ROBOTIC SYSTEM FOR CONFINED SPACE OPERATIONS |
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申请号 | US15629009 | 申请日 | 2017-06-21 | 公开(公告)号 | US20170361470A1 | 公开(公告)日 | 2017-12-21 |
申请人 | ANSALDO ENERGIA IP UK LIMITED; | 发明人 | Elena OTERO DEL REAL; Wolfgang FISCHER; Edgar Ernesto CARRASCO; Christoph HUERZELER; Andres PERALTA; Dominil LOOSLI; Thomas SCHNEIDER; Thomas MORRIS; | ||||
摘要 | A robotic system includes a main drive unit, a non-actuated extendable arm unit an axial drive unit, an arm guidance member, and a head articulation unit. The unit includes a mounting structure, and an arm storage unit coupled to the mounting structure. The arm unit is coupled to the arm storage unit to be moved axially in a lateral plane from the arm storage unit. The arm unit is flexible and thin in the lateral plane, and rigid and wide in a vertical plane. The unit may be coupled to the arm storage unit to enable axial extension and retraction of the unit. The head articulation unit is coupled to the arm unit to actuate thereto. | ||||||
权利要求 | |||||||
说明书全文 | This application claims priority from European Patent Application No. 16175502.0 filed on Jun. 21, 2016, the disclosure of which is incorporated by reference. The present disclosure relates generally to robotics and, more particularly, to a robotic device or system including robotic arms for an environment, including but not limited to, confined and complex geometries, e.g. given by pipework or turbine flow-paths in a power plant, for applications, such as, inspection, manipulation, and in-situ repair. Robotic devices have been successfully utilized in many different applications, such as machining, assembly, inspection, repair and more. In spite of all of that, it has always been challenging to bring such devices into complex and confined geometries or environments. Conventional robotic devices may have the capability of accommodating various useful operations in non-confined geometries or environments but there is an on-going need for improved tools that may easily adapt to applications in confined and complex spaces. In the context of industrial applications, robotic systems are a quite popular choice for inspection, repair or other manipulation tasks. For example, U.S. Pat. No. 8,374,722 B2 discloses a robotic arm to inspect rotary machines such as a gas turbine engines. The arm has a plurality of groups of links having articulations therebetween for movement in a first plane, the groups having articulations with respect to each other for movement in a second plane. At the distal end of the arm a spatial tip section is installed comprised of a series of elements articulated for movement about both planes so as to be able to move in a snake-like manner. The actuated arm can move around objects such as airfoils in the engine, and also move up or down to remain close to the rotary surface of the machine. However, the device requires a complex actuation, sensing and control system to achieve the targeted manipulation tasks. This limits payload capabilities for an end-tool, achievable robustness as well as the minimal achievable dimensions for operations in confined space. In addition, highly trained operators are required for safe operation of the manipulation arm. In another WO Patent Application Number WO 0216995, a robotic arm comprising a plurality of longitudinal segments, each of which is connected by a plurality links, is described. The end of each segment is “guided” by wires or thin sheets so that by varying the length of the wires, the arm can be actuated and bent. By adjusting the tension in the control wires for each segment, the arm can move and adopt various spatial shapes and configurations. This may be done for example by winding each control wire on or off a spindle using a motor. The motors are controlled for example by a computer control system. Similar to the system described in U.S. Pat. No. 8,374,722 B2, a complex actuation, sensing and control system is necessary to achieve the desired operations in confined spaces. While there are a number of other related prior arts directed towards the continuous improvement of robotic inspection and repair systems, there is a great need for new platforms which perform more and more complex operations within continuously smaller and more complex confined spaces (e.g. more and more complex and curved flow paths in gas turbines). This requirement goes hand in hand with ever increasing requirements for payload capacity, operation speed, simplicity and robustness. This summary will present a simplified overview of the present disclosure in order to provide a basic understanding. It is not intended to either identify key or critical elements of the disclosure or to delineate the scope of the present invention. Rather, the sole purpose of this summary is to present general aspects and concepts of the disclosure as well as its advantages as a prelude to the more detailed description that is provided hereafter. A general object of the present disclosure is to provide the means to transport an end-tool along complex and confined geometries or environments for applications such inspection, maintenance, repair and other related operations. The general object of the invention is to provide a system which can bring increased payloads into complex, confined structures in a faster, simpler and more robust manner. In one aspect of the present disclosure, a robotic system for operations, such as measurement and manipulation tasks in confined spaces and environments is provided. The robotic system disclosed herein may include a main drive unit, a non-actuated extendable arm unit, an axial drive, an arm guidance member and a head articulation unit. The main drive unit may include a mounting structure and an arm storage unit coupled to the mounting structure. Further, the non-actuated extendable arm unit may be coupled to the arm storage unit to be moved axially in a predefined direction in the lateral plane from the arm storage unit. The non-actuated extendable arm unit may include an elongated structure, flexible and thin in the lateral to plane, and rigid and wide in a vertical plane. This extendable arm unit is non-actuated but constructed in a ways to exhibit spring like characteristics in its longitudinal direction. Consequently, it is the shape of the confined space environment which defines the shape of the extendable arm unit. Furthermore, the axial drive unit may be coupled to the arm storage unit to enable axial extension and retraction of the non-actuated extendable arm unit from the arm storage unit. The arm guidance member may be coupled to the arm storage unit to guide the non-actuated extendable arm unit in a predefined direction in the lateral plane during extension and retraction. Moreover, the head articulation unit may be coupled to a free end of the non-actuated extendable arm unit to actuate and move the non-actuated extendable arm unit in varying directions within confined spaces and environments in a “follow-the-leader” manner. In one embodiment, the mounting structure may include a plurality of plates and poles arranged in relation to each other to form first and second levels within the main drive unit to accommodate the arm storage unit extending across the first and second levels. Further, the axial drive unit, as per this embodiment, is disposed in the second level of the mounting structure to enable the non-actuated extendable arm unit to axially extend and contract from the arm storage unit along the direction defined by the arm guidance member. The axial drive unit includes an axial drive motor; and an axial drive tower pinion and spring arrangement driven by the axial drive motor to axially extend and retract the extendable arm. It also includes an arm attachment coupled to the axial drive tower pinion and spring arrangement to axially guide the non-actuated extendable arm unit. Furthermore, the arm guidance member of this embodiment is coupled to the plates along the first level to guide the non-actuated extendable arm unit in a predefined direction in the lateral plane during axial extension and retraction of the non-actuated extendable arm unit from the arm storage unit with respect to the mounting structure. Moreover, the non-actuated extendable arm unit of this embodiment may include an elongated structure and a plurality of wire guides. The elongated structure includes a pair of flat flexible sheet elements disposed spaced-apart from each other in the vertical plane. Further, the plurality of wire guides positioned within the spaced pair of flat flexible sheet elements are also spaced in the vertical plane. This construction forms the non-actuated extendable arm unit which is flexible and thin in the lateral plane, and rigid and wide in a vertical plane. In addition, the structure as such exhibits spring-like characteristics along its longitudinal axis. Consequently, this embodiment of the extendable arm unit can be pushed into a predefined shape of an external infrastructure from the arm storage unit by naturally adapting its own shape in the lateral plane, while maintaining an axially directed force. As such, the main purpose of the extendable arm is transmitting the push force from the axial drive to the head articulation while adapting its shape to the given confined space. The head articulation unit may include a flexible body extending between opposite ends, the flexible body having an interface end coupled to a free end of the extendable arm unit and a plurality of wires guides to couple the head articulation unit with a motor positioned/located within the main drive unit. In another embodiment, the mounting structure may include a plurality of plates arranged in relation to each other to form first and second levels within the main drive unit to accommodate the arm storage unit in the first levels and casing arrangement covering the first and second levels. Further, the arm guidance member, as per this embodiment, may be coupled to the plates along the first level to guide the non-actuated extendable arm unit in a predefined direction in the lateral plane while axially extending or retracting non-actuated extendable arm unit from the arm storage unit. Furthermore, the axial drive unit may be coupled to plates outside of the mounting structure and extend in the mounting structure along the first level to enable the non-actuated extendable arm unit to axially extend and retract from the arm storage unit along the direction defined by the arm guidance member. The axial drive unit as per this embodiment may include an axial drive motor, an axial drive gear and belt arrangement, and an arm attachment. The axial drive gear and belt arrangement may be driven by the axial drive motor. Further, the arm attachment may be coupled to the axial drive gear and belt arrangement to axially push or pull the non-actuated extendable arm unit. The arm attachment may be coupled to the non-actuated extendable arm unit. Further, the arm guidance member may be coupled along a side portion of the first level to guide the non-actuated extendable arm unit in a predefined direction in the lateral plane during axial extension and retraction of the non-actuated extendable arm unit from the arm storage unit with respect to the mounting structure. Furthermore, the non-actuated extendable arm unit may include a flexible sheet (such as e.g. spring steel) orientated in the vertical plane and a plurality of mechanical segments connected by mechanical joints, connected in series along the lateral side edges of the flexible sheet, effectively embedding the sheet within. The flexible sheet of the non-actuated extendable arm unit exhibits the necessary spring characteristics along the extendable arm's longitudinal axis to allow a payload to be pushed into the predefined shape of an external infrastructure while passively adapting the arm's shape in the lateral plane. In this context, the segmented joint structure encapsulating the sheet enables the required mechanical robustness and rigidity to support heavy payloads during insertion. Finally, in this alternative embodiment, the head articulation unit may include a steering chain arrangement, having an interface end coupled to a free end of the extendable arm unit, a steering motor coupled to the steering chain arrangement, and a head roll joint coupled to the steering chain arrangement. In this embodiment, the head-roll joint enables an additional rotational degree of freedom aligned with the longitudinal axis of the extendable arm. It creates additional structural flexibility for this second more rigid embodiment of the non-actuated extendable arm unit which is inherent in the first, described embodiment. This rotational flexibility of the head articulation unit is expected to benefit applications where an end-tool needs to align with the orientation of different components in the confined space infrastructure. The robotic system may further include a carrier platform to mount the main drive unit thereon to move the main drive unit along a predefined path. The carrier platform may include a carrier plate, a driving motor, and a guidance member. The carrier plate may be adapted to mount the main drive unit thereon. The driving motor may be coupled to the carrier plate to drive the carrier platform. The guidance member is coupled to the carrier plate to guide the main drive unit along the predefined path. In one embodiment, the robotic system may further include an end tool attached to the head articulation unit. The end tool, in an example, may be an exchangeable inspection scanner. The exchangeable inspection scanner may include a spreading mechanism coupled to the head articulation unit, a back skid coupled to the spreading mechanism at one side, a probe holder having at least one probe, the probe holder coupled to the spreading mechanism on other side opposite to the back skid and a linear guidance coupled to the probe holder to guide the probe holder and probes. In another example, the end tool may be an exchangeable camera system. The camera system may be mounted to the head articulation unit for the purpose of visual inspection. An interface may be provided for the camera system to be coupled to the head articulation unit. In one embodiment, the mounting structure may further includes a plurality of electronic components mounted on the mounting structure to enable operations including at least an electric power distribution, sensor data acquisition, motor control function, communication between a plurality of devices. The term “non-actuated” used herein, such as “non-actuated extendable arm unit” means the extended arm unit is not self-actuated but requires a suitable means as described herein to be actuated. For a better understanding of the various aspects of the present disclosure, its operating advantages, and its uses, reference now should be made to the accompanying exemplary drawings. The features and advantages of the present disclosure will be better understood with reference to the following description of a non-exclusive device embodiment, in conjunction with the accompanying drawings in which: Like reference numerals refer to like parts throughout the description of several views of the drawings. For a thorough understanding of the present disclosure, reference is to be made to the following detailed description, including the appended claims, in connection with the above-described drawings. In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure. It will be apparent, however, to one skilled in the art, that the present disclosure can be practiced without these specific details. In other instances, structures and devices are shown in block diagram form only, in order to avoid obscuring the disclosure. Reference in this specification to “one embodiment,” “an embodiment,” “another embodiment,” “various embodiments,” means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present disclosure. The appearance of the phrase “in one embodiment” in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Moreover, various features are described which may be exhibited by some embodiments and not by others. Similarly, various requirements are described which may be requirements for some embodiments but may not be of other embodiment's requirement. Although the following description contains many specifics for the purposes of illustration, anyone skilled in the art will appreciate that many variations and/or alterations to these details are within the scope of the present disclosure. Similarly, although many of the features of the present disclosure are described in terms of each other, or in conjunction with each other, one skilled in the art will appreciate that many of these features can be provided independently of other features. Accordingly, this description of the present disclosure is set forth without any loss of generality to, and without imposing limitations upon, the present disclosure. Further, the relative terms used herein do not denote any order, elevation or importance, but rather are used to distinguish one element from another. Further, the terms “a,” “an,” and “plurality” herein do not denote a limitation of quantity, but rather denote the presence of at least one of the referenced item. Referring to Referring now to As depicted in The axial drive unit 120 includes an axial drive motor 121, an axial drive tower pinion and spring arrangement 122 (hereinafter will be referred to as ‘drive tower 122’) and an arm attachment 123. The drive tower 122 is driven by the axial drive motor 121 to axially expand and contract the arm unit 110. The arm attachment 123 is coupled to the drive tower 122 to axially guide the arm unit 110. The arm guidance member 130 may be coupled to the plates 103a of the first level 104a to guide the arm unit 110 in a predefined direction in the lateral plane during axial extension and retraction of the arm unit 110 from the arm storage unit 102 with respect to the mounting structure 101. The arm guidance member 130 may include a set of rollers 131 configured on both of the plates 103a of the first level 104a through which the arm unit 110 may pass and be guided therebetween to enable axial expansion and contraction of the arm unit 110. Further, the arm unit 110 may include an elongated structure 112 having a pair of flat flexible sheet elements 112a, 112b (hereinafter “sheet 112a/112b”) disposed spaced-apartly from each other in the vertical plane. The sheets 112a/112b may be made, for example, of fiber glass without departing the scope of being made of other material having flexibility and strength enough to meet the industrial requirement. Further, the arm unit 110 may include a plurality of wires guides 113 that may be disposed within the spaced pair of sheets 112a/112b in spaced manner to provide additional rigidity to the structure. These wire guides 113 are disposed within the spaced pair of sheets 112 in spaced manner along the longitudinal direction of the sheets 112. The sheets 112 and wire guides 113 define the arm unit 110 that is flexible and thin in the lateral plane, and rigid and wide in a vertical plane, and which exhibits spring-like characteristics along its longitudinal axis. This enables the arm unit 110 to be pushed into a predefined shape of the external infrastructure, from the arm storage unit 102 by passively adapting its own shape in the lateral plane through its free end 110a. In one embodiment, the wire guides 113 may contain longitudinally extending rods having distal ends with holes (not shown for clarity). As per this embodiment, the wire guides 113 may incorporate wires, such as Bowden cables (not shown for clarity) passing through the holes to actuate the head articulation unit 140 to steer the non-actuated arm unit 110 by actively adapting its own shape in the lateral plane through its free end 110a. For that purpose, as shown in Referring now to Furthermore, the axial drive unit 220, as seen Further, the arm guidance member 230 may be coupled to the plates 203a along the first level 204a to guide the arm unit 210 in a predefined direction in the lateral plane during axial extension and retraction of the arm unit 210 from the arm storage unit 202 with respect to the mounting structure 201. In one example arrangement, as shown in Furthermore, the arm unit 210 (seen in The head articulation unit 240, as seen Referring now to In one embodiment, the end tool 300 may be an exchangeable camera system 316 mounted to the head articulation unit 140, 240 for the purpose of visual inspection, such exchangeable camera system 316 may include an interface 316a for the camera to be coupled to the head articulation unit 140, 240. In one embodiment, the mounting structure 101, 202 may further includes a plurality of electronic components (not shown) mounted on the mounting structure 101, 202 to enable operations including at least an electric power distribution, sensor data acquisition, motor control function, communication between a plurality of devices. The electronic components may be disposed in the mounting structure 101, 202 in the second level 104b, 204b. In one embodiment, various wiring arrangements (not shown) are configured to respective units to electrically transmit data signals and electric power along the respective unit. As shown in While the disclosure has been described in terms of preferred embodiments, those skilled in the art will recognize that the invention can be practiced with modification within the spirit and scope of the appended claims.
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