1 or 2, characterized in that the suction cups (6) are fixed to the lifter by the central part of their rear face (7), opposite their active face, this rear face having on its edges a convexity or sufficient taper so as not to interfere with bending of the lifter.
4. Dispositif selon l'une des revendications 1 à 3, caractérisé en ce que le palonnier est pourvu, sur sa face tournée vers la surface qui coopère avec les ventouses, d'une butée élastique (8), placée dans sa partie centrale et destiné à s'opposer à une flexion exagérée dudit palonnier.4. Device according to one of claims 1 to 3, characterized in that the lifter is provided, on its face turned towards the surface which cooperates with the suction cups, with an elastic stop (8), placed in its central part and intended to oppose an exaggerated bending of said lifter.
5. Dispositif selon l'une des revendications 1 à 4, caractérisé en ce que le palonnier (5) présente au repos, une courbure dont la concavité est dirigée vers la surface.5. Device according to one of claims 1 to 4, characterized in that the lifter (5) has at rest, a curvature whose concavity is directed towards the surface.
6. Dispositif selon l'une des revendications 1 à 5, caractérisé en ce que chaque ventouse est équipée d'un détec teur de proximité (9) disposé dans le région axiale de la ventouse et capable d'émettre des signaux quand ladite ventouse est sensiblement au contact de la surface.6. Device according to one of claims 1 to 5, characterized in that each suction cup is equipped with a detec proximity sensor (9) disposed in the axial region of the suction cup and capable of emitting signals when said suction cup is substantially in contact with the surface.
7. Dispositif selon l'une des revendications 1 à 6, dans lequel les ventouses sont magnétiques, caractérisé en ce que chaque ventouse est équipée d'un capteur sensible aux variations que présente le champ magnétique émis par la ventouse quand celui-ci approche d'une surface ferro-magnétique. 7. Device according to one of claims 1 to 6, in which the suction cups are magnetic, characterized in that each suction cup is equipped with a sensor sensitive to the variations presented by the magnetic field emitted by the suction cup when the latter approaches d 'a ferro-magnetic surface.
8. Dispositif selon l'une des revendications 1 à 7, caractérisé en ce que chaque ventouse est équipée d'un bourrelet de matière flexible, capable de protéger la ventouse lors d'un déplacement par déformation momentanée du palonier lors du contact d'une aspérité de la surface. 8. Device according to one of claims 1 to 7, characterized in that each suction cup is equipped with a bead of flexible material, capable of protecting the suction cup during movement by momentary deformation of the landing block during contact with a roughness of the surface.
EP85900129A 1983-11-28 1984-11-27 Apparatus with legs adhering to a non horizontal surface Withdrawn EP0162098A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8318960A FR2555491A2 (en) 1983-11-28 1983-11-28 ROBOT WITH CLIPPERS
FR8318960 1983-11-28

Publications (1)

Publication Number Publication Date
EP0162098A1 true EP0162098A1 (en) 1985-11-27

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EP85900129A Withdrawn EP0162098A1 (en) 1983-11-28 1984-11-27 Apparatus with legs adhering to a non horizontal surface

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US (1) US4666114A (en)
EP (1) EP0162098A1 (en)
JP (1) JPS61500488A (en)
FI (1) FI852907L (en)
FR (1) FR2555491A2 (en)
IT (1) IT1179831B (en)
WO (1) WO1985002360A1 (en)

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KR100384194B1 (en) * 1995-03-22 2003-08-21 혼다 기켄 고교 가부시키가이샤 Adsorption wall walking device
DE10209615A1 (en) * 2002-03-05 2003-09-18 Bosch Gmbh Robert Device and method for fixing a sensor means
FR2861457B1 (en) * 2003-10-28 2007-10-19 Marc Serge Brussieux NON-DESTRUCTIVE CONTROL SYSTEM
ES2325433B1 (en) * 2006-07-31 2010-06-21 Airbus Operations, S.L. ROBOT TREPADOR EQUIPPED WITH A WORK UNIT, AND GOVERNMENT TEAM OF SUCH ROBOTS TREPADORES.
CN106627842A (en) * 2016-12-21 2017-05-10 深圳怡丰机器人科技有限公司 Mobile robot system
CN108839722B (en) * 2018-05-31 2021-06-01 江西理工大学 Imitative worm software robot based on SMA spring drive

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Also Published As

Publication number Publication date
JPS61500488A (en) 1986-03-20
IT8468175A1 (en) 1986-05-27
FI852907A0 (en) 1985-07-26
FI852907L (en) 1985-07-26
IT1179831B (en) 1987-09-16
US4666114A (en) 1987-05-19
WO1985002360A1 (en) 1985-06-06
FR2555491A2 (en) 1985-05-31
IT8468175A0 (en) 1984-11-27

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