JPH02172684A - Robot for work - Google Patents

Abstract

PURPOSE:To efficiently move to all of a floor, step, ladder and wall face by providing a wheel rolling starting mechanism opposing the wheel outer end face to the moving face of a traveling part on the traveling part and providing a suction function making the wheel adsorbable to the moving face on the other end face of each wheel. CONSTITUTION:Each wheel 8 is moved by making it in a traveling state, in case of moving on a floor or stairway. In this case, the step difference of a stairway, the weir on a floor, etc., become possible to run over by the actions of telescopic mechanisms 5a, 5b and bending mechanism. On the other hand, in case of moving on a ladder and wall face, each wheel 8 is started to rotate by a rotation starting mechanism 22. IN the case of a ladder, each wheel 8 is moved by hanging on the step 41 of a ladder 40 and in the case of a wall face, each wheel 8 is moved with sucking to the wall face. Thus, even the movement on the ladder and wall face becomes possible without any trouble.

Description

[Detailed Description of the Invention] [Object of the Invention] (Industrial Application Field) The present invention is applicable to, for example, inspection and monitoring of nuclear power plants.
The present invention relates to a working robot that performs such tasks, and particularly to a working robot that can move on all moving surfaces such as floors, stairs, ladders, and walls.

(Prior art) Generally, there are stairs, ladders, etc. on the access route for inspecting and maintaining various equipment in a nuclear power plant, for example, and during periodic inspections, walls, tanks, or equipment surfaces that cannot be moved are used. Temporary scaffolding has been set up along the road, and repair work is being carried out using this temporary scaffolding.

Therefore, when these inspection and repair operations are to be performed by robots in order to save labor and improve the working environment, it is required to be able to move freely on stairs, ladders, walls, etc. for application to plants.

2. Description of the Related Art Conventionally, as this type of working robot, there are known as a ladder climbing robot and a multi-functional robot. The ladder lifting robot has four grippers mounted on a slide rail with two degrees of freedom: vertical movement and expansion/contraction, and three of the grippers support the robot while moving the grippers one by one. It has a structure that allows you to climb up a ladder. In addition, the multifunctional robot has hooks and wheels at the tips of two pairs of manipulators, and hooks on the main body, for a total of six hooks. Three of the six hooks
The structure is such that the robot is supported at ~4 points and climbs the ladder by sequentially moving one or two hooks.

(Problems to be Solved by the Invention) The conventional ladder-climbing robots described above were developed exclusively for climbing ladders, and therefore do not have the function of moving on floors, stairs, and walls, and cannot be used for specific tasks. The problem is that it can only be used in

On the other hand, conventional multifunctional robots can move on floors and stairs in addition to ladders, but cannot move on walls and require two pairs of manipulators, making them complex in structure. There are problems in that it is large and heavy, difficult to control, has a slow moving speed, and has a large passage cross section.

The present invention has been made in consideration of these points, and is capable of efficiently moving on floors, stairs, ladders, and walls, and has a simple structure, small size, and light weight. The purpose is to provide a working robot that can perform the following tasks.

[Structure of the invention]

(Means for Solving the Problems) As a means for achieving the above object, the present invention provides a working robot in which at least three running parts each having wheels for running are connected in series through a telescoping mechanism and a bending mechanism, respectively. connected to each other (forming 13, a wheel starter for rotating the wheels in a running state at right angles to make the outer end surfaces of the wheels face the moving surfaces of the running parts) 1° 1 is provided in each of the running parts, and The present invention is characterized in that the outer end surface of each wheel is provided with an adsorption function capable of adsorbing the wheel to a moving surface.

(Function) When the working robot according to the present invention moves on the floor or stairs, it moves with each wheel in a running state. At this time, it becomes possible to overcome steps of stairs, weirs on the floor, etc. by the action of the expansion/contraction mechanism and the bending mechanism.

On the other hand, when moving on a ladder or wall, each wheel is rotated. In the case of a ladder, the robot moves while hooking each wheel to the ladder step, and in the case of a wall, the robot moves while making each wheel stick to the wall surface using a mechanism in front of the eye. This makes it possible to move ladders and walls without any problems.

(Example) Hereinafter, a first embodiment of the present invention will be described with reference to the drawings.

FIG. 1 shows an example of a working robot according to the present invention, and this robot 1 has three running sections, a front running section 2, a center running section 3, and a rear running section 4, with telescopic mechanisms 5a and 5b.
and are connected by bending mechanisms 6a and 6b.

Each running section 2. 3.4 is equipped with a pair of wheels 8 each having a suction plate 7 on the outer end surface, as shown in FIG.
At the top of the front running section 2 and the rear running section 4, a distance sensor 9 for detecting and recognizing the distance to a ladder, stairs, or an obstacle, and an illuminated TV camera 10 for capturing this as an image are provided, respectively. There is. In addition, the central running section 3
At the top of the !, as shown in Figure 1! A detector 12 is mounted on a stand 11, and the outside is covered with a transparent dome 13.
l! A detection mechanism made of Ili is provided, and the dome 13
This makes it possible to inspect the detector 12 from the outside, and to protect the detector 12 from external damage, water, debris, etc. In addition, the pan head 11 has a structure that allows rotation and elevation in order to direct the detector 12 in the direction to be detected. H and S are made in total.

The front running section 2 and the rear running section 4 are equipped with a frame 14 that houses the driving section of the wheels 8, as shown in FIG.
It is configured so that it can be steered around the Y-axis via.

As shown in FIGS. 2 and 3, this frame 14 is provided with a support arm 17 for rotating the wheel 8 90 degrees downward in the figure from the running state around ZIlb.
The axle 18 of the wheel 8 passes through this support arm 17 in the X-axis direction perpendicular to the Z-axis, and its inner end is connected to the gear box 19.
It is connected to the inner gear 19a via a multi-joint 20.

The frame 14 includes, as shown in FIGS. 2 and 3,
A drive arm 21 is provided, and its tip is connected to the rod of the starting actuator 22 via a connecting pin 23. The frame 14 is configured to rotate around the Z-axis by the expansion and contraction operation of the starting actuator 22.

Inside the gear box 19, there is a gear 19 as shown in FIG.
A gear 19b is arranged to mesh with the gear 19a.
b is rotationally driven around the Y axis by a drive mechanism 24, and this rotational force is transmitted to the wheels 8 via the gear 19b1 multi-joint 20 and the axle 18.

On the other hand, as shown in FIG. 3, suction piping 25 is inserted through the axial center of the gear 19a1 multi-joint 20, axle 18, and wheel 8. It is connected to a blue absorbing mechanism 26 shown in FIG.

The center running section 3 also has substantially the same structure as the front running section 2 and the rear running section 4, but the steering mechanism 15 and the steering motor 16 are not provided. However, by providing these, the turning radius of the robot 1 can be reduced.

As shown in FIG.
The bending mechanisms 6a and 6b have built-in springs (not shown) and are connected to the central running portion 3 via a hinge 27. and each bending mechanism 6a.

6b rotates around the b-axis and is bent by a built-in spring force when the robot 1 moves up the stairs or climbs over a weir on the floor.

FIG. 4 is a conceptual diagram showing the overall system configuration of the robot 1. Each traveling section 2, 3.4 has a ground sensor 28,
A starting mechanism 30 consisting of a ground pressure sensor 29, a starting actuator 22, etc. is provided, and a steering angle sensor 31, a step detection sensor 32, and a bumper 33 are provided on the front and rear running sections 2.4, respectively. Further, the central traveling section 3 is provided with a control section 34, a signal transmitter 35, an antenna 36, a gyro 50, and a conversion mechanism 37 and a fixing mechanism 38, which are attached as options.

The ground sensor 28 is connected to the collar 3 attached to the axle 18 of the wheel 8.
The ground pressure sensor 29 is provided on the outer periphery of the wheel 8 to detect the presence or absence of contact between the rudder 40 and the wheel 8 shown in FIG. It is provided between the two and detects the ground pressure during success/failure running and suction running, which will be described later. Further, a step detection sensor 32 and a bumper 33 are provided at the leading ends of the front and rear running sections 2 and 4 on the running side, respectively. It is designed to perform impact attenuation and collision detection.

The control unit 34 also controls the signal transmitter 35 and the antenna 36.
information is exchanged with the operator via the
, bending mechanisms 6a, 6b, steering mechanism 15, drive mechanism 24,
While the suction mechanism 26 and the starting mechanism 30 operate,
Distance sensor 10, steering angle sensor 31, contact sensor 28
, the ground sensor 29, the step detection sensor 32, and the bumper 3 are input to the control section 34.

On the other hand, the conversion mechanism 37 and the fixing mechanism 38, which are optionally attached to the central traveling section 3, have a configuration as shown in FIG.

That is, the conversion mechanism 37 includes a pair of bearings 42 attached to the body of the central running section 3, as shown in FIG.
A gear 44 and a conversion motor 45 are each incorporated. Then, the conversion mechanism 37 is turned 90 by the conversion motor 45.
By changing the degree, it is possible to change the direction of the rotation axis of the degree of freedom of the expansion and contraction mechanisms 5a, 5b and the bending mechanisms 6a, 6b.

Further, the fixing mechanism 38 includes a bearing 46 attached to the body of the front running section 2, as shown only on the side of the telescopic mechanism 5a in FIG.
Two holes 47 are provided at positions shifted by 90 degrees in the circumferential direction. A pin 49 of a pin drive mechanism 48 fixed to the body of the front traveling section 2 is inserted into and removed from each person 47 by a solenoid drive.
The fixing and unfixing of the operations of 7 are performed. In addition, in FIG. 6, the reference numeral 51 is a cable.

Next, the operation of this embodiment will be explained.

The basic operations of the robot 1 include driving, steering, suction, starting, and hooking to a ladder step, and these will be explained below.

First, driving will be explained.

Drive mechanism 2 based on commands from control section 34 shown in FIG.
4 is driven, the rotational force of the drive mechanism 24 is transmitted to the axle 18 via the gears 19a, 19b in the gear box 19 and the multi-joint 20, and the axle 8 integrated with the axle 18 rotates.

Next, steering will be explained.

When a steering command is output from the control unit 34, the steering motor 16 is started based on this command, and thereby the steering mechanism 15
rotates. Since this steering mechanism 15 has an integral structure with the frame 14, the frame 14 rotates due to the rotation of the steering mechanism 15, and the wheels 8 attached to this frame 14 rotate around the Y axis shown in FIG. It is rotated and steered.

In this case, a transmission joint may be provided in the gear box 19 to absorb the difference in rotation between the left and right wheels 8 during steering (also, a similar steering mechanism as described above may be provided in the central running section 3). It may also be provided.

As a result, the turning radius can be made smaller.

Next, adsorption will be explained.

Suction is carried out by rotating the wheels 8 around the Zldl shown in FIG.
That is, the wheel 8 is designated by the symbol d in FIG.

The suction mechanism 26 is operated while being rotated 90 degrees from the solid line position to the chain line position as indicated by the double arrow d'.

This suction mechanism 26 connects the suction plate 7 via suction piping 25.
Since the suction plate 7 is connected to the suction mechanism 26, the suction plate 7 performs suction operation.

The ground pressure at that time is detected by the ground pressure sensor 29,
The information is transmitted to the control unit 34.

Next, the starting point will be explained.

When a starting command is output from the control unit 34, based on this command, the starting actuator 22 operates to extend in the direction of the double-headed arrows shown by symbols C and C' in FIGS. 2 and 5, and thereby, The wheel 8 rotates 90 degrees from the solid line position shown in FIG. 5 to the chain line position. When the starting actuator 22 is reduced, the wheels 8 return to the running state shown by the solid line in FIG.

Next, hooking the wheels to the ladder step will be explained.

When a hook command is output from the control unit 34, the position of the step 41 of the ladder 40 is detected by the step detection sensor 32 based on this command. Then, the telescopic mechanism 5 is moved from the step 41 to which it should be hooked to a position that is equal to the diameter of the wheel 8.
a, and use the starting actuator 22 to move the wheel 8 to the fifth position.
Operate it to the starting position shown by the chain line in the figure. Then, the telescopic mechanism 5a is slightly reduced and the collar 39 of the wheel 8 is hooked onto the step 41. As a result, the contact sensor 28 detects the closeness to the step 41, and the signal is 'rr
The signal is sent to the qn unit 34 to recognize the completion of one operational step.

Next, a moving operation of the robot 1 that is performed by combining the three basic operations described above will be explained.

First, the normal running operation will be explained.

The posture during normal running is as shown in FIG.
This is a state in which the wheels 8 of 3.4 are in a running state. In this state, obstacles on the travel route are recognized based on information from the illuminated TV camera 10 and the distance sensor 9.

When traveling on the floor, no special measures are required, so the telescoping machines tM5a and 5b are placed at the shortest position, and the bending mechanisms 6a and 6b are
Make the bending zero.

When crossing over a weir, the bending machines ti46a and 6b are made bendable. At this time, since the bending mechanisms 6a and 6b have built-in springs, the spring force acts to maintain the posture of running on the floor. can.

When running on stairs, it is the same as when climbing over a weir, but the telescopic mechanism 5a
, 5b is a wheel 8 and a bending mechanism 6a whose length is adjusted according to the pitch of the steps of the stairs.

Due to the bending freedom of 6b and the spring force, it runs along the stairs while being bent. The pitch of the stairs is read by the step detection sensor 32.

Next, absorption running and walking will be explained.

As shown in FIG. 7, suction is performed with each wheel 8 having the suction plate 7 on its outer end facing the moving surface of the robot 1 and with the conversion mechanism 37 rotated 90 degrees. The forward and backward movement is performed by expanding and contracting the telescopic mechanisms 5a and 5b, and the direction change is performed by bending the bending mechanisms 6a and 6b.

Next, move up and down the ladder as shown in Figures 8 and 9 (a) to (g).
Explain with reference to. 9(a) to 9(g) are schematic diagrams of the robot 1 shown in FIG. 8 viewed from the direction of arrow A, and the wheels 8 indicated by "1" in the figure are in a running state, and are indicated by "0". The wheels 8 are each shown in a starting state.

When ascending and descending the ladder, first move the robot 1 close to the ladder 40 as shown in FIG.
and its distance.

Next, as shown in FIG. 9(b), the wheels 8 of the front running section 2
is put into the starting state by the starting actuator 22, and then, as shown in FIGS. 8 and 9(c), the wheels 8 of the front running section 2 are hooked from below to the step 41b of the double H. Specifically, first, the front running section 2 is swung up by the bending mechanism 6a, the telescopic mechanism 5a is extended to the height of the step 41b of the second step, and the wheels 8 of the front running section 2 are hooked to the second step 41b. .

Next, as shown in FIG. 9(d), while bending the bending mechanism 6b, the telescoping mechanism 5b is extended, and the telescoping mechanism 5a is retracted to hook the wheels 8 of the central running section 3 onto the step 41a of the first stage.

Next, as shown in FIG. 9(e), the telescopic mechanism 5a is extended to hook the wheels 8 of the front traveling section 2 to the third step 41c, and the telescopic mechanism 5b is retracted to move the rear traveling section 4 onto the ladder. Pull it to the 40 side.

Next, as shown in FIG. 9(f), the telescoping mechanism 5a is retracted and the telescoping mechanism 5b is extended to pull up the central running section 3 and hook its wheels 8 to the second step 41b.

Next, as shown in FIG. 9(g), the telescoping machine (t5b) is retracted, the rear traveling section 4 is pulled up, and its wheels 8 are hooked onto the step 41a of the first stage 1''.

Thereafter, the ladder 40 is raised and lowered by repeating the extension and contraction operations of the extension mechanisms 5a and 5b alternately.

FIG. 10 shows a second embodiment of the present invention, in which a bending mechanism 56a has a multi-joint structure in place of the bending mechanisms 6a and 6b in the first embodiment.

56b, the front running part 2 and the rear running part 4 are structured to have a steering mechanism 57 and one wheel 8, and the central running part 3 is equipped with a manipulator 58, so that it can be used as a working robot. This is how it was done.

Even with this configuration, substantially the same effects as those of the first embodiment can be expected, and the structure can be simplified and miniaturized.

FIG. 11 shows a third embodiment of the present invention, in which wheels 8
A frame 61 made of a shape memory alloy is provided on the collar 39, and a heater (not shown) is installed therein, and by turning on and cutting off the current to the heater, the collar 39 is moved from the dotted line position to the solid line position in the figure. Change the wheel 8 in this state.
is hooked onto the step 41 of the ladder 40.

With this configuration, the step 41 of the wheel 8
Hooking can improve stability.

FIG. 12 shows a fourth embodiment of the present invention.
A 1-character key 62 that rotates 90 degrees as shown by arrows e and e' in the figure is provided on the neck 39, and this 1-character key 6
2 is in the state shown by the solid line in the figure, and the wheels 8 are hooked onto the steps 41 of the ladder 40.

Even with this configuration, substantially the same effects as in the third embodiment can be obtained.

Note that the improvement in stability of the hooking of the wheel 8 to the step 41 is not limited to that of the third and fourth embodiments. For example, when a tapered wheel 8 is attached to the axle 18, Alternatively, a folding hook may be provided to hang the step 41.

〔Effect of the invention〕

As explained above, according to the present invention, it is possible to move on all moving surfaces such as floors, stairs, ladders, and walls, so it is possible to move on all moving surfaces such as floors, stairs, ladders, walls, etc. Workers can be freed from dangerous work environments. Furthermore, it is possible to expand the inspection range and improve reliability. In addition, robotization can save labor and reduce costs in inspection work.

[Brief explanation of the drawing]

FIG. 1 is a perspective view of a working robot according to a first embodiment of the present invention, FIG. 2 is a partially exploded perspective view showing the structure of the front and rear running parts, and FIG. 3 is a perspective view of the main part of FIG. Fig. 4 is an overall system configuration diagram of the working robot shown in Fig. 1, Fig. 5 is an explanatory diagram showing the starting and rolling motion of the wheels, and Fig. 6 is a conversion mechanism and fixing mechanism assembled as an option in the central running section. Fig. 7 is an explanatory diagram showing the state of running and walking in front of the eyes, Fig. 8 is an explanatory diagram showing the state of ladder elevation, Fig. 9 (a) to (g)
) is an explanatory diagram showing the ladder ascending and descending sequentially according to the procedure, FIG. 10 is a diagram equivalent to FIG. 1 showing the second embodiment of the present invention, and FIG.
FIG. 1 is an explanatory diagram showing a third embodiment of the invention, and FIG. 12 is an explanatory diagram showing a fourth embodiment of the invention. DESCRIPTION OF SYMBOLS 1... Robot, 2... Front running part, 3... Center running part, 4... Rear running part, 5a, 5b... Telescopic mechanism,
6a. 6b, 56a, 56b...Bending mechanism, 7...Stone absorbing material, 8...Wheel, 15.57...Steering mechanism, 22...
- Starting actuator, 26... suction mechanism. Applicant's agent Sato - Male rod 2 figure 3rd δ 薯 figure $l 1st figure t2

Claims (1)

[Claims] At least three running sections each having wheels for running are connected in series through a telescoping mechanism and a bending mechanism, respectively, and each of the running sections rotates the wheels in a running state at right angles to form a wheel outer end surface. What is claimed is: 1. A working robot comprising: a wheel starting mechanism for causing wheels to face a moving surface of a running section; and each wheel has an adsorption mechanism on an outer end surface thereof capable of adsorbing the wheel to the moving surface.