Underwater manipulator arm robot 机翻标题: 暂无翻译,请尝试点击翻译按钮。

公开号/公开日
WO2016120071 A1 2016-08-04 [WO2016120071] / 2016-08-04
申请号/申请日
2016WO-EP50569 / 2016-01-13
发明人
PETTERSEN KRISTIN Y;LILJEBÄCK PÅL;SØRENSEN ASGEIR J;STAVDAHL ØYVIND;LUND FREDRIK;TRANSETH AKSEL A;GRAVDAHL JAN TOMMY;
申请人
NORWEGIAN UNIVERSITY SCIENTIFIC & TECHNOLOGY NTNU;
主分类号
IPC分类号
B25J-009/06E21B-041/04
摘要
(WO2016120071) An underwater manipulator arm robot comprises: a plurality of links that are connected to one another by joint modules (2) for generating a flexural motion of the robot; multiple thrust devices (6), (8), (18) located at different points along the length of the robot for applying thrust to the robot for propulsion and/or guidance; and at least one tool (12), (14), or at least one connection point for a tool, attached to the robot; wherein the flexural motion and/or thrust devices (6), (8), (18) enable movement of the robot and control of the orientation and/or location of the tool (12), (14).
机翻摘要
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地址
代理人
代理机构
;
优先权号
2015GB-0001479 2015-01-29
主权利要求
(WO2016120071) CLAIMS:   1 .  An underwater manipulator arm robot comprising:    a plurality of links that are connected to one another by joint modules for generating a flexural motion of the robot;    multiple thrust devices located at different points along the length of the robot for applying thrust to the robot for propulsion and/or guidance; and    at least one tool, or at least one connection point for a tool, attached to the robot;    wherein the flexural motion and/or thrust devices enable movement of the robot and control of the orientation and/or location of the tool.   2. An underwater manipulator arm robot as claimed in claim 1 , wherein the thrust devices comprise a thrust device for applying lateral thrust and/or a thrust device for applying longitudinal thrust.   3. An underwater manipulator arm robot as claimed in claim 2 comprising a thrust device for applying lateral thrust, this thrust device being a thrust module with one or more thrusters.   4. An underwater manipulator arm robot as claimed in claim 3, wherein the thrust module comprises thrusters oriented in two perpendicular directions.   5. An underwater manipulator arm robot as claimed any preceding claim, comprising a thrust device with a controllable direction of thrust. 6.  An underwater manipulator arm robot as claimed in any preceding claim, comprising a thrust device for applying a longitudinal thrust.   7. An underwater manipulator arm robot as claimed in any preceding claim, wherein the thrust devices are capable of moving the robot in translation and/or rotating the robot in roll, pitch and/or yaw.   8. An underwater manipulator arm robot as claimed in any preceding claim, wherein the flexural motion generated by the joint modules is an undulating motion capable of propelling the robot.   9. An underwater manipulator arm robot as claimed in any preceding claim, wherein the robot comprises at least three links joined by joint modules allowing for articulated motion.    10. An underwater manipulator arm robot as claimed in any preceding claim, wherein the joint modules each permit relative rotation in one or more planes. 1 1 .  An underwater manipulator arm robot as claimed in any preceding claim, wherein the joint modules each permit relative rotation in the yaw, pitch and roll directions of the robot.   12. An underwater manipulator arm robot as claimed in any preceding claim, comprising one or more buoyancy element for increasing and/or decreasing the buoyancy of the robot.   13. An underwater manipulator arm robot as claimed in any preceding claim, wherein the robot includes a tool or connection point for a tool at the front end of the robot, at a front module, so that the tool is, in use, located at the front end of the robot. 14.  An underwater manipulator arm robot as claimed in any preceding claim, comprising multiple tools and/or connection points.   15. An underwater manipulator arm robot as claimed in claim 14, comprising a tool or connection point at the front end of the robot and a tool or connection point at the stern of the robot.   16. An underwater manipulator arm robot as claimed in any preceding claim, comprising an inspection tool, for example a camera. 17.  An underwater manipulator arm robot as claimed in any preceding claim, comprising a manipulator tool.   18.  An underwater manipulator arm robot as claimed in any preceding claim, comprising a combined suction and thrust device, wherein the combined suction and thrust device uses the same driving mechanism to provide both of a first mode of operation where thrust is provided for propulsion and/or guidance of the vehicle and a second mode of operation where suction is provided for holding the vehicle against another structure   19. An underwater manipulator arm robot as claimed in any preceding claim, wherein the robot is a snake robot.    20. An underwater manipulator arm robot as claimed in any preceding claim, wherein the robot comprises a front module with the tool or the connection point for a tool, a stern thrust device at the opposite end of the robot to the front module, multiple links between the front end and stern end, the links coupled by joint modules, and one or more thrust modules along the length of the robot for producing lateral thrust.   21 .  An underwater manipulator arm robot as claimed in any preceding claim, wherein the joint modules are enclosed by oil filled bellows. 22.  A method for control of an underwater manipulator arm robot as claimed in any preceding claim, the method comprising: controlling the joint modules and the thrust devices in order to move the robot into a required orientation and/or location; wherein the joint modules are used to generate a flexural motion that can propel the robot and/or used to adjust the shape and configuration of the robot; and wherein the thrust devices are used to move all of or parts of the robot in translation and/or in rotation.   23. A method as claimed in claim 22 comprising: using the joint modules to adjust the robot configuration and using the thrust devices to translate and/or rotate the robot, to move the robot and/or its tool(s) to a required location and/or orientation.   24. A method as claimed in claim 22 or 23, wherein the robot includes a thrust device for applying a longitudinal thrust and the method comprises: using the longitudinal thrust to propel the robot and using the joint modules to adjust the shape of the robot and thereby control the position and/or orientation of the robot and/or its tool(s).   25. A method as claimed in claim 22, 23 or 24, comprising determining the orientation of all of the joint modules and thrust devices, determining a vector for thrust from each thrust device, and thereby determining required thrust forces and/or joint module adjustments to achieve a required change in orientation and/or location of the robot and/or its tool(s).   26. A computer programme product comprising instructions that when executed on a data processing device will configure the data processing device to control an underwater manipulator arm robot claimed in any of claims 1 to 21 by means of a method as claimed in any of claims 22 to 25.
法律状态
(WO2016120071) LEGAL DETAILS FOR WO2016120071  Actual or expected expiration date=2018-07-29    Legal state=ALIVE    Status=PENDING     Event publication date=2016-01-13  Event code=WO/APP  Event indicator=Pos  Event type=Examination events  Application details  Application country=WO WOEP2016050569  Application date=2016-01-13  Standardized application number=2016WO-EP50569     Event publication date=2016-08-04  Event code=WO/A1  Event type=Examination events  Published application with search report  Publication country=WO  Publication number=WO2016120071  Publication stage Code=A1  Publication date=2016-08-04  Standardized publication number=WO2016120071  LEGAL DETAILS FOR DESIGNATED STATE EP  Actual or expected expiration date=2035-01-29    Legal state=ALIVE    Status=PENDING   Corresponding cc:  Designated or member state=EP Corresponding appl: EP16700378    Event publication date=2016-09-21  Event code=WO/121  Event type=Designated states  EP: The EPO has been informed by wipo that ep was designated in this application Corresponding cc:  Designated or member state=EP
专利类型码
A1
国别省市代码
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