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WO2021250713A1 - Base robotique télescopique pour l'inclusion d'autres robots dans elle-même - Google Patents

Base robotique télescopique pour l'inclusion d'autres robots dans elle-même Download PDF

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Publication number
WO2021250713A1
WO2021250713A1 PCT/IT2021/050177 IT2021050177W WO2021250713A1 WO 2021250713 A1 WO2021250713 A1 WO 2021250713A1 IT 2021050177 W IT2021050177 W IT 2021050177W WO 2021250713 A1 WO2021250713 A1 WO 2021250713A1
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WO
WIPO (PCT)
Prior art keywords
base
parts
robotic
quick coupling
contiguous
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Ceased
Application number
PCT/IT2021/050177
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English (en)
Inventor
Pierluigi Martini
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Individual
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Individual
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Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of WO2021250713A1 publication Critical patent/WO2021250713A1/fr
Anticipated expiration legal-status Critical
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions

Definitions

  • TITLE TELESCOPIC ROBOTIC BASE FOR THE INCLUSION IN ITSELF OF OTHER ROBOTS
  • Cobots or collaborative robots, are robots intended to interact with humans in a shared space or to work safely in the immediate vicinity. Cobots are therefore different from traditional industrial robots, designed to work autonomously with the safety guaranteed by isolation from human contact.” STATE OF ART
  • cobots used to move objects used in the industrial and commercial service sectors, which have simple and functional forms for carrying out their task, and humanoid cobots that simulate human movements and behavior as far as possible and which find their prevalent use where they are elderly people, especially those with disabilities.
  • the innovation presented here is useful for both groups of use, and it also differs greatly from both, being constituted by a robotic base, this base being equipped with artificial intelligence (AI) and components that give strength, such as a hydraulic pump and an air compressor, a base that is able to insert in itself, being equipped with robotic arms, any different type of robotic apparatus built for specific tasks, and to replace them with others as needed.
  • AI artificial intelligence
  • a further feature of the base is that it is made up of several parts, connected to each other in pairs by telescopic actuators, so that the individual said parts, suitably spaced apart, can perform different tasks at the same time, or all together carry out tasks that would require the use of as many single robots as is the number of the bases themselves.
  • the base closes in on itself, creating a limited space in the environments where it remains available to users.
  • This robotic apparatus is clearly intended for use in an industrial environment and it should be noted that it is a fixed apparatus and is not able to move independently.
  • a robot has its own skeleton which constitutes the supporting part of one or more robotic arms, said arms being the part of the robot that allows the robot to act in a space around itself.
  • said arms possibly have six DOF (degrees of freedom of movement) or movements in the directions of the three axes X, Y, Z and for each of the three axes the possibility of rotating 360 °.
  • said two patents cited refer only to the replacement of the part that performs the work and not to the entire robot which in turn is equipped with artificial intelligence and in any case not to a robotic apparatus capable of moving autonomously.
  • a third innovation is that each single part of the base (2) has its own robotic arm (6).
  • EXAMPLE OF APPLICATION OF INNOVATION Figure 1 shows, purely by way of example, how the aforementioned three arms, two indicated with the number (6) belonging to the base (2), and the third (5) instead installed in one of the parts of said base (2) , which obviously could all three act alone to make the cobot perform actions (1), can interact with each other by activating for a single objective.
  • These arms can be moved indifferently by electric motors or hydraulic actuators or pneumatic actuators.
  • Another application of force in this one given by the pressure exerted by the hydraulic fluid generated by the hydraulic pump, is to obtain a spacing or a rimpedement of two parts of the base (2), being said parts facing each other.
  • one of the two parts facing each other has a telescopic hydraulic actuator (7) which generates these movements.
  • a telescopic electromechanical cylinder with several completely hollow carbon fiber extension elements inside which pass electric power cables and the hydraulic and pneumatic flexible pipes, being said cables and piping extendable and retractable as they are collected by respective winders, a hollow tube (8), which could, for example, be flexible and retractable on a suitable hose reel, through which the three aforementioned electrical, hydraulic and pneumatic networks pass.
  • each part has its own movement system (9), whereby said movement systems act by favoring the motion of the base (2) as occurs with four-wheel drive vehicles.
  • Figure 2 shows a cobot that has a base with as many as six parts that can be spaced apart.
  • Figure 2 shows how, with reference to the upper part of Figure 2 itself, two robotic arms (6) incorporated in the base (2) are working to insert an external robotic arm (5) into the base (2) itself, precisely by introducing the male joint (4), connected to said arm (5), in one of the two female joints (3) at the free moment of the two parts of the base (2) to which the same arms (6) belong.
  • Figure 2 also highlights the end device (10) of said new external arm (5).
  • Schematic Figure 2 also shows how the arms (6), which belong to the parts of which the base (2) is made up, when at rest are arranged on the respective upper faces of said parts, trying to assume a position that presents the minimum space required, as far as possible to circulate around the area where the female joint (3) is.
  • the individual parts of the base (2) may have a different carcass, either for utility reasons or to correspond to an attractive external shape, such as that of an elephant with many trunks.
  • FIG. 3 shows the lower end of the male joint before being inserted into the female joint.
  • the mechanical construction of said male joint (4) is dimensioned in structural terms to support the weight of the arm (5), of which the initial part can be seen in Figure 3, or even of a possible more complex robot, but despite having the appropriate mechanical strength required however it is hollow.
  • an electric wire and two separate pipes pass through it in which the fluids of the two networks, hydraulic and pneumatic, flow, supplying energy to the moving parts of the robot arm or to the robots inserted.
  • FIG. 4 shows a bottom-up view of the female joint (3).
  • the figure shows the electrical socket (18), the female quick coupling (19) of the hydraulic network, the female quick coupling (20) of the pneumatic network, the detail of the terminal guide (21) of the coupling and the structure (22) supporting the female joint (3).
  • Figure 5 shows the male joint (4) inserted into the female joint (3).
  • the supporting structure (23) of the base (2) and the locking system (24) of the male / female coupling are also visible.
  • the above, and represented in Figures 1, 2, 3, 4 and 5 is only the preferred embodiment of the present patent.
  • the apparatus having the functions of an advertising object and at the same time of purifier of the atmospheric air, without thereby departing from the principles of novelty inherent in the inventive idea, just as it is clear that in its practical implementation the shapes of the illustrated details may be different, so that the present invention is subject to various modifications, improvements, replacements of equivalent parts and elements without however departing from the idea of the invention, as specified in the following claims.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention a pour objet d'accroître les performances que peut offrir un robot collaboratif. Ce résultat est obtenu avec la présente invention au moyen d'une base robotique (2), cette base étant équipée d'une intelligence artificielle, avec des composants qui confèrent une résistance telle qu'une pompe hydraulique et un compresseur d'air et avec des bras robotiques (6) qui peuvent être remplacés par d'autres bras de différents types en fonction des besoins pour des tâches spécifiques. Une autre caractéristique de la base est qu'elle est composée de plusieurs parties, reliées les unes aux autres par paires par des actionneurs télescopiques (8), de sorte que les dites parties individuelles, espacées de manière appropriée les unes des autres, peuvent exécuter simultanément différentes tâches ou accomplir toutes ensemble des tâches qui nécessiteraient toutes l'utilisation d'un nombre de robots individuels égal au nombre de bases elles-mêmes.
PCT/IT2021/050177 2020-06-09 2021-06-09 Base robotique télescopique pour l'inclusion d'autres robots dans elle-même Ceased WO2021250713A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT102020000013804 2020-06-09
IT202000013804 2020-06-09

Publications (1)

Publication Number Publication Date
WO2021250713A1 true WO2021250713A1 (fr) 2021-12-16

Family

ID=73498108

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IT2021/050177 Ceased WO2021250713A1 (fr) 2020-06-09 2021-06-09 Base robotique télescopique pour l'inclusion d'autres robots dans elle-même

Country Status (1)

Country Link
WO (1) WO2021250713A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4279222A1 (fr) * 2022-05-18 2023-11-22 Delaware Capital Formation, Inc. Base de montage de robot
IT202200017370A1 (it) 2022-08-17 2024-02-17 Pierluigi Martini Movimentazione dei materiali nei sistemi di produzione riconfigurabili

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4334816A (en) * 1978-08-03 1982-06-15 General Dynamics Corporation Device and method for assembling large space structures
US4585388A (en) * 1984-05-08 1986-04-29 Spar Aerospace Limited Self-relocating manipulator
CA2787300A1 (fr) 2010-01-19 2011-08-04 Comau, Inc. Systeme d'effecteur d'extremite robotique programmable et methode
US20140379129A1 (en) * 2013-06-24 2014-12-25 Redwood Robotics, Inc. Modular Reconfigurable Workcell for Quick Connection of Peripherals
US20150273696A1 (en) * 2014-03-26 2015-10-01 Mokpo National Maritime University Industry-Academic Cooperation Foundation Mobile Robot for Detecting and Repairing Damages of Hull
DE102016002781A1 (de) * 2016-03-08 2016-08-18 Daimler Ag Arbeitsstation zum Durchführen wenigstens eines Arbeitsvorgangs
CN106184456A (zh) * 2016-07-08 2016-12-07 上海大学 一种主体结构可多级伸缩的轮腿式机器人
US9656394B2 (en) 2015-05-21 2017-05-23 GM Global Technology Operations LLC Robotic system with reconfigurable end-effector assembly
CN108372497A (zh) * 2018-02-08 2018-08-07 佛山薛子企业服务有限公司 一种分体式机器人
US20200086504A1 (en) * 2018-09-13 2020-03-19 Kinova Inc. Robotic arm with quick-connect clamping system and docking cradle

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4334816A (en) * 1978-08-03 1982-06-15 General Dynamics Corporation Device and method for assembling large space structures
US4585388A (en) * 1984-05-08 1986-04-29 Spar Aerospace Limited Self-relocating manipulator
CA2787300A1 (fr) 2010-01-19 2011-08-04 Comau, Inc. Systeme d'effecteur d'extremite robotique programmable et methode
US20140379129A1 (en) * 2013-06-24 2014-12-25 Redwood Robotics, Inc. Modular Reconfigurable Workcell for Quick Connection of Peripherals
US20150273696A1 (en) * 2014-03-26 2015-10-01 Mokpo National Maritime University Industry-Academic Cooperation Foundation Mobile Robot for Detecting and Repairing Damages of Hull
US9656394B2 (en) 2015-05-21 2017-05-23 GM Global Technology Operations LLC Robotic system with reconfigurable end-effector assembly
DE102016002781A1 (de) * 2016-03-08 2016-08-18 Daimler Ag Arbeitsstation zum Durchführen wenigstens eines Arbeitsvorgangs
CN106184456A (zh) * 2016-07-08 2016-12-07 上海大学 一种主体结构可多级伸缩的轮腿式机器人
CN108372497A (zh) * 2018-02-08 2018-08-07 佛山薛子企业服务有限公司 一种分体式机器人
US20200086504A1 (en) * 2018-09-13 2020-03-19 Kinova Inc. Robotic arm with quick-connect clamping system and docking cradle

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4279222A1 (fr) * 2022-05-18 2023-11-22 Delaware Capital Formation, Inc. Base de montage de robot
IT202200017370A1 (it) 2022-08-17 2024-02-17 Pierluigi Martini Movimentazione dei materiali nei sistemi di produzione riconfigurabili

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