Robotic Device

• US 20180264640A1
• Filed: 10/22/2015
• Published: 09/20/2018
• Est. Priority Date: 10/22/2014
• Status: Active Grant

• Current Assignee: Q-Bot Limited
• Original Assignee: Q-Bot Limited
• Inventors: Holloway, Mathew, Lipinski, Tom, Hamilton, Kent, Taylor, Daniel
• Granted Patent: US 10,569,288 B2
• Time in Patent Office: Days
• CPC Class Codes: B05B 12/00 Arrangements for controlling delivery; Arrangements for controlling the spray area
• CPC Class Codes: B05B 12/084 responsive to condition of liquid or other fluent material already sprayed on the target, e.g. coating thickness, weight or pattern
• CPC Class Codes: B05B 12/122 responsive to presence or shape of target B05B12/124 takes precedence
• CPC Class Codes: B05B 12/18 using fluids, e.g. gas streams
• CPC Class Codes: B05B 13/005 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
• CPC Class Codes: B05B 13/0278 Arrangement or mounting of spray heads B05B13/0207 takes precedence
• CPC Class Codes: B05B 13/0431 with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces B05B13/0436, B05B13/0442, B05B13/0447, B05B13/0463 take precedence
• CPC Class Codes: B05B 13/0627 Arrangements of nozzles or spray heads specially adapted for treating the inside of hollow bodies B05B13/0645 takes precedence
• CPC Class Codes: B25J 1/02 articulated or flexible
• CPC Class Codes: B25J 1/08 movably mounted in a wall
• CPC Class Codes: B25J 11/0075 Manipulators for painting or coating
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: B25J 9/06 characterised by multi-articulated arms

Abstract

Apparatus for spraying a material on a surface comprises at least one elongate member having a distal end and a proximal end, at least one spray nozzle mounted at the distal end of the elongate member for spraying the material in a spray pattern, the spray nozzle being connected to a spray material input at the proximal end of the elongate member, a camera mounted at the distal end of the elongate member and connected to a camera output at the proximal end of the elongate member, the camera being arranged to capture images of the spray pattern, and a control mechanism arranged to control the operation of the spray nozzle from the proximal end of the elongate member.

Claims

1-37. -37. (canceled)

38. A method of spraying a thermal insulation material on a surface of an underfloor void, the method comprising:

inserting an elongate member of an apparatus through an opening of the underfloor void, wherein the elongate member has distal and proximal ends, and the apparatus includes;

the elongate member;

a spray nozzle mounted at the distal end of the elongate member for spraying the thermal insulation material in a spray pattern, wherein the spray nozzle is connected to a spray material input at the proximal end of the elongate member and is mounted for motorised movement relative to the distal end of the elongate member;

a camera mounted at the distal end of the elongate member and connected to a camera output at the proximal end of the elongate member, wherein the camera is arranged to capture images of the spray pattern; and

a control mechanism arranged to control operation of the spray nozzle from the proximal end of the elongate member; and

spraying the thermal insulation material on the surface of the underfloor void, wherein the apparatus allows an operator to carry out operations within the void while the operator remains outside the void.

39. The method as claimed in claim 38, further comprising rotating the spray nozzle about a longitudinal axis of the elongate member by operation of a handle of the control mechanism, wherein the handle is mechanically connected to the elongate member at the proximal end.

40. The method as claimed in claim 38, further comprising rotating a handle of the control mechanism to cause extension of the elongate member, wherein the handle is mechanically connected to the elongate member at the proximal end.

41. The method as claimed in claim 38, further comprising extending the elongate member telescopically.

42. The method as claimed in claim 38, further comprising extending the elongate member by coupling a modular member to the elongate member.

43. The method as claimed in claim 38, further comprising suspending the elongate member from at least one mounting point via a support for the elongate member.

44. The method as claimed in claim 38, further comprising capturing depth information in the field of view of the camera by a rangefinder mounted at the distal end of the elongate member and connected to a rangefinder output at the proximal end of the elongate member.

45. An apparatus for spraying a thermal insulation material on a surface of an underfloor void, the apparatus comprising:

an elongate member having distal and proximal ends;

a spray nozzle mounted at the distal end of the elongate member for spraying the thermal insulation material in a spray pattern, wherein the spray nozzle is connected to a spray material input at the proximal end of the elongate member and is mounted for motorised movement relative to the distal end of the elongate member;

a camera mounted at the distal end of the elongate member and connected to a camera output at the proximal end of the elongate member, wherein the camera is arranged to capture images of the spray pattern; and

a control mechanism arranged to control operation of the spray nozzle from the proximal end of the elongate member.

46. The apparatus as claimed in claim 45, wherein the control mechanism is electrically connected to the spray nozzle.

47. The apparatus as claimed in claim 45, wherein the elongate member is telescopically extensible.

48. The apparatus as claimed in claim 45, further comprising a modular member adapted to couple to the elongate member to extend the elongate member.

49. The apparatus as claimed in claim 45, further comprising a support for the elongate member.

50. The apparatus as claimed in claim 49, wherein the elongate member is rotatably mounted to the support.

51. The apparatus as claimed in claim 49, wherein the support comprises freely rotating wheels for engaging a surface.

52. The apparatus as claimed in claim 49, wherein the support suspends the elongate member from a mounting point.

53. The apparatus as claimed in claim 45, further comprising a rangefinder mounted at the distal end of the elongate member and connected to a rangefinder output at the proximal end of the elongate member, wherein the rangefinder is a laser rangefinder.

54. The apparatus as claimed in claim 45, wherein the spray nozzle and the camera are mounted on a wheeled chassis at the distal end of the elongate member.

55. The apparatus as claimed in claim 54, wherein the elongate member is connected to the chassis via a first pivotal connection.

56. The apparatus as claimed in claim 55, wherein the chassis includes a plurality of mounting locations for the first pivotal connection, and the first pivotal connection is mountable to the chassis at a desired mounting location relative to the centre of gravity of the chassis.

57. The apparatus as claimed in claim 55, further comprising a second elongate member connected to the chassis via a second pivotal connection at a mounting location spaced from a mounting location of the first pivotal connection, wherein relative movement of the elongate members steers the chassis.