阅读说明：本技术 使用在用于在竖直和水平平坦表面上移动悬挂的移动平台的系统中的麦克纳姆轮 (Mecanum wheel for use in a system for moving a suspended mobile platform on vertical and horizontal flat surfaces ) 是由 A·科布施 A·P·雷泽德 A·马尔孔扎纳塔 I·J·瑟科 W·卡普 于 2019-12-19 设计创作，主要内容包括：本发明涉及用于机器人操作涂漆系统的麦克纳姆轮的构造。考虑到将使用这些轮子的地方的困难和障碍物,这些轮子具有特殊的特性。它们设计成有利于涂漆系统在竖直和水平壁上的移动,并避免涂层损失。麦克纳姆轮包括用于固定滚子的成组的轮盖。以45°布置且成柱凸形形状的滚子包含穿过其中心轴线的轴承,并且在轴承的端部处具有滚子。磁性底座放置在两个轮子之间,处于最佳高度,以对表面施加磁力,并且能够越过障碍物。麦克纳姆轮的几何形状和材料设计成对涂层呈惰性。(The present invention relates to the construction of mecanum wheels for robotic operation of a painting system. These wheels have special characteristics, considering the difficulties and obstacles where they will be used. They are designed to facilitate the movement of the painting system on vertical and horizontal walls and to avoid coating losses. The mecanum wheel includes a set of wheel covers for securing the rollers. The rollers arranged at 45 ° and in a cylindrical convex shape contain a bearing passing through its central axis and have rollers at the ends of the bearing. The magnetic base is placed between the two wheels at an optimal height to apply a magnetic force to the surface and to be able to pass over obstacles. The geometry and material of the mecanum wheel is designed to be inert to the coating.)

1. Mecanum wheel for use in a system for moving a suspended moving platform on vertical and horizontal flat surfaces, wherein the Mecanum wheel comprises a magnetic base (1), a wheel cover (2), rollers (3), a conveyor (4), bearings (5).

2. A mecanum wheel according to claim 1, characterized in that the rollers (3) are connected by their bearings (4) offset by 45 ° in the wheel cover (2).

3. Mecanum wheel according to claim 1 or 2, characterized in that the roller (3) has a cylindrical shape and a convex base and is of a material inert to the wall coating.

4. A mecanum wheel according to claim 1 or 3, characterized in that the rollers (3) are hollow to allow the passage of bearings, the rollers being out of contact with the bearings.

5. Mecanum wheel according to claim 1 or 4, characterized in that the bearing (4) is fitted into the wheel cover (2) and has bearings (5), all of which are shielded from external contamination.

6. Mecanum wheel according to claim 1 or 5, characterized in that the wheel cover (2) has an adjusted form for the interference-free insertion of the rollers (3), a hole for the insertion of the bearing (4) and a support for the magnetic base (1).

7. A mecanum wheel according to claim 1 or any other claim, characterized in that it comprises two covers (2), a magnetic base (1) containing 3 magnetic elements, 12 rollers (3), a bearing (4) for each roller (3), two rollers (5) per bearing (4).

Technical Field

The present invention relates to techniques for maintenance of marine and oil platform equipment and also buildings. More particularly, the present invention relates to robotic automated painting techniques.

Background

Large flat vertical surfaces are currently maintained or inspected by means of building access, such as using climbing harnesses or scaffolding. In order to paint, employees must have access to the location to be painted.

In shipbuilding access is made by scaffolding, as work is done in dry dock. Such access is economically expensive and time consuming. Furthermore, it also involves work safety risks.

For inspection or painting of large areas, various techniques for movement may be employed, such as trolleys with magnetic wheels, paddle systems with suction cups, and rail mounting in parts, among other solutions. These solutions are time consuming and ineffective when using a painting system.

It is necessary to reproduce the type of painting done by employees. This means that there are some variables to consider when performing work. One of these is the linear manner in which the paint system applies the paint. The movement of the employee considered most effective is generally rectilinear (horizontal or vertical), stopping the application at the end. The painting system may overspray due to the zero speed of the movement reversal at these end points. To prevent overspray, the mechanism of the paint application gun is stopped until it returns to its normal application speed.

Several techniques for movement detection of metal surfaces may be used, such as using carts with magnetic wheels, paddle systems with suction cups, mounting rails on components, and other solutions.

Document US3876255A discloses a wheel design with a bearing having an angle of about 45 ° with respect to the wheel axis. It has an open sided structure where the roller is exposed to the coating which may be damaged by its ingress, resulting in wheel locking. This mode therefore does not comply with the regulatory requirements for its use in painting systems where the wheel comes into contact with the coating. Furthermore, as regards the roller pattern employed, it has a structure with a central bearing, making it less suitable for use in painting systems.

"Magnetic Omnidirectional Wheels for clinching Robots" by Tavakoli et al discloses omni-directional Magnetic Wheels suitable for movement in 3D ferromagnetic structures such as vertical walls and ceilings. The magnets are arranged at the periphery of the wheel and follow the movement of the wheel.

Since the magnets are not fixed and always remain parallel to the contact surface, we can determine, in view of geometrical and structural factors, the variation of the magnetic force during the movement of the vehicle, which means that it is difficult to use painting systems, since this affects the uniformity of the coating to be applied.

As will be described in further detail below, the present invention aims to solve the above-mentioned problems of the prior art in a practical and efficient manner.

Disclosure of Invention

The method in the present application is intended for painting large vertical walls and consists of using suspended mobile platforms on controlled cables, allowing large surface areas to be covered using a lightweight modular infrastructure.

The suspended mobile platform is positioned by a cable, the suspension system of which is placed on a free mecanum wheel that behaves like a sphere. In addition, the wheels are provided with a proximity magnet system that allows the device to be moved away from the metal wall; the magnets in turn do not contact the surface of the metal wall, thereby ensuring that they do not damage the surface. This same principle applies to rollers comprising wheels made of one material and having a geometric design that prevents surface damage.

Various techniques for movement may be employed, such as carts with magnetic wheels, paddle systems with suction cups, and rail mounting in components, among other solutions.

The proposed mecanum wheel system must take into account the following issues: an unobstructed irregular surface, capable of moving along x and y coordinates (cartesian plane), without affecting the painted surface by using polymeric parts in the rollers.

Furthermore, on uneven surfaces, the wheel must traverse side welds of up to 3mm in width in any direction. Because the magnets are far from the contact surface, it is possible to move across obstacles up to 10mm in height, ensuring that the device is able to clear any unevenness on the side surface, including obstacles such as screws and weld beads, and thus ensuring that the magnetic force continues to act on the surface.

The roller bearing allows cleaning after coming into contact with the coating.

The wheels do not require lubrication due to the use of shielded outer weather bearings.

The speed of movement must be such that it meets the minimum process speed. The minimum speed may be around 105 square meters per hour.

The wheels and system together are designed to minimize coating loss during the painting process. The wheel is designed so that fresh paint does not enter the interior of the wheel. And after curing the wheel does not damage the already applied coating.

The strategy used in the painting process is to paint without paint on descent and paint on ascent so that the main obstacle will be faced in the process as if going down stairs. When the ropes are pulled tight, a deflection to the side sections will occur at the top of the hull and thus the momentum will be tightly controlled. There is no interference from obstacles during painting. The movement of the mobile platform is not dependent on obstacles. Movement is primarily related to not passing over the newly painted area. Robots were developed to pass over obstacles without disturbing the painting.

The wheels feature a set of magnets arranged in a row under the central base and parallel to the surface on which the movement is to take place.

In addition to the oil and gas industry, this technology can also be used in civil engineering.

Drawings

The detailed description presented below makes reference to the accompanying drawings and their corresponding reference numerals.

Figure 1 shows the arrangement of the magnets and rollers in detail.

Figure 2 shows the arrangement of the rollers, bearings and the cylindrical shape of the wheel.

Figure 3 shows the wheel fitted to the platform with the assembly adapted to different surface curvatures.

Fig. 4 shows an example of a surface with irregularities with a suitable wheel system as proposed.

Fig. 5 shows an automated painting assembly in which a wheel system (mobile platform) is used.

Detailed Description

The object of the present invention is to use wheels of the specific type to be applied in automated painting systems, with the following main characteristics: high reliability, ability to move very quickly with low movement, resistance to the type of coating applied, low need for lubrication of the bearings, good ability to cross irregularities and obstacles on the surface and to be unaffected (resistant) by the painting process (including the coating from the application process), making the wheel resistant to fresh coating.

In order to achieve the above object, the invention provides groups of magnets arranged in a row under a central base and parallel to the surface on which the movement is to take place. The wheel behaves like a sphere.

In addition, the wheel is provided with a proximity magnet system that allows the device to be moved away from the metal wall; the magnets in turn do not contact the surface of the metal wall, thereby ensuring that they do not damage the surface. This same principle applies to rollers comprising wheels made of one material and having a geometric design that prevents the surface from being damaged.

With respect to the ability to negotiate obstacles, because the magnets are far from the contact surface, it is possible to move across obstacles up to 20mm in height, ensuring that the device is able to negotiate any unevenness on the side surface, including obstacles such as screws and weld beads, thereby ensuring that the magnetic force continues to act on the surface.

Preferred embodiments of the present invention will be shown below. It will be obvious to those skilled in the art, however, that the invention is not limited to this particular embodiment.

The magnetic base (1) is positioned between the two wheel covers (2). The magnetic poles of the magnetic base are directed directly towards the surface that the wheel will contact, directly on the roller (3). Thus, the magnetic force is uniform, independent of the roller (3), and has no contact with the surface. The rollers (3) are in turn arranged in several units along the wheel cover (2), preferably placed at 45 °, but they are not limited to this layout. The roller (3) is internally hollow, allowing the use of the bearing (4) and protecting it from the ingress of coatings. Figure 1a shows in detail the magnetic base coupled to one of the wheel covers (2). Figure 1b shows in detail a roller which is cylindrical along its body but with a variable diameter, with a larger diameter in the centre and a smaller diameter on the sides. Thus, the roller (3) is convex along the shape of its body in the direction of contact with the surface.

The same figures 1a and 1b show the ability to cross obstacles up to 10mm parallel to the axle and up to 3.6mm perpendicular to the axle. The obstruction may be larger, but it is limited by the magnetic base, which has an expected height of 20mm, resulting in a gap of 1 mm. Thus, the height limitation is not on the wheel cover (2) or the roller (3), but on the height of the magnetic base.

The height of the magnetic base, which can be adjusted according to the need for higher adhesion, is determined by a trade-off between clamping force and the risk of jamming in case a collision has to be overcome or avoided. If the poles have zero air gap, the force will be too large, which may hinder the lowering of the robot. Thus, in this case, the assembly will only be subjected to traction from the weight. Thus, to have such a characteristic of being able to negotiate obstacles, the diameter of the wheels, which were initially 100mm, is increased to 172mm, but they are not limited to this particular size.

Fig. 2 shows the rollers (3) arranged at 45 ° between the wheel covers (2). The roller (3) is hollow to allow the bearing (4) to pass through. The rollers have no bearings (5). The wheel cover (2) is hollow to receive the roller (3) with the tightening of the screw. The bearing (5) is insulated (shielded) on the wheel and is therefore not affected by contact with the paint coating. The wheel cover (2) is like a hub cover on a vehicle, it does not contact the surface, and it is used to support the roller (3).

Fig. 3 shows a wheel assembly (mecanum wheel) attached to the moving platform (6), designed to buffer and adapt to surface deformations. The radius of curvature where the mobile platform is used is about 2000m, which is designed entirely according to the characteristics of the mecanum wheel.

Figure 4 shows several rows of obstacles which the wheels must be able to pass over. The largest "step" is the variation of the plates on the hull, which is always a horizontal row, which in the design of a replica platform is on the outer surface of the hull, precisely the surface to be painted. The reduction in thickness is always from the bottom of the hull to the first uncovered deck. Other steps of lower height are beads extending in all directions. The strategy used in order to minimize obstacles interfering with the painting process is to paint the vehicle when it is descending and paint when it is ascending.

Fig. 5 shows the mobile platform (6) attached to the painting platform, serving as an example of using the mobile platform (6), but not limited to operating only in the case of the painting platform. Groups of mecanum wheels (7) are shown attached to the moving platform, typically about 4 "4". A mobile platform is claimed in another patent application.

We will appreciate that the use of mecanum wheels is not limited to the embodiments shown here, as they can be used in any application.