JP2003062771A - Inspection robot device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an inspection robot device which enhances inspection efficiency while continuously self-traveling from a plane to a curved surface and carrying out an inspection of the curved surface part. SOLUTION: In an outside frame 1 and an inside frame 5 moving in one direction by the reciprocating motion of a piston 4 of a cylinder 3, either of which is not under a suction condition on an inspected body wall surface, is relatively moved in one direction with respect to the other which is under the suction condition on the inspected body wall surface. It is installed on outside frame 1. When a curved surface sensor 10 mounted on the outside frame 1 detects the curved surface of the inspected body wall surface, the amount of the elongation of the outside drive leg 9 on the front side in the movement direction is increased.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inspection robot apparatus equipped with a measuring device for measuring the wall surface and wall thickness of an object such as a storage tank for storing radioactive waste.

[0002]

2. Description of the Related Art A large storage tank for storing radioactive waste has a rectangular parallelepiped shape. For example, the height is several meters and the width and depth are several tens of meters. ing. In order to reduce the thermal stress at the time of welding in such a storage tank or when the temperature change during use is large, the four corners of the rectangular parallelepiped are bent with a certain curvature without welding at the corners.

After the storage tank is completed, the presence or absence of welding defects and the thickness dimension are inspected by a self-propelled inspection robot equipped with a measuring instrument. Also, when inspecting a tank installed in a radiation atmosphere where workers cannot approach, is the wall thickness maintained at an allowable value?
A self-propelled inspection robot inspects for cracks.

The inspection robot is equipped with a measuring device and moves in one direction while adsorbing to the wall surface of the subject such as a tank to inspect the subject. Such an inspection robot is described in, for example, Japanese Patent Laid-Open No. 7-205060.

[0005]

The prior art is capable of continuously self-propelling on a flat surface, but none of them is capable of continuously self-propelling to the next plane in a direction perpendicular to a curved surface. Therefore, after the plane is measured once, the robot is manually moved to the next plane, and then the measurement is performed again.

Therefore, the curved surface portion cannot be inspected, and
When used in a radiation atmosphere, it is necessary to strictly protect the worker from being exposed to radiation, which is very cumbersome and causes a problem of poor inspection work efficiency.

An object of the present invention is to eliminate the above-mentioned drawbacks, and an inspection robot apparatus capable of self-propelled continuously from a flat surface to a curved surface to inspect a curved surface portion and improving inspection efficiency. To provide.

[0008]

The feature of the present invention resides in that one of the outer frame and the inner frame that moves in one direction due to the reciprocating motion of the piston of the cylinder is not in a state of being attracted to the wall surface of the object. It is moved in one direction relative to the other in the suction state, and when the curved surface sensor attached to the outer frame detects the curved surface of the subject wall surface, the extension amount of the outer drive leg on the front side in the moving direction is increased. It is in.

According to the present invention, when the curved surface sensor detects the curved surface of the wall surface of the subject, the extension amount of the outer drive leg of the outer frame on the front side in the moving direction is increased. Since it extends to the surface and adsorbs on the curved surface, the curved surface can also be moved in a worm-like manner. Therefore, the curved surface can be inspected by continuously traveling on a curved surface from a flat surface, and the inspection efficiency can be improved.

[0010]

1 and 2 show an embodiment of the present invention.

FIG. 1 is a sectional view showing a main part of an inspection robot according to the present invention, and FIG. 2 is a perspective view of an inspection robot apparatus according to the present invention with a part cut away.

In FIGS. 1 and 2, reference numeral 1 denotes a first frame (outer frame) having a U-shaped cross section on which a measuring instrument or the like is mounted.
The electromagnetically operated front and rear cylinders 3 are connected by the connecting member 2. Reference numeral 4 denotes a piston which is axially moved by the front and rear cylinders 3, and the left end is the second frame (inner frame) 5
It is fixed to. A sliding guide 8 is stretched and fixed to the first frame 1 between both legs so that the second frame (inner frame) 5 can move in the axial direction.

Reference numeral 6 denotes an inner drive leg capable of adjusting and moving an inner suction pad 7a attached to a lower end (tip) in a height direction (vertical direction) by a predetermined distance (one step), and an upper end thereof has a second frame (inner frame). ) Fixed to 5. Reference numeral 9 is an outer drive leg that can move the outer suction pad 7b attached to the lower end (tip) in the height direction (vertical direction) by a predetermined distance (one step) by two steps, and the upper end thereof is the first frame (outer side). It is fixed to the frame 1).

Each of the inner drive leg 6 and the outer drive leg 9 is provided with an electromagnetic solenoid (not shown) inside, and is moved a predetermined distance by energizing the electromagnetic solenoid, and is returned to its original position when the energization is stopped. Only two (one pair) inner drive legs 6 are arranged along the axial direction (moving direction).
It is provided to be vertically expandable and contractible. Inner drive leg 6
4 are provided.

The outer drive legs 9 are provided on both legs of the outer frame 1 so as to be vertically expandable and contractible, and four outer drive legs 9 are provided. Although the outer drive leg 9 is configured to be capable of expanding and contracting in two steps in the height direction, it is clear that the number of steps may be arbitrary.

Reference numeral 10 is a proximity sensor for measuring the distance to the wall surface of the subject. The first frame 1 has a first CCD camera 12a for self-driving, and an illumination lamp 1 for traveling in a dark place.
3, a second CCD camera 12b for photographing the wall surface of the subject,
A proximity sensor 10, a vacuum generator 11, a measuring instrument 18, etc. are mounted. The vacuum generator 11 includes an inner suction pad 7
It is also installed on the second frame 5 near a. Four suction pads 7a and 7b are provided on each of the inner side and the outer side so as to be self-supporting.

A peep window 19 for reducing the weight is formed in the outer frame 1. Further, the control of the robot self-propelled or measuring is performed by the control device 15 such as a personal computer via the power line 16 and the signal line 17. The second CCD camera 12b is for taking an image of the state of the surface to be measured.
For example, an ultrasonic probe is installed so that the steel plates forming the storage tank can be inspected for cracks, wall thickness, welding conditions, and the like.

The suction pads 7a and 7b are made of deformable rubber or plastic, and when the opening is in contact with a flat surface,
When the inside becomes a vacuum, it adsorbs. In this configuration, the plane direction distance L1 between the inner suction pads 7a,
The distance L2 between the outer suction pads 7b is set to be constant.

Next, the self-propelled motion will be described with reference to FIGS.
Will be described with reference to.

In FIG. 1, the distances L3 and L4 have the same value,
That is, in the state where the centers of the first frame 1 and the second frame 5 are coincident with each other and only the inner suction pad 7a is sucked on the flat surface of the target member, this is set as the traveling start position. At this time, the outer suction pad 7b is lifted up.

When the front and rear cylinders 3 are energized via the control signal of the control device 15, the pistons 4 are pushed out by a predetermined distance, and the first frame 1 has the front and rear cylinders 3 fixed by the connecting members 2. Move to the right in the figure. The first frame 1 moves in one direction relative to the second frame 5. As a result, the distance L3 is reduced and the distance L4 is extended, as shown in FIG.

Next, the outer drive leg 9 is lowered, the outer suction pad 7b is sucked onto the flat surface of the target member, and the inner suction pad 7a is pulled up. Then, when the energization of the front and rear cylinders 3 is stopped, the piston 4 is returned, the distance L3 is expanded and the distance L4 is contracted as shown in FIG. 4, and the second frame 5 moves to the right. After this, the outer suction pad 7b
Only adsorb to the plane of the target member.

When the front and rear cylinders 3 are energized again, the piston 4 is pushed out and the first frame 1 moves to the right. After that, the same operation is repeated, and the vehicle runs on its own with a movement like a shakutai insect. These processes are arbitrarily controlled by the control device 15. Adsorption pads 7a, 7
Whether or not b is adsorbed on the target surface is detected by a negative pressure detector (not shown) depending on whether or not a predetermined negative pressure is reached.

FIG. 5 shows a traveling state when a part of the target surface is a curved surface.

The inner suction pad 7a on the left side of the drawing and the inner suction pad 7a on the right side of the drawing are in contact with the plane portion, respectively, and the outer suction pad 7b on the left side of the drawing is not in contact with each other. The outer suction pad 7b on the right side shown by the dotted line shows the state when the suction pad 7b is sucked onto the curved surface 14. The holding member of each suction pad 7a, 7b is
The tip is supported by a spherical shaft, and the suction pads 7a and 7b can freely swing around the sphere. Therefore, it can be adsorbed to the curved surface 14 at a predetermined angle.

When the self-propelled surface comes into contact with the curved surface 14, the outer suction pad 7b on the right side does not contact the curved surface 14, but the proximity sensor 10 detects that it is out of the flat surface.
This detection signal causes the outer drive leg 9 to move downward in the first step. When the curvature of the curved surface 14 is small and the outer suction pad 7b does not reach the curved surface 14, it is detected by a pressure detector (not shown) that the predetermined negative pressure has not been reached, and the second stage descending operation is performed to perform the dotted line. Adsorb as shown in. When the vertical difference from the plane is small and the curvature is large, it can be adsorbed by the first descending operation. The process of self-propelled on the curved surface 14 is the same as the above-described planar traveling.

The measured values measured by the measuring device 18 and the wall surface image picked up by the second CCD camera 12b are displayed on the screen of the control device 15 and the steel plates constituting the subject are displayed. Check for cracks, wall thickness, welding conditions, etc.

The object is inspected in this way, but in the present invention, when the curved surface sensor detects the curved surface of the object wall surface, the extension amount of the outer drive leg of the outer frame on the front side in the moving direction is increased. When it comes to the curved surface position, the suction pad of the outer drive leg extends downward and comes into contact with the curved surface to adsorb, so that the curved surface portion can also be moved in a worm-like movement. Therefore, the curved surface can be inspected by continuously traveling on a curved surface from the plane of the wall surface of the subject, and the inspection efficiency can be improved.

Further, in the above-described embodiment, the extension amount of the outer drive leg can be adjusted in a plurality of steps, and the inner drive leg only needs to be adjustable in one step, and the inspection robot can be inexpensive.

[0030]

According to the present invention, when the curved surface sensor detects the curved surface of the wall surface of the subject, the expansion amount of the outer drive leg of the outer frame on the front side in the moving direction is increased. Since it extends downward and adsorbs in contact with the curved surface, the curved surface can also be moved in a worm-like movement, and the curved surface can be inspected by continuously traveling on the curved surface from the plane of the subject wall surface and improving the inspection efficiency. Can be achieved.

[Brief description of drawings]

FIG. 1 is a sectional view showing a main part of an inspection robot according to the present invention.

FIG. 2 is a perspective view showing an embodiment of an inspection robot according to the present invention.

FIG. 3 is a diagram showing a first stroke of self-propelling on a plane.

FIG. 4 is a diagram showing a second stroke of self-propelling on a plane.

FIG. 5 is a diagram showing a process of self-propelled on a curved surface.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... 1st frame (outer frame), 3 ... front-back cylinder, 4 ... piston, 5 ... 2nd frame (inner frame), 6 ... inner drive leg, 7a ... inner suction pad,
7b ... Outer suction pad, 8 ... Sliding guide, 9 ... Outer drive leg, 10 ... Curved surface sensor (proximity sensor), 11 ... Vacuum generator, 12b ... Second CCD camera.

Continued front page    (72) Inventor Minoru Yanagibashi             3-2 Sachicho, Hitachi City, Ibaraki Prefecture Stock Association             Inside Hitachi Engineering Service (72) Inventor Naoki Okuda             3-2 Sachicho, Hitachi City, Ibaraki Prefecture Stock Association             Inside Hitachi Engineering Service (72) Inventor Katsuhiko Furuya             6 2-3 Higashikasai, Edogawa-ku, Tokyo             Inside the company aspect F term (reference) 2F069 AA46 AA52 AA60 BB19 DD15                       GG04 GG09 GG11 GG62 JJ06                       KK10 MM04 MM31                 3C007 AS14 AS27 CS08 HS14 KS36                       KT02 KT15 KX11 WA19 WA23                       WB02

Claims (4)

[Claims] 1. An inspection robot apparatus which mounts a measuring device and moves in one direction while adsorbing to a wall surface of an object to inspect the object, the outer frame having a U-shaped cross section, and the outer frame. The sliding guides stretched between the two legs of the outer frame, the inner frame that is disposed between the two legs of the outer frame and moves by being guided by the sliding guides, and the two legs of the outer frame that expand and contract vertically. A pair of outer drive legs that are freely provided, a pair of inner drive legs that are vertically stretchable on the inner frame, and a pair of outer drive legs and lower ends of the pair of inner drive legs, respectively. A plurality of suction pads provided, a vacuum generator that is provided for each suction pad and that holds the suction pads in a vacuum state on the wall surface of the subject, and is attached to the outer frame. A cylinder for moving one of the outer frame and the inner frame that is not in a suction state on the subject wall surface by the reciprocating motion of the piston in one direction relative to the other that is in a suction state on the subject wall surface; and the outer frame. And a control device for detecting the curved surface of the subject's wall surface, and a control device for increasing the extension amount of the outer drive leg on the front side in the moving direction when the curved surface sensor detects the curved surface. Robot device. 2. An inspection robot apparatus which mounts a measuring device and moves in one direction while adsorbing to a wall surface of an object to inspect the object, the outer frame having a U-shaped cross section, and the outer frame. The sliding guides stretched between the two legs of the outer frame, the inner frame that is disposed between the two legs of the outer frame and moves by being guided by the sliding guides, and the two legs of the outer frame that expand and contract vertically. A pair of outer drive legs that are freely provided and can be adjusted in a plurality of steps to extend a predetermined distance, and a pair of inner drive legs that are vertically extendable in the inner frame and that can be adjusted in a predetermined step by one step. A plurality of suction pads respectively provided at the lower ends of the pair of outer drive legs and the pair of inner drive legs, and a plurality of suction pads provided for each of the suction pads. A vacuum generating device for adsorbing to a subject wall surface and a vacuum generator attached to the outer frame, and one of the outer frame and the inner frame that is not adsorbed on the subject wall surface due to the reciprocating motion of the piston is in an adsorbed state on the subject wall surface. A cylinder that moves in one direction relative to the other, a curved surface sensor that is attached to the outer frame and detects a curved surface of the subject wall surface, and the outer drive leg on the front side in the moving direction when the curved surface sensor detects a curved surface. An inspection robot apparatus comprising: a personal computer that adjusts the number of expansion stages to multiple stages to increase the expansion amount. 3. An inspection robot apparatus which mounts a measuring device and moves in one direction while adsorbing to a wall surface of an object to inspect the object, the outer frame having a U-shaped cross section, and the outer frame. And a sliding shaft stretched between the two legs of the outer frame, an inner frame disposed between the two legs of the outer frame and moving by being guided by the sliding shaft, and both legs of the outer frame extending and contracting in the vertical direction. A pair of outer drive legs that are freely provided and can be adjusted in a plurality of steps to extend a predetermined distance, and a pair of inner drive legs that are vertically extendable in the inner frame and that can be adjusted in a predetermined step by one step. A plurality of suction pads provided respectively at the lower ends of the pair of outer drive legs and the pair of inner drive legs,
A vacuum generating device that is provided for each of the suction pads and that causes the suction pads to be in a vacuum state to be sucked onto the subject wall surface,
Attached to the outer frame, one of the outer frame and the inner frame, which is not in a suction state on the subject wall surface, is moved in one direction relative to the other of the outer frame and the inner frame, which is in a suction state on the subject wall surface. A cylinder, a curved surface sensor attached to the outer frame for detecting a curved surface of the subject wall surface, a camera for photographing the subject wall surface, and the outer drive leg on the front side in the moving direction when the curved surface sensor detects a curved surface. An inspection robot apparatus comprising a personal computer for adjusting the extension amount by adjusting the extension step to a plurality of steps and increasing the extension amount, and displaying a measurement result of the measurement apparatus and a video image taken by the camera. 4. An inspection robot apparatus which is equipped with a measuring device and moves in one direction while adsorbing to a wall surface of an object having curved surfaces at four corners of a rectangular parallelepiped to inspect the object. A mold-shaped outer frame, a sliding shaft stretched between both legs of the outer frame, an inner frame disposed between both legs of the outer frame and guided by the sliding shaft to move, A pair of outer drive legs, which are provided on both legs of the outer frame so as to be extendable and contractible in the vertical direction, and which can be adjusted in a plurality of steps to extend a predetermined distance, and a pair of outer drive legs, which are provided on the inner frame so as to be extendable and contractible in the vertical direction, A pair of inner drive legs that can be adjusted by only one step, a plurality of suction pads provided at the lower ends of the pair of outer drive legs and a pair of inner drive legs, and a suction pad provided for each suction pad. A vacuum generating device for bringing the pad into a vacuum state and adsorbing it to the wall surface of the subject is attached to the outer frame, and one of the outer frame and the inner frame which is not in the adsorbed state on the wall surface of the subject is reciprocated by the reciprocating motion of the piston. A cylinder that moves in one direction relative to the other that is in a suction state on the sample wall surface, and a curved surface that is attached to the outer frame and that is formed at the four corners of the sample object by the distance to the sample wall surface. Proximity sensor, a camera for photographing the wall surface of the subject, and when the proximity sensor detects a curved surface, the step of extending the outer drive leg on the front side in the moving direction is adjusted in multiple steps to increase the extension amount, and the measurement is performed. An inspection robot apparatus, comprising: a measurement result of the apparatus and a personal computer for displaying a video image taken by the camera.