Technical background

[0001] The invention relates to a robotic apparatus for performing maintenance operations on an electronic component to be maintained in a working room, such as a site designed for processing data, like for example a data centre, a processing centre, a server room, a service room for telecommunication, in particular a point of presence (PoP, i.e. a point of access to a network), etc.

[0002] Specifically but not exclusively, the apparatus of the present invention can perform maintenance operations on supports for electronic components, such as cabinets and/or racks situated in the working room and/or directly on an electronic component to be maintained. [0003] Such supports for electronic components extend in height, i.e. vertically, and comprise a plurality of housings arranged alongside one another (or one on the other), on which the electronic components, like memory boards, calculation boards, connection boards, etc are fitted removably. The supports for electronic components are arranged in the working room, sometimes the supports for electronic components are inserted in portal modular structure, and can be separated by service corridors that are accessible by a robotic apparatus and/or by an operator for the maintenance operations.

[0004] Maintenance operations on supports for electronic components can comprise by way of example fitting an electronic component, dismantling an electronic component, connecting to the electronic component, diagnosis of the electronic component, etc.

Background of the invention

[0005] Robotic apparatuses for performing maintenance operations on a component to be maintained are known from the patent literature.

[0006] For example, from United States patent application United States patent No. US 7725212 B2 a robotic vehicle is known that comprises a base structure - which rests on a series of wheels - including a pair of robotic extending supports that can be controlled to extend telescopically and retract into the front of the base unit. The extending supports are used by the robotic vehicle to align with a server system and to provide support to the robotic vehicle when it extracts or inserts a card unit. When the vehicle is properly aligned, it can extend the extending supports against the front of a cabinet.

[0007] The extending supports of the known robotic apparatus have the drawback of not being able to maintain the robotic apparatus in position during maintenance operations. [0008] During the maintenance operations, the robotic apparatus exerts an operating force on the electronic component and/or on the support for electronic components (server or cabinet system) on which the electronic component is installed. This occurs for example when the robotic apparatus extracts an electronic component from the support for electronic components, exerting on this electronic component and on the support for electronic components an extracting operating force. The exerted operating force can be relatively high, in fact some of the electronic components, in particular the boards, may weight up to 20 kg. [0009] The operating force that the robotic apparatus applies to the electronic component (and to the support for electronic components) makes the known robotic apparatus oscillate, making the maintenance operation difficult or even upsetting the robotic apparatus itself. This causes damage to objects and/or harm to people in the working room.

[0010] The robotic apparatus is more unstable the higher the working height at which the maintenance operation is performed. In fact, when the robotic apparatus operates on shelves or housings positioned at a greater height on the support for electronic components, the centre of gravity of the robotic apparatus is increased and the arm applying the operating force increases (with respect to abutment of the robotic apparatus at the floor of the working room), making the stability of the robotic apparatus decrease.

[0011] One drawback of the known robotic apparatus is that this apparatus is hardly flexible for performing maintenance operations at different heights, in particular at great heights, on a support for electronic components.

[0012] Another drawback of the known robotic apparatus is that is difficult to perform a maintenance operation even at low heights, i.e. in housings or shelves which are positioned near the floor of the working room. In fact, the incumbrance of the extending support hinders prevents the known robotic apparatus accessing the support for electronic components in all its height, in particular the electronic components which are positioned in the relatively lower housings or shelves.

[0013] A further drawback of the known robotic apparatus is poor stability.

[0014] A further drawback of the known robotic apparatus is poor reliability when performing a maintenance operation.

[0015] A further drawback of the known robotic apparatus is the danger to objects and/or people present in the working room.

Summary of the invention

[0016] One object of the invention is to improve known robotic apparatuses for performing maintenance operations on electronic components.

[0017] A further object is to provide a robotic apparatus that is able to overcome one or more of the aforesaid limits and drawbacks of the prior art.

[0018] A further object is to provide an alternative robotic apparatus to those of the prior art. [0019] A further object is to provide a robotic apparatus that is able to adapt to various maintenance operations.

[0020] A further object of the invention is to provide a robotic apparatus that remains in position during the maintenance operations.

[0021] According to the invention, a robotic apparatus as defined by the attached claims is provided.

[0022] Owing to the invention, it is possible to make available a robotic apparatus that is stable during maintenance operations.

[0023] Owing to the invention, it is possible to have a robotic apparatus that is particularly effective during a maintenance operation performed on an electronic component at a great height on a support for electronic components.

[0024] Owing to the invention a robotic apparatus in provided which is particularly effective during a maintenance operation on an electronic component at a relatively lower height on a support for electronic components.

[0025] Owing to the invention it is possible to make a support for electronic components in its entire height accessible to a robotic apparatus.

[0026] Owing to the invention, it is possible to make available a compact apparatus.

[0027] Owing to the invention, it is possible to optimise engineering of a robotic apparatus and increase efficiency thereof in maintenance operations.

Short description of the drawings

[0028] The invention can be better understood and implemented with reference to the enclosed drawings that illustrate an embodiment thereof by way of non-limiting example, in which:

Figure 1 is an isometric view of a robotic apparatus for performing maintenance operations on a floor of a working room in a position with respect to a support for electronic components;

Figure 2 is an isometric view of the robotic apparatus of Figure 1 in which anchoring means is visible in a rest position;

Figure 3 is a raised side view that shows the robotic apparatus of Figure 1 in a position with respect to a support for electronic components, in which the anchoring means is in an operating position, in particular in an upper operating position;

Figure 4 shows the robotic apparatus of Figure 1 in a position with respect to a support for electronic components, in which the anchoring means is in the operating position, in particular in the front operating position;

Figure 5 is a partial isometric view of a part of the robotic apparatus of Figure 1, that shows anchoring means in the operating position, in particular in the frontal operating position, in which driving means and an arm device are visible;

Figure 6 is a partial side view of the part of the robotic apparatus of Figure 5 in the operating position in which a first electromagnet and a second electromagnet and the arm device are visible;

Figure 7 is an enlargement of Figure 1 that shows anchoring means in the rest position, in which the driving means and the arm device are visible;

Figure 8 is an isometric view of a working room in which a fixed support structure is provided;

Figure 9 is a partial view of a portion of the support structure of Figure 8.

Detailed description

[0029] With reference to Figure 1 above, the numeric reference 1 indicates a robotic apparatus for performing maintenance operations on an electronic component to be maintained in a working room. The working room can be used to house one or more supports for electronic components, like cabinets (cabinet and/or rack), equipped with electronic components. Electronic components can comprise by way of non-exhaustive example: various electronic boards, communication boards, network boards (LAN, WAN, Wi-Fi, Bluetooth), memory boards to store data (hard disks, solid state drives or SSDs), central processing units and/or graphics processing units (CPUs, GPUs), connecting interfaces between boards, communication cables, supply cables, supply devices, cooling devices, etc... [0030] The working room can comprise a data storage centre (data centre) and/or a server room and/or a data processing centre and/or a service room for telecommunication, as for instance a point of presence (POP, point of access to a network). The working room is provided with a substantially horizontal floor P. The working room, in particular the service room for telecommunications, is also provided with one or more fixed support structures T (Figure 8 and 9), also said line structures, which are fixed with respect to the support for electronic components 2. Such fixed support structures are auxiliary structures, which are self-supporting, for instance portal modular structures, or fixed to walls of the working room, below which the support for electronic components is positioned, in particular rows of supports for electronic components 2. Such line structures are arranged for guiding and supporting service elements for the supports for electronic components 2, such as electric supply cables and/or communication cables, etc. which run above the rows of supports for electronic components.

[0031] A maintenance operation can include an interaction of the robotic apparatus 1 with the electronic component to be maintained, for example an inspection of the electronic component, replacing and/or dismantling and/or mounting the electronic component in a support for electronic components, a supply or signal test of an electronic component, a connection between the robotic apparatus 1 and the electronic component to be maintained, etc.

[0032] The robotic apparatus 1 is configured to interact with the working room. The robotic apparatus 1 is configured, in particular, to travel on the floor P of the working room and interact with the support for electronic components and/or directly with electronic components. The robotic apparatus 1 is configured, in particular, to interact also with the fixed support structure T or with other structures provided in the working room.

[0033] The support for electronic components 2 includes cabinets and/or support racks. With reference to Figures 1, 3 and 4, the support for electronic components 2 can have an overall parallelpiped shape. A lower face of this parallelpiped can rest (directly or indirectly) on the floor P of the working room. In particular, the support for electronic components 2 is fixed (directly or indirectly) to a fixed part of the working room, in particular to the floor P. With reference in particular to Figure 1, inside the working room, several supports can be provided for electronic components 2 arranged alongside one another. These supports for electronic components 2 can be arranged adjacent to one another and/or spaced apart from one another to bound one or more service corridors.

[0034] The support for electronic components 2 can have a cabinet configuration and be equipped with a wing or door on one or more faces of the parallelpiped. Such cabinet configuration is typical of datacentres, in which cooling chambers are used, which are in particular placed at the base of the support for electronic components (above the floor P), which are configured for convey colling air inside the supports for electronic components themselves. In addition or alternatively to the cabinet configuration, the support for electronic components can comprise a support rack configuration, such rack is provided with one or more shelves, i.e. with one or more housings for electronic components, to which the electronic components to be maintained are fitted. The one or more shelves can be arranged stacked on one another between a lower height and an upper height along the vertical axis Z. Additionally or alternatively, the one or more shelves can be arranged alongside one another transversely, in particular substantially orthogonally to the vertical axis Z. The rack configuration is typical of service rooms for telecommunication, in which supports for electronic components having a cabinet configuration may be not provided and in which cooling systems are provided and configured to convey cooling air in the working room for directly cooling the supports for electronic components.

[0035] The support for electronic components 2 comprises at least one upper surface 2a (Figures 3 and 4) arranged in an upper part of the support for electronic components 2. This upper surface 2a faces upwards. The upper surface 2a can be arranged on an upper portion, i.e. a roof portion, of the support for electronic components 2.

[0036] The support for electronic components 2 comprises at least one vertical surface 2b (Figures 3 and 4) arranged in a frontal surface or side surface of the support for electronic components 2, in particular that extends substantially vertically, i.e. in the direction of the vertical axis Z. The vertical surface 2b can be positioned in an upper zone of the support for electronic components 2 (Figure 4). In the specific embodiment the surfaces 2a, 2b are orthogonal to one another. Nevertheless, in one embodiment that is not illustrated, the surfaces can be oriented differently, for example can be tilted towards one another by an angle other than 90°.

[0037] The fixed support structure T comprises at least one further upper surface 2a’ (Figure 9) arranged in a lower part of the fixed support structure 2’. Such further upper surface 2a’ facing downwards. The further upper surface 2a’ can be placed on a bottom portion of the fixed support structure T facing the top portion of the support for electronic components 2. [0038] The fixed support structure T comprises at least one further vertical surface 2b’ arranged on a front surface or on a side surface of the fixed support structure 2’, in particular extending substantially vertically, i.e. in the same direction of the vertical axis Z. The further vertical surface 2b’ in the specific embodiment the further surfaces 2a’, 2b’ are orthogonal each other. However, in an embodiment not shown, the further surfaces can be oriented differently, for instance can be inclined to each other with at an angle other than 90°.

[0039] Said surfaces 2a, 2b, 2a’, 2b’ (of the support for electronic components 2 and/or of the fixed support structure 2’) can be ferromagnetic or susceptible to magnetic action, in particular these surfaces 2a, 2b, 2a ', 2b' can be metallic.

[0040] The robotic apparatus 1 can comprise a frame 4 with a vertical structure. The frame 4 can comprise a reticular structure provided with bars connected together. The frame 4 can be substantially formed as a parallelpiped the edges of which extend substantially along three mutually orthogonal axes X, Y, Z (Figures 1 and 2). A main dimension, i.e. a vertical dimension, of the parallelpiped can be arranged along a vertical axis Z. The vertical dimension can be comparable with the height of a support for electronic components 2, in particular the vertical dimension of the frame 4 is 180 cm ± 50 cm. In use, the vertical axis Z extends in a substantially transverse manner, in particular substantially orthogonal manner, to the floor P.

[0041] The robotic apparatus 1 comprises a movable base 3. The frame 4 extends vertically from the movable base 3, where “vertically” means the vertical axis Z. The frame 4 is arranged for supporting at least one tool device 5, 6 that is suitable for performing a predefined maintenance operation. The vertical structure of the frame 4 enables the robotic apparatus 1 to access the shelves that are at great heights in the supports for electronic components 2.

[0042] The movable base 3 can be provided with a plurality of bar elements connected together at connecting zones to form a rectangular structure, in particular square structure. [0043] The main dimensions (length and width) of this rectangular structure lie on a base plane that is substantially parallel to the axes X and Y, i.e. to the plane XY (and, in use, to the floor P). The main base dimensions are so chosen that the robotic apparatus 1 can move easily in the service corridors between the supports for electronic components 2, in particular the main length and width dimensions of the movable base are (60 cm ± 10 cm) x (60 cm ± 10 cm). The movable base 3 supports wheel units 3a arranged for moving the robotic apparatus 1 on the floor P.

[0044] In other words, the movable base 3 is provided with wheel units 3a that are drivable to enable the robotic apparatus 1 to travel on the floor P to reach the electronic component to be maintained (or equivalently the respective support for electronic components 2). [0045] In one embodiment that is not illustrated, the rectangular structure of the movable base 3 comprises, in particular, a trapezium structure.

[0046] In a further embodiment that is not illustrated, the movable base 3 can be tilted with respect to the plane XY.

[0047] Each of these wheel units 3a includes a wheel that is rotatable by motor means. The motor means comprises in particular an advancement motor and a steering motor to rotate the wheel respectively around two mutually orthogonal rotation axes.

[0048] In particular, the wheel is rotatable around its own main axis by the advancement motor.

[0049] The wheel is connected rotatably to the movable base 3 by a rotatable support element arranged below the movable base 3. The rotatable support element (or equivalently the wheel) is rotatable by the steering motor around a steering axis that is substantially transverse, in particular substantially orthogonal, to the main axis of the wheel. The steering axis is substantially transverse, in particular substantially orthogonal, to the base plane of the movable base 3 (and, in use, to the floor P).

[0050] The motor means are further configured for blocking (braking) the wheels, in particular during the maintenance operation, so as to block the robotic apparatus 1 at abutting points between the robotic apparatus 1 (for instance at wheels) and the floor P.

[0051] The robotic apparatus 1 comprises a power source 3b for supplying various devices of the robotic apparatus 1. In particular, the power source 3b can be connected to anchoring means 7 disclosed below to supply the anchoring means 7. The power source 3b can be housed in, and supported by, the movable base 3. The power source 3b can comprise an electric power source, like one or more electric batteries and/or capacitors.

[0052] The movable base 3 can support components of the robotic apparatus 1, such as, by way of non-limiting example: central control means, the power source 3b, the motor control means, cabling (not illustrated), navigating means like laser scanners, etc.

[0053] The robotic apparatus 1 comprises at least one upright 41 that extends transversely, in particular substantially vertically, with respect to the movable base 3.

[0054] The at least one upright 41 can be obtained in the frame 4. The uprights 41 can be arranged substantially parallel to one another.

[0055] With reference to Figures 1 and 2, the frame 4 comprises a plurality of uprights 41 including a pair of the front uprights and a pair of the rear uprights. In the context of the invention, the terms “front” and “rear” relate to a preferential orientation adopted by the robotic apparatus 1 in use.

[0056] The frame 4 is provided above with a top portion 5a. In the context of the invention, “upper”, “above” and “lower”, “below” are understood in relation to the vertical axis Z. The top portion 5a is provided with a plurality of bar elements connected together to form a rectangular structure, in particular square structure. The main dimensions (length and width) of this rectangular structure, i.e. the main top dimensions lie on a top plane that is substantially parallel to the plane XY. The main top dimensions are so chosen that the robotic apparatus 1 can move easily in the service corridors between the supports for electronic components 2, in particular the main length and width dimensions of the top portion are (60 cm ± 10 cm) x (60 cm ± 10 cm).

[0057] In one embodiment that is not illustrated, the rectangular structure of the top portion 5a comprises, in particular, a trapezium structure.

[0058] In a further embodiment that is not illustrated, the top portion 5a can be tilted with respect to the plane XY.

[0059] The robotic apparatus 1 of the present invention has proportions (base of reduced dimensions with respect to height) so as to be able to operate effectively in a working room the space of which is optimized to house a high number of supports for electronic components 2, i.e. a working room with narrow service corridors and in which the supports for electronic components 2 extend significantly in height.

[0060] As mentioned, for diverse maintenance operations the robotic apparatus 1 is equipped with one or more work tools 5, 6. Each tool device 5, 6 is suitable for performing a predefined maintenance operation on the electronic component and/or on the support for electronic components 2. The tool device 5, 6 includes in particular a robotic arm and/or an extracting device for extracting an electronic component and/or a processing device, such as a screwdriver or a video camera or camera and/or a viewing device and/or an indicating device and/or something else. The tool devices 5, 6 can be controlled by a remote operator.

[0061] The tool device 5, 6 comprises a movable support unit arranged for connecting the tool device 5, 6 to the frame 4 so that the tool device 5, 6 is supported by the frame 4. The movable support units are slidable vertically on at least one respective upright 41 to take the respective tool device 5, 6 to a desired work height. In particular, the tool device indicated by the numeric reference 5 and the respective movable support unit can slide on a single upright 41, whereas the tool device indicated by the numeric reference 6 and the respective movable support unit are slidable along a pair of uprights 41 (in the specific embodiment the tool device 6 slides on the pair of rear uprights).

[0062] It should be noted that in the attached Figures, only the respective movable support unit for each tool device indicated by the numeric reference 5 is shown.

[0063] With reference for example to Figure 2, the tool device indicated by the numeric reference 6 comprises the optical indicating device 6b, for example a laser indicating device, arranged for projecting one or more beams of light onto the component to be maintained to highlight a specific area of this component to be maintained and/or the respective support for electronic components 2. In the specific embodiment, the laser indicating device comprises five laser emitters in a cross configuration. These emitters are connected to one or more mechanical arms arranged to move the emitters on a plane substantially parallel to the parallel plane substantially parallel to the parallel plane ZY. In the specific embodiment, the tool device 6 comprises the viewing device 6a like a video camera, for example of stereoscopic type. The viewing device 6a can be taken to the desired work height in particular to assist positioning of the anchoring means 7 with respect to the support for electronic components 2.

[0064] The anchoring means 7 is fitted to the frame 4 to anchor the robotic apparatus 1 removably to the support for electronic components 2 to maintain in position the frame 4 with respect to the support for electronic components 2 during the maintenance operations. [0065] During the maintenance operations, the tool device 5, 6 exerts operating forces on the electronic component to be maintained, which, in turn transmits the operating forces to the support for electronic components 2. Such operating forces can cause a variation in the relative position between the frame 4 of the robotic apparatus 1 and the support for electronic components 2. The exerted operating forces can be relatively high, in fact some of the electronic components, in particular the boards, weight up to 20 kg.

[0066] The anchoring means 7 is arranged for connecting resolvably and stiffly, the robotic apparatus 1, in particular the frame 4, to the support for electronic components 2 or to the fixed support structure T with an anchoring force that is such as to maintain a corresponding stable position between the frame 4 and the support for electronic components 2, opposing the operating forces generated by the tool device 5, 6.

[0067] This resolvable anchoring or resolvable connection is temporary, i.e. the anchoring means 7, in use, can be coupled with the support for electronic components 2 or with the fixed support structure T for the duration of the predefined maintenance operation.

[0068] In the context of the invention the terms “resolvable” or “resolve” relate to a type of anchoring or connection that can be detachable and/or temporary.

[0069] In the specific embodiment shown in the figures, the anchoring means 7 is provided in the top portion 5a of the frame 4. The anchoring means 7 comprises at least one anchoring element arranged for contacting the support for electronic components 2 or the fixed support structure 2’. [0070] The anchoring means 7 comprises magnetic anchoring means arranged for attracting magnetically the at least one surface 2a, 2b of the support for electronic components 2 or the at least one further surface 2a’. 2b’ of the fixed support structure 2’. Additionally or alternatively, the anchoring means 7 can comprise mechanical anchoring means (not shown) for retaining mechanically the support for electronic components 2. Additionally or alternatively, the anchoring means can comprise pneumatic anchoring means (not shown) for retaining by vacuum the support for electronic components 2 or the fixed support structure 2’. The magnetic anchoring means, the mechanical anchoring means and the pneumatic anchoring means comprises respective anchoring elements.

[0071] The at least one anchoring element provided in the magnetic anchoring means comprises at least one electromagnet 7a, 7b that is suppliable electrically to generate an electromagnetic force of attraction along at least one operating direction Al, A2. In the specific embodiment the at least one electromagnet 7a, 7b is a solenoid valve of the normally switched off type. Alternatively, the at least one electromagnet can be a solenoid valve of the normally switched on type.

[0072] Additionally or alternatively, the at least one anchoring element can comprise a permanent magnet element.

[0073] The at least one operating direction Al, A2 is the main direction along which the magnetic force is directed that is generated by the at least one electromagnet 7a, 7b.

[0074] Each electromagnet valve 7a, 7b can exert an electromagnetic force comprised between 0 N and 600 N, in particular between 380 N and 500 N (between 40 kgf ± 2 kgf and 50 kgf ± 2 kgf, in which “kfg” indicates the force kilogram).

[0075] In the specific embodiment, there is a first electromagnet 7a arranged for exerting a first magnetic attraction force along a first operating direction Al and a second electromagnet 7b arranged for exerting a second magnetic attraction force along a second operating direction Al. The first electromagnet 7a and the second electromagnet 7b are suppliable independently of one another. In the specific embodiment, the first electromagnet 7a and the second electromagnet 7b are so arranged that the first operating direction Al and the second operating direction A2 are substantially orthogonal to one another.

[0076] The anchoring means 7 comprises an arm device 8. The at least one anchoring element 7a, 7b can be arranged at a distal end 8a of this arm device 8 that, in use, faces the support for electronic components 2 or the fixed support structure 2’. In particular, the at least one anchoring element 7a, 7b is connected rotatably to the distal end 8a. In the specific embodiment the at least one anchoring element 7a, 7b is connected to the arm device 8 by a distal hinge. Such distal hinge can comprise a joint with several degrees of freedom. In the specific embodiment the distal hinge comprises a distal shaft, i.e. a support pin 8f, extending along its own distal axis substantially parallel to the horizontal axis Y. In an embodiment that is not shown the distal hinge can comprise a spherical joint. In the specific embodiment the at least one anchoring element 7a, 7b comprises two anchoring elements that are both fixed to the support pin 8f.

[0077] In the specific embodiment the at least one anchoring element 7a, 7b is connected in an idling manner to the end 8a. The at least one anchoring element 7a, 7b can be balanced to maintain, in a situation of balance, the at least one operating direction Al, A2 oriented in a predefined direction with respect for example to the vertical axis Z.

[0078] The arm device 8 can be connected rotatably to the frame 4, by a proximal hinge 8d. This proximal hinge 8d can comprise a joint with several degrees of freedom. In the specific embodiment the proximal hinge 8d comprises a proximal shaft extending along its own proximal axis substantially parallel to the horizontal axis Y. In an embodiment that is not shown the proximal hinge can comprise a spherical joint.

[0079] In the specific embodiment, the arm device 8 is articulated in a proximal arm 8b and a distal arm 8c. The proximal arm 8b is movable, in particular rotatable, with respect to the frame 4, the distal arm 8c is movable, in particular rotatable, with respect to the proximal arm 8b. The proximal arm 8b and the distal arm 8c are connected rotationally together by an intermediate hinge 8e. This intermediate hinge 8e can comprise a joint with several degrees of freedom. In the specific embodiment the intermediate hinge 8e comprises an intermediate shaft extending along its own intermediate axis substantially parallel to the horizontal axis Y. In an embodiment that is not shown the intermediate hinge can comprise a spherical joint. [0080] In the specific embodiment of an articulated arm device, the proximal shaft of the proximal hinge 8d is connected in a fixed manner to the proximal arm 8b.

[0081] In the specific embodiment, the distal end 8a of the arm device 8 is obtained at one end of the distal arm 8c.

[0082] In the specific embodiment, the arm device 8 is obtained by an open section profile, for example by folding a metal sheet. In one embodiment that is not illustrated the arm device 8 can be obtained from a closed box.

[0083] In one embodiment that is not shown the anchoring means 7 can comprise a telescopic arm device arranged for retracting and extending from the frame 4. [0084] The robotic apparatus 1 comprises driving means 9a, 9b arranged for moving the anchoring means 7. This driving means 9a, 9b is fitted to the arm device 8.

[0085] The driving means 9a, 9b comprises a first driving device indicated by the numeric reference 9a that is fitted to the proximal arm 8b, in particular at the proximal hinge 8d, and is arranged for rotating the proximal arm 8b.

[0086] The driving means 9a, 9b comprises a second driving device indicated by the numeric reference 9b that is fitted to the distal arm 8c, in particular at the intermediate hinge 8e, and is arranged for rotating the distal arm 8c.

[0087] The driving means 9a, 9b can comprise an electric motor. The driving means 9a, 9b can comprise transmission means, like a reduction gear. In the specific embodiment, the driving means 9a, 9b comprises a worm reduction gear so that when this reduction gear is disconnected a fixed position of the arm device 8 is maintained. Alternatively, a fluid motor or actuator can be provided as driving means. The driving means 9a, 9b is connected to the power source 3b.

[0088] Additionally, in an alternative embodiment, a further driving device can be provided that is fitted to the arm device 8 and arranged for rotating the support pin 8f together with the at least one anchoring element 7a, 7b; this allowing better positioning of the anchoring means 7 with respect to the support for electronic components 2 or with respect to the fixed support structure 2’.

[0089] In one embodiment that is not illustrated, the magnetic anchoring means can have a single electromagnet. In a further embodiment that is not illustrated, the anchoring means can have several electromagnets, for example three electromagnets fitted to the arm device 8. In this last embodiment, two electromagnets can be arranged as in the specific embodiment illustrated, and a third electromagnet can be fitted at the intermediate hinge, or in an intermediate portion of the distal arm 8c.

[0090] The anchoring means 7 is movable with respect to the frame 4 to take on at least one rest position L (Figure 2) in which the at least one anchoring element 7a, 7b is nearer the frame 4 and, in use, further from the support for electronic components 2 or from the fixed support structure 2’, and at least one operating position U, F (Figures 3 and 4) in which the at least one anchoring element 7a, 7b is further from the frame 4 and, in use, in contact with the support for electronic components 2 or with the fixed support structure 2’. In the operating position U, F the at least one anchoring element 7a, 7b contacts a front surface of the support for electronic components 2 or an upper surface of the support for electronic components 2; “front” and “upper” are to be understood as surfaces referring to the support for electronic components 2 when the latter is positioned in the working room that is reachable by an operator who can access this support for electronic components 2; “front” is thus the surface that faces the operator who accesses that support for electronic components 2 and “upper” is the outer surface of the support for electronic components 2 in the roof portion thereof.

[0091] The rest position L corresponds to an inactive position of the anchoring means in which the anchoring means 7 is retracted and disconnected. This rest position L is taken on particularly when the robotic apparatus 1 is inactive (or disconnected) or travelling on the floor P. In one embodiment that is not illustrated, in the rest position the anchoring means 7 can be arranged in a central region of the top portion 5a, for example above the top portion 5a. In a further embodiment that is not illustrated, in the rest position the arm device 8 can be extended downwards. The rest position can be selected from the rest positions described or from yet others, to reduce the overall dimensions of the robotic apparatus 1 and/or lower the centre of gravity of the robotic apparatus, in particular when travelling on the floor P. [0092] The operating position U, F comprises an upper operating position U (Figures 1 and 3) in which a first contact surface 70a of the at least one electromagnet 7a, in use, contacts the support for electronic components 2 and is at the upper surface 2a of the support for electronic components 2. With reference to Figures 3 and 7, in the upper operating position U (Figures 1 and 3) the intermediate hinge 8e is spaced away from the frame 4. Alternatively, there can be an upper operating position U in which the intermediate hinge 8e is near the frame 4.

[0093] The operating position U, F comprises a front operating position F (Figure 4) in which a second contact surface 70b of the at least one electromagnet 7b, in use, contacts the support for electronic components 2 and faces the vertical surface 2b of the support for electronic components 2. With reference to Figures 4 and 7, in the front operating position F (Figure 4) the intermediate hinge 8e is near the frame 4. Alternatively, there can be a front operating position F in which the intermediate hinge 8e is far from the frame 4.

[0094] In one embodiment that is not illustrated, the anchoring means 7 can anchor the robotic apparatus 1 to other objects installed in the working room, such as for example covering or supporting infrastructures for covering or supporting cables or other electronic components, in particular to fixed support structures 2’, or to further structures, like piping or conduits. In the embodiment that envisages the magnetic anchoring means, as is evident, the robotic apparatus 1 can be anchored to any ferromagnetic or metal structure.

[0095] The rest position L and the at least one operating position F, U, and further positions that are not illustrated can also be provided for mechanical anchoring means that will be disclosed below.

[0096] The robotic apparatus 1 comprises a control unit (which is not illustrated) to control the robotic apparatus 1 during maintenance operations. This control unit is configured to control at least one of the following drives:

- driving the motor means of the wheel units 3 a to reach the support for electronic components 2,

- driving the driving means 9a, 9b to bring the at least one anchoring element 7a, 7b a near the support for electronic components 2 or the fixed support structures 2’ ,

- driving the at least one anchoring element 7a, 7b to anchor the frame 4 removably to the support for electronic components 2 or to the fixed support structures 2’,

- driving the tool device 5, 6 to perform the predefined maintenance operation on the electronic component to be maintained,

- driving further the at least one anchoring element 7a, 7b to remove the resolvable anchoring,

- driving further the driving means 9a, 9b to move the at least one anchoring element 7a, 7b away from the support for electronic components 2 or from the fixed support structures 2’.

[0097] The control unit is provided with a transceiver unit (not shown) that is configured to receive incoming signals from a remote position, and to transmit outgoing data to the remote position. The control unit can be fitted to said top portion 5a. Alternatively, the control unit can be fitted to the movable base 3. The remote position can comprise a computer, a portable device, a smartphone, a handheld device, etc. This enables the remote operator in the remote position to control the robotic apparatus 1, for example to control the movements of the anchoring means 7, the movements of the movable base 3, the movements of the movable support unit/s and the tool device/s 5,6.

[0098] The control unit can be further configured to vary supply power, in particular electric power, to vary the supply to the at least one electromagnet 7a, 7b so as to vary the force of electromagnetic attraction.

[0099] The robotic apparatus 1 can further comprise central control means (not shown) which can be configured to communicate inlet signals and outlet signals both with the control unit and with the remote position. As mentioned, this central control means can be supported by the movable base 3.

[0100] As stated above, the anchoring means 7 can comprise mechanical anchoring means that is suitable for retaining mechanically the support for electronic components 2 or the fixed support structures 2’, in particular to perform anchoring by shape coupling with the support for electronic components 2 or the fixed support structures 2’. This mechanical anchoring means can comprise a respective mechanical anchoring element arranged for coupling with a part of the support for electronic components 2. In this embodiment, the mechanical anchoring element can comprise an end effector provided with two half-portions (like a clamp device) that are moveable towards or away from one another respectively to grasp or release the part of the support for electronic components 2 or the part of the fixed support structures 2’. Such part of the support for electronic components 2 (or such part of the fixed support structure T) can comprise a hook surface and/or a coupling hole and/or a coupling protrusion, so the expert person would not have difficulties in identifying mechanical anchoring means from amongst those available in the prior art. As said above, the anchoring means 7, additionally or alternatively to the magnetic anchoring means and/or to the mechanical anchoring means, can comprise pneumatic anchoring means suitable for retaining by a vacuum the support for electronic components 2 or the fixed support structures 2’. The pneumatic anchoring means comprises a respective pneumatic anchoring element that can include a suction cup that is drivable to detach to or detach from the support for electronic components 2 or to detach to or detach from the fixed support structure 2’. This suction cup can be connected to vacuum generating means, like a suction pump. The vacuum generating means can be installed on board the robotic apparatus.

[0101] In one embodiment that is not illustrated, the anchoring means can be fitted laterally to the robotic apparatus 1, in particular to the uprights 41, for example to the front uprights, so as to anchor the robotic apparatus 1 to the support for electronic components 2 or to the fixed support structure T laterally.

[0102] In one embodiment that is not illustrated, the anchoring means can be fitted to the tool device 5, 6 so as to be able to anchor the robotic apparatus 1 to the support for electronic components 2 or to the fixed support structure T at a desired height.

[0103] The robotic apparatus 1 can implement a method for performing maintenance operations on an electronic component to be maintained, as disclosed below. [0104] The method according to the present invention includes the steps of moving the robotic apparatus 1 inside the working room to reach the support for electronic components 2 to which the electronic component to be maintained is fitted, performing the predefined maintenance operation on the component and/or on the support for electronic components 2. [0105] The method further includes the step of anchoring the robotic apparatus 1 resolvably to the support for electronic components 2 or to the fixed support structure T to maintain in position the frame 4 of the robotic apparatus 1 with respect to the support for electronic components 2 during the maintenance operations.

[0106] In particular, the step of anchoring the robotic apparatus 1 resolvably to the support for electronic components 2 or to the fixed support structure T comprises anchoring by electromagnetic force.

[0107] Additionally or alternatively, the step of anchoring the robotic apparatus 1 resolvably to the support for electronic components 2 or to the fixed support structure T can comprise anchoring by shape coupling and/or by vacuum coupling.

[0108] Before the step of anchoring the robotic apparatus 1 resolvably to the support for electronic components 2 or to the fixed support structure T there is a step of moving the at least one anchoring element 7a, 7b near the support for electronic components 2 or near the fixed support structure 2’.

[0109] The step of anchoring the robotic apparatus 1 resolvably to the support for electronic components 2 or to the fixed support structure T starts before the step of performing a predefined maintenance operation on the electronic component and/or on the support for electronic components 2.

[0110] The step of anchoring resolvably thus comprises anchoring the robotic apparatus 1 at the top portion 5a through anchoring means 7. The expert person recognises the action of a anchoring arm or an anchoring element which is fitted to the support for electronic components 2 or to the fixed support structure T and which interacts with the top portion 5a of the robotic apparatus 1 as an equivalent of the step of anchoring resolvably that is operated by the anchoring means 7.

[0111] In use, the robotic apparatus 1 is controlled to move towards, and reach, a target support for electronic components 2 to which the electronic component to be maintained is fitted. The robotic apparatus 1 can be positioned in front of the support for electronic components 2, in particular with the front uprights facing a front surface of the support for target electronic components 2. The robotic apparatus 1 can maintain the anchoring means 7 folded for example as in the rest position L.

[0112] Once the robotic apparatus 1 according to the illustrated embodiment is positioned near the target support for electronic components 2, the robotic apparatus 1 unfolds the anchoring means 7, for example by appropriately extending the arm device 8 to the support for electronic components 2, taking on an operating position in which the robotic apparatus 1 is anchored to the support for electronic components 2, like the upper operating position U or like the front operating position F. When the magnetic anchoring means 7 is near a surface 2a, 2b of the support for electronic components 2, one of the electromagnet 7a, 7b is supplied to generate a magnetic force of attraction, this enables the robotic apparatus 1 to be anchored to the support for electronic components 2, maintaining the frame 4 of the robotic apparatus 1 in position with respect to the support for electronic components 2.

[0113] At this point, the robotic apparatus 1 takes the tool device 5, 6 to a desired work height and interacts with the support for electronic components 2 and/or on the electronic component to be maintained, for example the robotic apparatus 1 can loosen one or more screws that maintain an electronic card fixed to a shelf.

[0114] Once the predefined maintenance operation has been terminated, the previously supplied electromagnet can be disconnected by de-anchoring the robotic apparatus 1 from the support for electronic components 2. At this point, the anchoring means 7 can be retracted so that it adopts the rest position L.