JP2002264061A - Mobile working robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mobile working robot movable in building internal environment such as stairs and capable of rapid work using tools corresponding to many kinds of work. SOLUTION: A manipulator 2 is mounted on a moving mechanism 1 of this mobile working robot. A tool changing mechanism 2d is provided at the tip of the manipulator 2 and mountable with a tool corresponding to work. A work tool 5 is mounted to the tip of the manipulator by the tool changing mechanism 2d. Work tools 5A, 5B are mounted on a tool rest 4.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile robot for performing maintenance and inspection work while moving in a building environment of various plants and the like, and in particular, it is difficult for humans to work in a radiation control area of a nuclear power plant. The present invention relates to a mobile work robot that works at a place.

[0002]

2. Description of the Related Art Conventionally, maintenance and maintenance are performed while moving in a building environment.
As a mobile work robot that performs inspection work, for example,
As described in Japanese Patent Application Laid-Open No. Hei 7-286870, a robot that patrols using an elevator for moving between floors and using wheels for moving within the floor is known. However, this robot has a mechanism that cannot move the stairs that can be seen on average in the building, and the elevator is used to move between floors, so if the power of the building is lost due to a plant accident etc. Had a problem that it was not possible to move to another floor.

On the other hand, for example, Japanese Patent Application Laid-Open No. 5-131
As described in Japanese Patent Publication No. 381, a robot capable of executing a task by mounting a TV camera and a working arm on a crawler-type moving mechanism is known. By using the crawler-type moving mechanism, the stairs can be moved.

[0004]

However, in the device described in Japanese Patent Application Laid-Open No. 5-131381, a general-purpose gripper is mounted at the tip of the work arm, and a robot that cannot be performed by the gripper is used for work that cannot be performed by the gripper. Has to be returned to a place where a human is once, and the work arm or gripper needs to be replaced, so that there is a problem that quick work cannot be performed.

An object of the present invention is to provide a mobile work robot that can move in a building environment such as stairs and can perform quick work using tools corresponding to various kinds of work. .

[0006]

(1) In order to achieve the above object, the present invention relates to a mobile work robot for performing maintenance and inspection work while moving in a building environment by remote control of an operator. And a manipulator mounted on the moving mechanism, a tool change mechanism provided at the tip of the manipulator and capable of mounting a tool according to work, and a work tool mounted at the tip of the manipulator by the tool change mechanism And a tool base for mounting the work tool. With this configuration, the environment inside the building such as the stairs can be moved, and quick work can be performed using tools corresponding to various kinds of work.

(2) In the above (1), preferably,
The tool stand is capable of holding a plurality of work tools, and accesses and exchanges the work tools held by the tool stand from a horizontal direction.

(3) In the above (1), preferably,
A door holding means for holding the door so that the door is not closed is provided.Using a door knob operating tool attached to the tip of the manipulator, the door knob is operated to open the door halfway, and the door is held by the door holding means. After releasing the door knob operating tool from the door knob to support another part of the door and release the holding by the door holding means,
The door is completely opened.

(4) In the above (3), preferably,
The door knob operation tool includes a door knob grip portion for gripping the door knob, a door knob grip portion, and a connection portion made of a hollow flexible member provided between the tool change mechanism. By adjusting the air pressure of the door knob, the rigidity between the door knob gripper and the tool change mechanism can be controlled. It is something to do.

(5) In the above (1), preferably,
The operation tool is a valve operation operation tool, and the valve operation operation tool is provided between a valve operation unit having a plurality of pins arranged in a circular shape, the valve operation unit, and the tool change unit. It is provided with a connection section having a built-in ring-shaped flexible body for transmitting and blocking the power of the valve operation actuator by supplying and exhausting air pressure to the inside, and a camera arranged at the center of the valve operation section. is there.

(6) In the above (1), preferably,
The work tool is a reactor water sample container collection work tool, and the reactor water sample container collection work tool includes a lever formed of two hook-shaped rods and a pressing cylinder pressed against the reactor water sample container. By driving a lever and a cylinder, the coupler of the reactor water sample container is operated to attach and detach the reactor water sample container.

(7) To achieve the above object,
The present invention relates to a TV camera for photographing an environment in a traveling direction of a robot in a mobile work robot performing maintenance and inspection work while moving in a building environment by remote control of an operator, and a lighting device for assisting image acquisition of the TV camera. A moving mechanism having a distance sensor that measures a distance to an obstacle in a traveling direction, and a posture sensor that detects a posture of the moving mechanism;
A manipulator mounted on the moving mechanism, a tool change mechanism provided at the tip of the manipulator and capable of mounting a tool according to work, a work tool mounted on the manipulator tip by the tool change mechanism, An overall monitoring camera for monitoring the operation of the manipulator and monitoring interference during movement, a lighting device for assisting image acquisition of the overall monitoring camera, a tool base for mounting the work tool on a moving mechanism, and Mechanism and
It is provided with the manipulator, the work tool, a control device for controlling the overall monitoring camera, and a remote control device operated by an operator. With such a configuration, it is possible to move the building environment such as stairs,
Rapid work can be performed using tools corresponding to various kinds of work.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The configuration of a mobile work robot according to an embodiment of the present invention will be described below with reference to FIGS. In the following embodiments, a disaster prevention robot will be described as an example of a mobile work robot.

First, the overall configuration of the mobile work robot according to the present embodiment will be described with reference to FIG. Figure 1
1 is a perspective view showing an overall configuration of a mobile work robot according to an embodiment of the present invention.

A disaster prevention robot, which is a mobile work robot according to the present embodiment, includes a moving mechanism 1, a manipulator 2,
The control device 3 includes a control device 3, a tool base 4, a work tool 5, an overall monitoring camera 6, a remote control device 8, a folder 10, and a cable winding machine (not shown).

The moving mechanism 1 includes a pair of a main arm 1a, a planetary wheel 1b, a traveling wheel 1c, a crawler belt 1d, a front monitoring camera 1e, a lighting 1f for the front monitoring camera 1e, and a pair of distances. A sensor 1g. By operating a pair of main arms 1a provided at both left and right ends of the moving mechanism 1,
The planetary wheel 1b provided at the tip of the main arm 1a is moved, whereby the shapes of the running wheel 1c and the crawler belt 1d applied to the planetary wheel 1b are changed so as to overcome obstacles. Further, the forward monitoring camera 1e acquires an image of a moving environment ahead. The pair of distance sensors 1g detects the distance to the obstacle in front and the inclination of the moving mechanism 1 with respect to the obstacle.

The manipulator 2 comprises a base 2a, an arm 2b, an overload protection mechanism 2c, and a tool changer master 2d. The base 2a includes the moving mechanism 1
Mechanically attached to The arm 2b is used for performing actual work. The overload protection mechanism 2c is
The work tool 5 is provided at the tip of the arm 2b and escapes when an overload is applied to the work tool 5 to prevent the work tool from being damaged. The tool changer parent machine 2d is attached to the overload protection mechanism 2c and holds the work tool 5.

The control device 3 controls the moving mechanism 1, the manipulator 2, the work tool 5, and the like, and details thereof will be described later with reference to FIG.

A plurality of replacement work tools 5A and 5B are mounted on the tool base 4. The work tool 5 is a commonly used gripper and has a function of grasping an object. The work tool 5A is a valve operation tool, and is used to open and close the valve by rotating the valve forward and backward. The work tool 5B is a door opening / closing tool, and is used for opening and closing the door. Work tools 5A, 5B
5 and 6 will be described with reference to FIGS. 5 and 6, respectively, each of which has a tool changer slave unit 5a. In the tool changer slave unit 5a, the same thing is provided for each of the work tools 5, 5A, 5B. The tool changer slave device 5a is used to engage with the tool changer master device 2d of the manipulator 2 to hold the work tools 5, 5A, 5B on the manipulator 2.
The opening of the tool changer slave unit 5a is opened in the horizontal direction (the direction of arrow A) with respect to the floor surface, and drives the manipulator 2 to move the tip of the tool changer master unit 2d at the tip from the horizontal direction. The work tool can be exchanged by inserting it into the opening of the tool changer slave unit 5a.

Here, as a tool changing device,
For example, as described in Japanese Patent Application Laid-Open No. H11-198078, it is known to hold a tool in a vertical direction and change the tool from the vertical direction of the tool. However, when a tool base of this type is mounted on a moving mechanism, the projected area of the robot on the floor cannot be increased due to the restriction of the moving environment, and therefore, the upper part of the robot must be accessible by the manipulator. It will be mounted on. In this case, the access area of the manipulator is a space above the tool installed near the top of the robot, and it is necessary to increase the arm length of the manipulator. However, when the arm length is increased, a problem of interference during traveling and a problem of instability when moving the stairs due to an increase in the position of the center of gravity of the robot occur. On the other hand, by adopting a method to replace the work tool from the horizontal direction, there is no need to increase the arm length, so there is no problem of interference during traveling and the center of gravity does not increase. In addition, stability during running does not decrease.

FIG. 4 shows the configuration of the tool base 4.
As will be described later, the working tool is vertically supported by pins, and the manipulator 2
After the tip of the tool changer 2d is engaged with the tool changer slave 5a, the work tool can be detached from the tool base 4 by driving the manipulator 2 so that the work tool moves upward.

The overall monitoring camera 6 is used to monitor the operation of the work manipulator and to monitor the interference between the robot and surrounding objects when moving. An illumination 6a for illuminating the surroundings is provided above the general monitoring camera 6.

The remote control device is used by an operator to remotely control the robot main body, and its configuration will be described later with reference to FIG.

The folder 10 is for holding a filter paper tool used for the smearing operation, and will be described later in detail with reference to FIG.

The cable winder (not shown) automatically winds up the cable so that the control signal cable for connecting the remote controller 8 and the control device 3 and the power supply cable do not interfere with the cable winding machine. Is used to reduce

As described above, the remote control device 8 is installed outside the radiation control area or the like, and the electric power supplied from the power generation vehicle or the like is supplied to the robot body via the power supply cable, so that the building can be controlled. The robot can be driven even when the power is off. The robot body moves into the building and is remotely operated by the remote control device 8 so that the operator does not enter the danger area.
Work can be performed using a work robot. Also,
By mounting multiple work tools on the robot body in advance and replacing them with necessary work tools at the work site, the work tools can be replaced without pulling the robot body back to the operator. Can be done quickly. In addition, changing work tools
Since the arm of the manipulator can be shortened by accessing the tool changer slave unit from the horizontal direction, the position of the center of gravity of the robot can be lowered, and the stability of the robot when moving can be improved.

Next, the configuration of the control device used in the mobile work robot according to the present embodiment will be described with reference to FIG. FIG. 2 is a block diagram showing a configuration of a control device used for the mobile work robot according to one embodiment of the present invention.

The control device 3 of the mobile work robot includes a manipulator control device 3a, a camera video control device 3b, a general control device 3c, a sensor signal processing device 3d, a communication device 3e, a regulator 3f, an optical converter 3g, ,
And a video transmission device 3h. The manipulator control device 3a includes the manipulator 2 and the work tool 5
Is controlled. The camera image control device 3b
It controls a plurality of cameras such as the forward monitoring camera 1e and the overall monitoring camera 6 mounted on the disaster prevention robot. The overall control device 3c controls the moving mechanism 1, the camera illumination 6a, the camera platform, and the cable winder 7. The sensor signal processing device 3d processes signals from various sensors such as the distance sensor 1g provided in the moving mechanism 1. The communication device 3e performs communication between the remote operation device 8 operated by the operator, the overall control device 3c, and the manipulator control device 3a. The regulator 3f converts the supplied power to a power supply voltage required for the control device. The optical converter 3g is a communication device 3
The electric signal is converted into an optical signal in order to improve the noise resistance of the communication between e and the remote operation device 8. Video transmission device 3h
Transmits a signal from the camera image control device 3b to the remote control device 8.

Next, the configuration of the remote control device used in the mobile work robot according to the present embodiment will be described with reference to FIG. FIG. 3 is a front view showing the configuration of the remote control device used for the mobile work robot according to one embodiment of the present invention.

The remote control device 8 includes an image switching device 8a
, Monitors 8b, 8c, 8d and joystick 8e
, An operation panel 8f, and a keyboard 8g. The image switching device 8a is used to select an image of a TV camera mounted on the disaster prevention robot according to a task, and the selected image is displayed on the monitor 8b or the monitor 8c. The monitor 8d displays the signals of the sensors installed in the moving mechanism 1, the status of the manipulator, and the like. The joystick 8e is used for controlling the moving direction of the robot. The operation panel 8f is used for moving the manipulator in each axis direction and opening and closing a tool such as a gripper.

Here, a basic operation of the mobile work robot according to the present embodiment will be described with reference to FIGS. The operator selects an image of the TV camera mounted on the disaster prevention robot by operating the image switching device 8a according to the work, and displays the image on the monitor 8b or the monitor 8c. In addition, the signals of the sensors installed in the moving mechanism 1, the status of the manipulator, and the like are displayed on the monitor 8d. The operator operates the joystick 8e, the operation panel 8f, and the keyboard 8g of the remote operation device 8 while viewing those images. Each part of the mobile work robot performs a predetermined operation by remote control of the operator.

Further, the manipulator control device 3a and the general control device 3c are provided with a job in which the operation procedure of each unit is programmed in advance, and when the job is started from the remote control device 8, for example, a work tool exchange is performed. , The moving mechanism can be automatically executed on a step.

Next, the structure of a tool base used in the mobile work robot according to the present embodiment will be described with reference to FIG. FIG. 4 is a three-view drawing showing a configuration of a tool base used in the mobile work robot according to one embodiment of the present invention.
4A is a plan view, FIG. 4B is a side view, and FIG. 4C is a front view.

The tool base 4 is structured to be mounted on the upper part of the disaster prevention robot. Necessary tools are attached to the tool base 4 in advance by an operation to be performed.
Then, the work tool 5 is mounted on the two pins 4b and the tool support 4c provided in the spring mechanism 4a.

At the time of tool change, the tool changer master unit 2d shown in FIG. 1 is positioned from the horizontal direction (the direction of arrow A in the figure) to the vicinity of the tool changer slave unit 5a. The mechanism 4a is adapted to be attached and detached in the horizontal direction.

By arranging the tool base 4 in this manner, it is not necessary to increase the arm length of the manipulator without requiring upward access to the tool for exchanging the tool. In addition, the space on the tool can be effectively used for installing other equipment.

Next, the configuration and operation of various work tools of the mobile work robot according to the present embodiment will be described with reference to FIGS. First, the configuration of the valve operation work tool used for the mobile work robot according to the present embodiment will be described with reference to FIG. FIG. 5 is a perspective view showing a configuration of a valve operation work tool used for the mobile work robot according to one embodiment of the present invention. In FIG. 5,
This shows a state in which the valve operating tool 5A has approached the valve handle VH.

The valve operation work tool 5A is composed of a tool changer slave 5a, five valve operating claws 5b, a hand camera 5c, a clutch mechanism 5d, and a swing actuator 5e. Tool changer slave unit 5a
Is a portion used for connection with the tool changer master machine 2d shown in FIG. 1, and has a shape common to other work tools. The valve operating pawl 5b is provided with the clutch mechanism 5
d, which is inserted into a hole of the valve handle VH, engages with the valve handle VH, and is used to rotate the valve handle VH. The hand camera 5c is provided with a valve handle VH to be operated.
To observe the mutual positional relationship between the valve operating claw 5b and the valve operating claw 5b. The clutch mechanism 5d has a built-in ring-shaped flexible body therein, and is provided with a tool changer slave device 5d.
By supplying air pressure from the a side, the flexible body expands, the clutch is connected, and by releasing the air pressure, the clutch is disconnected. Swing actuator 5e
Is driven by a control signal transmitted from the tool changer slave unit 5a to rotate and swing the valve operating claw 5b attached to the tip of the valve operating work tool 5A.

Next, the operation of the valve operation tool 5A will be described. First, the operator operates the operation panel 8f shown in FIG. 3 to mount the valve operation tool on the manipulator. Next, air pressure is supplied to the clutch mechanism 5d to connect the clutch. Next, the manipulator 2 is operated while viewing the images of the overall monitoring camera 6 shown in FIG. 1 and the hand camera 5c shown in FIG. 5 on the monitors 8b and 8c, and the valve operating claw is inserted into the hole of the valve handle VH. 5
Insert b. Next, the swing actuator 5e is driven by an instruction from the remote control device 8 to rotate the valve operating claw 5b. Next, after releasing the air pressure from the flexible body of the clutch mechanism 5d to release the connection of the clutch, the swing actuator 5e is rotated in the reverse direction to return to the original state. Since the movable range of the swing actuator 5e is fixed, the valve handle VH cannot be continuously rotated. Therefore, the clutch connection is released while the valve operating claw 5b is inserted into the hole of the valve handle VH. Thus, the swing actuator 5e is returned to the original state. Further, after the clutch mechanism 5d is connected again, the swing actuator 5e is driven to further rotate the valve operating claw 5b by the same amount. By repeatedly engaging and disengaging the clutch, returning the swing actuator 5e, and rotating the valve operating claw, the valve can be closed or opened.

As described above, the valve operating claw 5b is inserted into the valve hole so that the valve can be operated if the valve operating claw 5b can be inserted into the valve hole, and the valve operating tool is positioned. Is relatively rough and good. Further, by using a clutch formed of a ring-shaped flexible body, the valve operation is realized by repeatedly performing the on / off operation of the clutch, the return of the swing actuator 5e, and the rotation of the valve operating claw. Nails 5
b does not need to be continuously rotated, and since the flexible body has a ring shape, the processing of the camera cable is easy, and the hand-held camera 5c can be arranged at the center of the rotation axis of the valve operating claw 5b. Positioning becomes easy. Further, when an excessive load is applied to the valve, the clutch mechanism 5d slips, so that the valve and the tool are not damaged.

Next, referring to FIGS. 6 to 8, a door opening work tool 5B used for the mobile work robot according to the present embodiment will be described.
The configuration and work operation of will be described. FIG. 6 is a perspective view showing a configuration of a door opening work tool used for the mobile work robot according to one embodiment of the present invention. 7 and 8
FIG. 5 is an explanatory view of a door opening operation by a door opening operation tool used in the mobile operation robot according to the embodiment of the present invention, and shows an operation of the mobile operation robot in front of the door. The same reference numerals as those in FIG. 1 indicate the same parts.

The door opening tool 5B includes a tool changer slave 5a, a hand camera 5c, and a posture adaptation mechanism 5l.
And three door knob gripping claws 5m having a degree of freedom for opening and closing, and a door lever operating ring 5n. The posture adaptation mechanism 51 has a configuration in which the rigidity is increased by injecting air into the hollow flexible body 5o, and the rigidity is reduced when the air is removed, so that the posture adaptation mechanism 51 can adapt to the posture of the door knob. The door opening tool 5B can open and close both the knob type door and the lever type door. When opening and closing the knob type door, the door knob gripping claw 5m is used, and when opening and closing the lever type door, the door lever operating ring 5n is used.

Here, a method in which the disaster prevention robot passes through the door D having the knob DN using the door opening tool 5B will be described with reference to FIGS.

First, as shown in FIG. 7 (a), the operator performs a remote control to move the mobile work robot to the door D.
Stop at a predetermined position before. Next, as shown in FIG. 7 (b), the distance to the door is measured by two ultrasonic sensors (distance sensor 1g) on the front of the moving mechanism, and the difference between the distance between the sensors and the output signal of the sensor is measured for the door. Calculate the inclination of the traveling device, so that the calculated inclination is small,
The correction operation is performed in the super pivot turn.

Next, as shown in FIG. 7 (c), a mark is put on a place where the edge of the door is projected when the image of the front monitoring camera 5c is projected on the monitor when the traveling device comes to a predetermined position in advance. The traveling device is positioned such that the mark of the edge of the door of the current actual image comes to the mark. Then, the correction operation using the distance sensor 1g and the monitoring camera 5c is repeated,
Positioning is performed so that the marks on the traveling device monitor match, the door is at a predetermined distance, and the inclination with respect to the door is within a predetermined range.

Next, as shown in FIG. 7 (d), the traveling device main arm 1a is operated in the traveling direction, and stops at a predetermined door opening standby position. Next, as shown in FIG.
Air is injected into the flexible body 5o of the door opening tool 5B attached to the manipulator to increase rigidity, and the door knob gripping claw 5m
And the door knob DN is positioned so as to enter the door knob gripping claw 5m.

Next, as shown in FIG. 7 (f), the nail 5m is closed and the knob DN is gripped by operating from a remote control device.
The sixth axis of the manipulator is rotated, the door knob DN is rotated to release the latch, and the door knob DN is pulled slightly so as not to be latched again. Further, the air from the flexible body 5o is evacuated to make the conforming mechanism 51 function, and the manipulator is operated to open the flexible body 5o until the edge of the door comes to a predetermined position on the monitor image of the front monitoring camera marked in advance.

Next, as shown in FIG. 8 (g), the main arm 1a of the traveling device is operated to a horizontal position and used as a stopper for preventing the door D from closing. Next, as shown in FIG. 8 (h), the door operating tool 5 is manually operated until the door knob gripping claw 5m is released by an instruction from the remote control device until the door knob gripping claw 5m overturns the door knob.
The rigidity is increased by injecting air into the flexible body 5o of B, and the tool 5B is inserted into the gap of the door that is prevented from being closed by the main arm 1a by remote control.

Next, as shown in FIG. 8 (i), the traveling device main arm 1a is moved to the rear evacuation position. Next, FIG.
As shown in (j), the manipulator 2 is operated to completely open the door D.

Next, as shown in FIG. 8 (k), the vehicle travels forward with the traveling device and passes through the door D. Finally, FIG.
As shown in (l), the vehicle is further advanced by the traveling device, and the passage through the door is completed.

If the door D has a mechanism for returning to the closed position by a spring mechanism or the like, a stopper for preventing the door from being closed after the door is opened may be provided on the door.

In the above description, the case of opening the door of the knob type has been described. However, in the case of the door of the lever type, the door lever operating ring 5n shown in FIG. As a result, it is possible to open the door and pass the vehicle.

Next, referring to FIGS. 9 to 12, a smear work tool 5C used in the mobile work robot according to the present embodiment will be described.
The configuration and work operation of will be described. FIG. 9 is a perspective view showing a configuration of a smear work tool used for the mobile work robot according to one embodiment of the present invention. FIG. 10 is a perspective view of a filter paper tool attached to the smear work tool used in the mobile work robot according to one embodiment of the present invention.
FIG. 11 is a perspective view of the smear work tool used in the mobile work robot according to the embodiment of the present invention, in a state where the filter paper tool is attached to the filter paper tool folder. Figure 1
FIG. 2 is a partial cross-sectional view of the smear work tool used for the mobile work robot according to the embodiment of the present invention, with the filter paper tool attached to the filter paper tool folder.

As shown in FIG. 9, the smear work tool 5C
Is a tool changer slave unit 5a, a hand camera 5c,
It is composed of a pressing mechanism 5f, a stroke sensor 5g, and a flexible body 5h. The pressing mechanism 5f is a mechanism for pressing the filter paper tool against the surface to be measured. The stroke sensor 5g detects a pressing stroke of the pressing mechanism 5f. The flexible body 5h is used to hold the filter paper tool by expanding by introducing air pressure into the inside and engaging with the inner wall surface of the cylindrical filter paper tool.

Further, as shown in FIG.
Is composed of a holding hole 9a, a collar 9b, an elastic body 9c, and a filter paper 9d. The holding hole 9a is a portion into which the flexible body 5h of the smear work tool 5C is inserted and which is used to hold the filter paper tool 9 on the smear work tool 5C. The collar 9b is, as shown in FIGS. 11 and 12,
The filter paper tool folder 10 is provided for holding the filter paper tool 9. The collar 9b is made of a magnetic material such as iron. The elastic body 9c is for adjusting to the unevenness of the surface to be wiped off by the filter paper 9d, and is formed of an elastic member such as a sponge, and the filter paper 9d is attached to the end thereof.

As shown in FIG. 12, the filter paper tool folder 10 includes a magnet 1 at a portion of the filter paper tool 9 which is in contact with the flange 9b.
0a, and the filter paper tool 9 is magnetically
Is held. Filter paper tool folder 10
Is attached to the robot body as shown in FIG. This filter paper tool folder 10 contains the filter paper tool 9
Is held.

Next, the operation of the smear work tool will be described. First, the operator mounts the smear work tool 5C on the manipulator.

Next, the elastic body 5h is inserted into the holding hole 9a of the filter paper tool 9 held in the filter paper tool folder 10, air is supplied to the elastic body, and the elastic body 5h is held at the tip of the smear work tool 5C. By pulling with the manipulator 2, the magnetic force of the magnet 10a of the filter paper tool folder 10 is overcome, and the filter paper tool 9 is mounted.

Next, the filter paper tool 9 is positioned at a smearing work position such as a floor surface or a wall surface, and the filter paper tool 9 is pressed while monitoring the output of the stroke sensor 5g until a predetermined pressing stroke is reached. Next, the manipulator is operated in a predetermined operation pattern, and the surface of the object is wiped with the filter paper 9d. Finally, the filter paper tool 9 is returned to the predetermined filter paper tool folder 10.

The portion supported by the filter paper 9d and the elastic body 9c is connected to the flange 9b by a ball joint.
The posture of the filter paper tool 9 can be adapted to the inspection surface.

The smear work tool 5C, the filter paper tool 9, and the filter paper tool folder 10 are configured as described above and operated together with the disaster prevention robot, so that the smear work can be automatically performed remotely, and humans are contaminated with radiation. This eliminates the need to enter such dangerous places.

Next, the configuration and operation of the reactor water sample container collection tool 5D used in the mobile work robot according to the present embodiment will be described with reference to FIGS.
FIG. 13 is a perspective view showing a configuration of a reactor water sample container collection tool used in the mobile work robot according to one embodiment of the present invention, and FIG. 14 is a reactor water sample used in the mobile work robot according to one embodiment of the present invention. It is a perspective view which shows the structure of a container.

First, the configuration of the reactor water sample container 11 will be described with reference to FIG. Reactor water sample container 11
Is mounted in advance on the wall of equipment such as a nuclear power plant. Reactor water is injected into the reactor water sample container 11 by remote control.

The reactor water sample container 11 has two levers 1
1a, 11a ', a coupler 11b, and a sample container 11c. It is attached to the wall of equipment such as a nuclear power plant via the coupler 11b. By operating to reduce the gap G between the two levers 11a, 11a ', the coupler 11b is released and can be removed from the equipment. The sampled water is stored inside the sample container 11c.

Next, the configuration of the reactor water sample container collecting work tool 5D will be described with reference to FIG. The reactor water sample container collecting work tool 5D includes a tool changer slave device 5a, a hand camera (not shown), two hook levers 5i, two pressing cylinders 5j, and a running-in mechanism 5
k. The two hook-shaped levers 5i engage with the lever 11a of the reactor water sample container 11, and
It is used for the operation of narrowing the gap G between 1a and 11a '. The tip portions of the two pressing cylinders 5j move in the direction of arrow C, and are pressed against the back surface of the reactor water sample container 11.

Next, the operation of the reactor water sample container collection work tool will be described.

First, the operator operates the manipulator 2
The tool 5D for recovering the reactor water sample container is mounted on the container, and positioned near the reactor water sample container 11.

Next, the two hook-shaped levers 5i are positioned by hooking them on the lever 11a of the reactor water sample container. Further, the two pressing cylinders 5j are operated to press against the back surface of the reactor water sample container 11. Further, by operating the pressing cylinder 5j, the key-shaped lever 5i is operated.
By pressing the pressing cylinder 5j against the back surface of the reactor water sample container 11 while holding the lever 11a at that position, the reactor water sample container portion 11c moves in the direction of arrow D, and the two levers 11a, 11a 'interval G
Can be reduced, and the coupler 11b can be released.

Finally, the manipulator 2 is operated, and the reactor water sample container collecting work tool 5D is stored together with the reactor water sample container 11 on the tool base.

As described above, by constructing the reactor water sample container collection work tool and operating it together with the disaster prevention robot, the reactor water sample container collection work can be automatically performed remotely, and humans are contaminated with radiation. This eliminates the need to enter such dangerous places.

As described above, according to the present embodiment, even in the case of inspection and maintenance work of various plants or in the event of an accident, an image is acquired with its own lighting and a TV camera, and the remote control of the operator is performed. The operation makes it possible to move in the building environment.

Also, the door opening tool is mounted on the manipulator, and the image can be remotely controlled according to a predetermined procedure while viewing the images of the overall surveillance camera and the hand-held camera. Becomes possible.

Further, after arriving at the site, a tool corresponding to the work is attached to the tip of the manipulator using a work tool held on a tool base mounted on the disaster prevention robot, and work such as valve operation is performed. Work to prevent the spread of accidents can be performed.

Further, by mounting and using a tool such as a smear tool, maintenance and inspection work during normal times can be executed by the mobile work robot of the present invention.

When the mobile work robot realizes the above-described work, maintenance, inspection, and prevention of accidents can be performed on behalf of humans, and there is an effect that it is not necessary to expose humans to danger.

[0076]

According to the present invention, the environment inside the building such as the stairs can be moved, and quick work can be performed using tools corresponding to various kinds of work.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an overall configuration of a mobile work robot according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of a control device used for the mobile work robot according to one embodiment of the present invention.

FIG. 3 is a front view showing a configuration of a remote operation device used for the mobile work robot according to the embodiment of the present invention.

FIG. 4 is a three-sided view showing a configuration of a tool base used in the mobile work robot according to the embodiment of the present invention.

FIG. 5 is a perspective view showing a configuration of a valve operation work tool used for the mobile work robot according to the embodiment of the present invention.

FIG. 6 is a perspective view showing a configuration of a door opening work tool used in the mobile work robot according to one embodiment of the present invention.

FIG. 7 is an explanatory diagram of a door opening operation by a door opening operation tool used in the mobile operation robot according to the embodiment of the present invention.

FIG. 8 is an explanatory diagram of a door opening operation by a door opening operation tool used in the mobile operation robot according to the embodiment of the present invention.

FIG. 9 is a perspective view showing a configuration of a smear work tool used for the mobile work robot according to one embodiment of the present invention.

FIG. 10 is a perspective view of a filter paper tool attached to a smear work tool used in the mobile work robot according to one embodiment of the present invention.

FIG. 11 is a perspective view of a smear work tool used in the mobile work robot according to the embodiment of the present invention, in a state where a filter paper tool is attached to a filter paper tool folder.

FIG. 12 is a partial cross-sectional view of the smear work tool used for the mobile work robot according to the embodiment of the present invention, in a state where the filter paper tool is attached to the filter paper tool folder.

FIG. 13 is a perspective view showing a configuration of a reactor water sample container collection tool used for the mobile work robot according to one embodiment of the present invention.

FIG. 14 is a perspective view showing a configuration of a reactor water sample container used in the mobile work robot according to one embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Moving mechanism 1a ... Main arm 1e ... Front monitoring camera 1g ... Distance sensor 2 ... Manipulator 2b ... Arm 2d ... Tool changer master unit 3 ... Control device 4 ... Tool stand 5 ... Work tool 5a ... Tool changer slave unit 5b ... Valve Operating claw 5h Flexible body 5A Valve operation work tool 5B Door opening work tool 5C Smear work tool 5D Furnace water sample container collection tool 6 Overall monitoring camera 8 Remote control device 9 Filter paper tool 10 Filter paper tool folder 11 ... Reactor water sample container

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Hiroshi Sakairi 502 Kandachicho, Tsuchiura-shi, Ibaraki Pref. Machinery Research Laboratory, Hitachi, Ltd. (72) Inventor Yuji Saito 3-1-1 Sachicho, Hitachi-shi, Ibaraki Stock Hitachi, Ltd.Hitachi Works (72) Inventor Akihiro Sugano 3-1-1, Sachimachi, Hitachi, Ibaraki Prefecture Hitachi, Ltd.Hitachi Works (72) Inventor Hiroshi Yamamoto 502, Kandachicho, Tsuchiura, Ibaraki Shares (72) Inventor Masayuki Oshiro 7-1-1, Higashi-Narashino, Narashino-shi, Chiba In-house Hitachi, Ltd.Industrial Equipment Group (72) Inventor Takayuki Kamiya 7-1-1, Higashi-Narashino, Narashino-shi, Chiba No. F-term in the Industrial Equipment Group, Hitachi, Ltd. (reference) 2G075 CA02 EA02 FA12 FA13 FA20 FC01 GA09 GA37 3C007 AS14 AS27 BT18 CS08 CY00 GS01 GS15 JU12 KS12 KS20 KS36 KT04 KT05 WA17

Claims (7)

[Claims] 1. A mobile robot which performs maintenance and inspection work while moving in a building environment by remote operation of an operator, comprising: a moving mechanism, a manipulator mounted on the moving mechanism, and a tip of the manipulator. A tool change mechanism provided and capable of mounting a tool according to the work, a work tool mounted on the tip of the manipulator by the tool change mechanism, and a tool base for mounting the work tool. And mobile work robot. 2. The mobile work robot according to claim 1, wherein said tool base is capable of holding a plurality of work tools, and accesses and exchanges the work tools held on said tool base from a horizontal direction. Mobile work robot characterized by performing. 3. The mobile work robot according to claim 1, further comprising door holding means for holding the door so that the door does not close, and operating the door knob using a door knob operating tool mounted on a tip of the manipulator. Then, the door is opened halfway, the door is held by the door holding means, the door knob operating tool is released from the door knob, another part of the door is supported, and after the holding by the door holding means is released, the door is opened. A mobile robot that is completely open. 4. The mobile work robot according to claim 3, wherein the door knob operating tool comprises: a door knob grip for gripping a door knob; and a hollow movable knob provided between the door knob grip and the tool change mechanism. A connection portion formed of a flexible body, the rigidity between the door knob grip portion and the tool change mechanism can be controlled by adjusting the air pressure inside the connection portion, and the air pressure of the door opening tool after gripping the door knob is reduced A mobile work robot, characterized by absorbing a difference between a posture of a door opening tool and a posture of a door knob when opened. 5. The mobile work robot according to claim 1, wherein the work tool is a valve operation work tool, the valve operation work tool includes: a valve operation section having a plurality of pins arranged in a circular shape; A connection portion provided between the operation portion and the tool change portion and including a ring-shaped flexible body for transmitting and shutting off the power of the valve operation actuator by supplying and exhausting air pressure to the inside thereof; A mobile work robot comprising a camera arranged at the center of the unit. 6. The mobile work robot according to claim 1, wherein said work tool is a reactor water sample container collection work tool, and said reactor water sample container collection work tool is a lever composed of two hook-shaped rods. And a pressing cylinder for pressing against the reactor water sample container, wherein the lever and the cylinder are driven to operate a coupler of the reactor water sample container and to attach and detach the reactor water sample container. 7. A mobile robot that performs maintenance and inspection work while moving in a building environment by remote control of an operator. A moving mechanism having illumination, a distance sensor for measuring the distance between the obstacle in the traveling direction, and a posture sensor for detecting the posture of the moving mechanism; a manipulator mounted on the moving mechanism; and a tip of the manipulator A tool change mechanism that can be attached to a tool according to the work, a work tool that is mounted on the tip of the manipulator, and an overall monitor that monitors work of the manipulator and interference during movement by the tool change mechanism A camera, lighting for assisting image acquisition of the overall surveillance camera, and the above-mentioned work tool mounted on a moving mechanism. Moving work, comprising: a tool base for mounting; a moving mechanism; the manipulator; the work tool; a control device for controlling the general monitoring camera; and a remote control device operated by an operator. robot.