JP2007253281A - Automatic running robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automatic running robot which stably and smoothly runs without being influenced by a shape of an inner wall surface or an inclination angle of a pipeline. <P>SOLUTION: The automatic running robot includes: at least a pair of leg parts 2, 2 arranged face to face; a plurality of hairy bodies 5 arranged on the outer surface 2a of the respective leg part 2 so as to face outward and tilt at predetermined angles with respect to the outer surface 2a; a drive means 6 provided between at least the pair of leg parts 2, 2 for driving the leg parts 2, 2 in the mutually approaching or separating direction; and a vibration means 20 provided between at least the pair of leg parts 2, 2 for adding vibration to the respective leg part 2. The drive means 6 includes: a telescopic connection mechanism 7 connecting at least the space between the pair of leg parts 2, 2; a slider mechanism 11 for expanding/retracting the connection mechanism 7; and a drive means 14 for driving the slider mechanism 11. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an automatic traveling robot used when inspecting, exploring, cleaning, and the like of pipes and narrow spaces, and more particularly, an automatic robot configured to obtain a propulsive force by a plurality of elastic hairs. It relates to a traveling robot.

  There are various types of automatic traveling robots used for inspecting, exploring, cleaning, and the like of pipes and narrow spaces, for example, Patent Document 1 discloses a sewer pipe and an oil conduit. In-pipe automatic traveling devices have been proposed for use in inspections and repairs inside pipes.

  This in-pipe automatic traveling device is housed in a housing having a plurality of drive wheels outside, and is connected to an external power supply device via an electric cable, a pressure source unit having a hydraulic pump and a hydraulic tank, and a pressure source A hydraulic drive motor that rotates with hydraulic oil fed from the section, traveling drive means having a gear group that connects between the output shaft of the hydraulic motor and the axle of each drive wheel, and the amount and direction of hydraulic oil sent from the pressure source section And a solenoid valve block to be controlled.

  By the way, in the in-pipe automatic traveling apparatus having the above-described configuration, since it is configured to travel in the pipeline using the rotation of the drive wheel as a driving force, if the inner wall surface is in a flat pipeline. Although it can run smoothly, if it is in a pipeline with a complicated shape where the inner wall surface is uneven or uneven, it cannot obtain sufficient propulsive force and cannot run smoothly. There are many cases where it becomes impossible to advance or retreat on the way. In addition, since the structure is complicated, the time, labor, and cost required for manufacturing increase, and the price of the entire apparatus increases.

  On the other hand, in order to cope with the above problems, the inventors of the present application have proposed an automatic traveling robot configured to obtain a propulsive force by a plurality of elastic hairs in Patent Document 2.

In the automatic traveling robot having such a configuration, the problem as in the automatic in-pipe apparatus described in Patent Document 1 does not occur, and it is sufficient without being affected by the uneven shape of the inner wall surface of the pipe. Can provide a strong driving force. In addition, since the structure is simple, the time, labor, and cost for manufacturing can be reduced, and the cost of the entire apparatus can also be reduced.
Japanese Patent Laid-Open No. 6-191401 JP 2005-238339 A

  The present invention relates to an improvement of the automatic traveling robot disclosed in Patent Document 2, and is stable without being affected by the shape of the inner wall surface of the pipeline and without being influenced by the inclination angle of the pipeline. An object of the present invention is to provide an automatic traveling robot that can achieve smooth traveling.

In order to solve the above problems, the present invention employs the following means.
That is, the invention according to claim 1 is arranged so as to face at least a pair of leg portions opposed to each other and to be directed outwardly to the outer surface of each leg portion and to be inclined at a predetermined angle with respect to the outer surface. A plurality of ciliary bodies, provided between the at least one pair of leg portions, driving means for driving the leg portions in directions toward and away from each other, and vibration means for vibrating each leg portion. It is characterized by becoming.

  According to the automatic traveling robot of the present invention, by driving at least a pair of leg portions in a direction away from each other by the driving means, the plurality of hairs on the outer surface side of each leg portion are pressed against the inner wall surface of the conduit. The And in this state, by vibrating each leg by the vibration means, a plurality of hairs of each leg is elastically deformed to bend, and a propulsive force by a plurality of hairs of each leg is obtained, This propulsive force causes the automatic traveling robot to travel in the pipeline.

  The invention according to claim 2 is the automatic traveling robot according to claim 1, wherein the driving means is a telescopic connection mechanism that connects between the at least one pair of legs, and a slider that expands and contracts the connection mechanism. And a drive mechanism for driving the slider mechanism.

  According to the automatic traveling robot of the present invention, when the driving mechanism of the driving means is driven, the slider mechanism is driven to expand and contract the coupling mechanism, and at least one pair arranged to face each other following the expansion and contraction of the coupling mechanism. The legs will be approached and separated.

  The invention according to claim 3 is the automatic traveling robot according to claim 2, wherein the slider mechanism includes a slide shaft provided on each leg, and a slider provided slidably on each slide shaft. The connecting mechanism includes one connecting member whose one end is pin-coupled to the slide shaft of one leg portion arranged opposite to each other and pin-coupled to the slider of the other leg portion arranged opposite to the other end portion. And one pin connected to the slider of the one leg that is disposed opposite to the one connecting member, and pin coupled to the slide shaft of the other leg that is opposed to the other end. The drive mechanism comprises a drive motor and a conversion mechanism for converting the drive force of the drive motor into a linear motion and transmitting it to a slider of any leg portion. When That.

  According to the automatic traveling robot of the present invention, by driving the drive motor of the drive mechanism, the driving force of the drive motor is converted into a linear motion via the conversion mechanism and transmitted to the slider of any leg part. The slider slides on the slide axis. Then, following the displacement of the slider, both connecting members of the connecting mechanism expand and contract, and following the expansion and contraction of both connecting members, the sliders of the other legs slide on the slide shaft, and at least a pair of opposing legs. Will approach or separate.

  The invention according to claim 4 is the automatic traveling robot according to any one of claims 1 to 3, wherein the excitation means is attached in a state where the center of gravity is eccentric to the drive motor and the drive shaft of the drive motor. It is characterized by comprising a weight body.

  According to the automatic traveling robot of the present invention, by driving the drive motor of the vibration means, the weight attached to the drive shaft of the drive motor rotates eccentrically, and the eccentric rotation of the weight causes each leg to rotate. A vibration is added, and the plurality of capillaries of each leg elastically deform following the vibration, and a propulsive force is obtained by the elastic deformation of the plurality of capillaries. Will drive along.

  The invention according to claim 5 is the automatic traveling robot according to any one of claims 1 to 4, wherein the at least one pair of the leg portions arranged to face each other has a circular outer shape when approaching, and is separated. In this case, the outer shape is configured to be an oval shape.

  According to the automatic traveling robot according to the present invention, a plurality of hairs on the outer surface of each leg is formed by separating at least a pair of opposingly arranged legs and forming an outer shape of the legs. The body can be strongly pressed against the inner wall surface of the pipe line, and a strong propulsive force can be obtained by a plurality of hairs.

  As described above, according to the automatic traveling robot of the present invention, by driving at least a pair of legs in a direction in which they are separated from each other by the driving means, a plurality of hairs on the outer surface side of each leg are tubed. It is pressed against the inner wall of the road. In this state, each leg is vibrated by the vibration means, whereby the plurality of hairs of each leg are elastically deformed, and the propulsive force by the plurality of hairs of each leg is obtained. The automatic traveling robot travels in the pipeline by the driving force. Therefore, it is possible to stably and smoothly travel in pipes having various inner wall surface shapes and inclination angles without being affected by the shape of the inner wall surface of the pipe line and without being affected by the inclination angle of the pipe line. And the applicable range can be greatly expanded.

  In addition, since each leg portion, the connecting mechanism of the driving means, the slider mechanism, and the driving mechanism are of a simple structure, it is possible to reduce labor, time and cost required for manufacturing, and to reduce the price of the entire apparatus. Can be suppressed. Furthermore, since the structure of the vibration means is simple, it is possible to reduce labor, time and cost required for manufacturing the vibration means, and this can also reduce the price of the entire apparatus.

  Furthermore, when the at least one pair of leg portions arranged opposite to each other are separated from each other, their outer shapes are formed in an oval shape, so that a plurality of hairs on the outer surface of each leg portion are connected to the pipe line. The inner wall surface can be strongly pressed against each other, and a strong propulsive force can be obtained by a plurality of capillaries. Stable and smooth running can be achieved without being affected by the shape of the inner wall surface of the pipeline and the inclination angle of the pipeline. Will be obtained.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
1 to 4 show an embodiment of an automatic traveling robot according to the present invention. FIG. 1 is a schematic longitudinal sectional view showing a state before traveling, FIG. 2 is a bottom view of FIG. Fig. 4 is a schematic longitudinal sectional view showing a state at the start of traveling and during traveling, and Fig. 4 is a bottom view of Fig. 3.

  That is, the automatic traveling robot 1 shown in the present embodiment includes a pair of leg portions 2 and 2 that are arranged to face each other, a plurality of hairs 5 provided on each leg portion 2, and a space between both leg portions 2 and 2. Drive means 6 provided to drive both legs 2, 2 in a direction approaching and separating from each other, and vibration means 20 provided between both legs 2, 2 to vibrate both legs 2, 2 are provided. .

  Each leg 2 has a substantially semi-cylindrical shape having the same length and size, and is formed of various synthetic resin materials, metal materials, and the like having water resistance. The both leg portions 2 and 2 are arranged to face each other so that both end surfaces 2c and 2d in the circumferential direction face each other, and are configured to be able to approach and separate from each other by a driving means 6 described later.

  On the convex outer surface 2a of each leg 2, a bundle of hairs 4 is provided in a plurality of stages at a predetermined interval in the longitudinal direction, and each stage has a plurality of hairs at a predetermined interval in the circumferential direction. A bundle 4 of hair-like bodies is provided, and a plurality of hair-like body bundles 4 is formed by a plurality of hair-like body bundles 4 including a plurality of hair-like bodies 5 over the entire outer surface 2a of each leg 2. A propulsive force for traveling the automatic traveling robot 1 is obtained by the hair group 3.

  Each bundle 4 of hairs is formed by bundling a plurality of hairs 5 having the same length and diameter so as to form a divergent shape, and is entirely predetermined with respect to the outer surface 2a of each leg 2. Bundled on the outer surface 2a of each leg 2 so as to be inclined at a predetermined angle (about 40 degrees in the present embodiment) and to protrude outward from the outer surface 2a of each leg 2 by a predetermined length. It is provided as a unit.

  Each hair bundle 4 is formed with a hole (not shown) having a predetermined depth, diameter and inclination on the outer surface 2a of each leg 2, and the root of each hair bundle 4 is formed in this hole. By inserting the part and filling with an adhesive or the like to be cured, it is integrally provided on the outer surface 2a of each leg part 2. In the present embodiment, each hair bundle 4 is formed by bundling three hair bodies 5, but two or more hair bodies 5 are bundled to form a bundle of hair bodies. 4 may be configured.

  Each hair body 5 constituting each bundle 4 of hair bodies has a rod shape made of a material having elasticity and water resistance. Examples of the material for each hair body 5 include polyethylene and acrylic. Examples thereof include various synthetic resin materials such as resins and vinyl chloride resins, and various metal materials. However, the present invention is not limited thereto, and any material having similar characteristics can be used.

  Each of the hair bodies 5 constituting the hair body group 3 applies vibration to the leg portion 2 by the vibration means 20 described later in a state where the tip portion is in contact with the inner wall surface 31 of the duct 30. Following the vibration, it is elastically deformed so as to bend in the longitudinal direction of the pipe line 30, and the elastic deformation of the ciliary body 5 acts as a propulsive force for running the automatic traveling robot 1.

  The drive means 6 is provided between the pair of leg portions 2 and 2, and can be extended and contracted to connect the two leg portions 2 and 2, a slider mechanism 11 that expands and contracts the connection mechanism 7, and drives the slider mechanism 11. And the drive mechanism 14, the slider mechanism 11, and the coupling mechanism 7 cooperate to drive the legs 2, 2 in a direction to approach and separate from each other.

  The slider mechanism 11 is provided at the center of each leg 2 on the concave inner surface 2b side along the longitudinal direction of each leg 2, and both ends are fixed members (on the inner surface 2b side of each leg 2). It comprises a rod-like slide shaft 12 fixed via a not-shown) and a cylindrical slider 13 provided slidably on each slide shaft 12. In this case, the length of the slide shaft 12 is set so as to reach substantially the entire length of the inner surface 2b of each leg portion 2.

  The connecting mechanism 7 is configured by connecting a pair of plate-like or rod-like connecting members 8, 9 with a pin 10 between the central portions, and one end of one connecting member 8 is one of the legs 2. One end of the slide shaft 12 is coupled by a pin 10, the other end is coupled to a slider 13 of the other leg 2 by a pin 10, and one end of the other connecting member 9 is coupled to the slide shaft 12 of the other leg 2. The other end is coupled to the slider 13 of one leg 2 by the pin 10.

  By rotating the connecting members 8 and 9 of the connecting mechanism 7 relative to each other about the center pin 10, the connecting members 8 and 9 expand and contract in a direction perpendicular to the longitudinal direction of the legs 2 and 2. . In this case, both the connecting members 8 and 9 are in the state shown in FIGS. 3 and 4 when they are extended to the maximum, and are in the state shown in FIGS. 1 and 2 when they are contracted to the minimum. The amount of expansion / contraction of both connecting members 8 and 9 can be adjusted by adjusting the lengths, attachment positions, etc. of connecting members 23 and 24 of the vibration means 20 described later.

  The drive mechanism 14 converts the rotation of the output shaft 16 of the drive motor 15 into a linear motion, and the drive motor 15 attached to the inner surface 2b side of the one leg 2 so that the output shaft 16 faces downward in the figure. It is comprised from the conversion mechanism 17 transmitted to the slider 13 on the slide shaft 12 of one leg part 2. As shown in FIG.

  The conversion mechanism 17 includes, for example, a screw shaft 18 that is attached in a state where the axis coincides with the output shaft 16 of the drive motor 15, and a movable screw 19 that is screwed to the screw shaft 18 so as to be able to advance and retract. A part of 19 is connected to the slider 13 of one leg 2.

  By rotating the drive motor 15 of the drive mechanism 14, the screw shaft 18 rotates integrally with the output shaft 16, the rotation of the screw shaft 18 is transmitted to the movable screw 19, and the movable screw 19 moves on the screw shaft 18. The slider 13 slides on the slide shaft 12 following the advance and retreat of the movable screw 19, and both connecting members 8, 9 of the connecting mechanism 7 expand and contract following the displacement of the slider 13. 9, the slider 13 of the other leg 2 slides on the slide shaft 12. In this way, the sliders 13 and 13 of the leg portions 2 and 2 slide on the slide shafts 12 and 12 via the connecting members 8 and 9 so that the leg portions 2 and 2 approach and separate from each other. Driven in the direction, as shown in FIGS. 1, 2, 3, and 4, it is driven between a position approaching the maximum and a position farthest from the maximum.

  The vibration means 20 includes a drive motor 21, a weight body (not shown) that is attached to the output shaft (not shown) of the drive motor 21 in a state where the center of gravity is eccentric, and the drive motor 21 is attached to both legs 2 and 2. And a coupling mechanism 22 for coupling. By driving the drive motor 21 and rotating the output shaft, the weight body eccentrically rotates following the rotation of the output shaft. It is transmitted to both legs 2, 2 via the coupling mechanism 22.

  The coupling mechanism 22 has one end coupled to the lower end of one leg 2 by a pin 25 and the other end coupled to the left end of the drive motor 21 by a pin 25. And the other connecting member 24 whose one end is coupled to the lower end of one leg 2 by a pin 25 and whose other end is coupled to the right end of the drive motor 21 by a pin 25. The two connecting members 23 and 24 are in a horizontal state when the two leg portions 2 and 2 are separated to the maximum, and the two connecting members 23 and 24 are in a vertical state when the two leg portions 2 and 2 are close to the maximum. By adjusting the lengths of the connecting members 23 and 24 of the connecting mechanism 22 and the connecting position of the pins 25, the distance between the legs 2 and 2 when the legs 2 and 2 are separated to the maximum, and the maximum The space | interval between both the leg parts 2 and 2 when approaching can be adjusted.

Next, the operation of the automatic traveling robot 1 according to the present embodiment configured as described above will be described.
First, as shown in FIGS. 1 and 2, the drive motor 15 of the drive mechanism 14 of the drive means 6 is driven to bring the both legs 2 and 2 close to the maximum via the slider mechanism 11 and the coupling mechanism 7. The automatic traveling robot 1 is mounted in the pipeline 30 that is a target for inspection, exploration, cleaning, etc. while maintaining the state.

  Then, as shown in FIGS. 3 and 4, the drive motor 15 of the drive mechanism 14 of the drive means 6 is driven, and the both leg portions 2 and 2 are separated to the maximum via the slider mechanism 11 and the coupling mechanism 7, so that both legs The hair bodies 5 of the hair body group 3 on the outer surface 2 a side of the portions 2 and 2 are pressed against the inner wall surface 31 of the duct 30.

  Then, as shown in FIGS. 3 and 4, the drive motor 21 of the vibration means 20 is driven to cause the weight body to rotate eccentrically, and this vibration is generated via the connecting mechanism 22. 2, and transmitted to the hair group 3 on the outer surface 2 a side of both legs 2, 2, and each hair body 5 is elastically deformed so as to bend in the longitudinal direction of the duct 30.

  And each hair of this hair group 3 is elastically deformed in the state which pressed each hair 5 of hair body group 3 of both legs 2 and 2 in pressure contact with inner wall surface 31 of channel 30 in this way. The elastic deformation of the body 5 acts as a driving force for driving the automatic traveling robot 1, and the automatic driving robot 1 travels in the longitudinal direction of the pipe line 30 along the inner wall surface 31 by the driving force. become.

  In the automatic traveling robot 1 according to the present embodiment configured as described above, the pair of legs 2 and 2 are separated from each other by the driving means 6 so that the hair on the outer surface 2a side of both legs 2 and 2 is formed. The tip of each hair body 5 of the body group 3 is brought into strong pressure contact with the inner wall surface 31 of the duct 30, and in this state, vibration is applied to both legs 2, 2 by the vibration means 20, Since the capillaries 5 of the group 3 are configured to be elastically deformed, sufficient propulsive force can be obtained without being affected by the shape of the inner wall surface 31 of the conduit 30 and the inclination angle of the conduit 30. .

  Therefore, stable and smooth running can be performed without being influenced by the shape of the inner wall surface 31 of the pipe line 30 and without being influenced by the inclination angle of the pipe line 30, so The present invention can be applied to inspection, exploration, cleaning, and the like of the pipe line 30 having a shape and various inclination angles.

  Moreover, since the leg part 2, the drive means 6, and the vibration means 20 have a simple structure, the effort, time, and expense which are required for those manufacture can be reduced, and the price as the whole apparatus is sufficient. Can be kept cheap, and inexpensive items can be provided.

  In the above description, the pair of leg portions 2 and 2 are arranged so as to face each other, and the both leg portions 2 and 2 can be approached and separated from each other. You may comprise so that an approach and separation are possible.

1 is a schematic longitudinal sectional view showing an embodiment of an automatic traveling robot according to the present invention, and is a schematic longitudinal sectional view showing a state before traveling. FIG. It is a bottom view of FIG. It is the schematic longitudinal cross-sectional view which showed the state at the time of a driving | running | working start and driving | running | working. FIG. 4 is a bottom view of FIG. 3.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Automatic traveling robot 2 Leg part 2a Outer surface 2b Inner surface 2c, 2d End face of the circumferential direction 3 Hairy group 4 Hairy bundle 5 Hairy body 6 Drive means 7 Connection mechanism 8 One connection member 9 The other connection member 10 Pin 11 Slider mechanism 12 Slide shaft 13 Slider 14 Drive mechanism 15 Drive motor 16 Output shaft 17 Conversion mechanism 18 Screw shaft 19 Movable screw 20 Excitation means 21 Drive motor 22 Connection mechanism 23 One connection member 24 The other connection member 25 Pin 30 Pipe 31 Inner wall surface

Claims (5)

At least a pair of legs disposed opposite to each other;
A plurality of ciliary bodies arranged so as to face outward on the outer surface of each leg and to be inclined at a predetermined angle with respect to the outer surface;
Drive means provided between the at least one pair of legs, and driving the legs in a direction to approach and separate from each other;
An automatic traveling robot comprising vibration means for vibrating each leg.   The drive means includes a telescopic coupling mechanism that couples at least the pair of legs, a slider mechanism that expands and contracts the coupling mechanism, and a drive mechanism that drives the slider mechanism. The automatic traveling robot according to claim 1. The slider mechanism includes a slide shaft provided on each leg, and a slider provided slidably on each slide shaft,
The coupling mechanism includes one coupling member, one end of which is pin-coupled to a slide shaft of one leg portion opposed to the other, and a pin which is pin-coupled to a slider of the other leg portion opposed to the other. The other is pin-coupled to one connecting member, one end is pin-coupled to the slider of one leg portion arranged oppositely, and the other end is pin-coupled to the slide shaft of the other leg portion arranged oppositely. Consisting of connecting members
3. The automatic travel according to claim 2, wherein the drive mechanism includes a drive motor and a conversion mechanism that converts a drive force of the drive motor into a linear motion and transmits the linear motion to a slider of any leg portion. robot.   The automatic traveling robot according to any one of claims 1 to 3, wherein the vibration means includes a drive motor and a weight attached to the drive shaft of the drive motor in a state where the center of gravity is eccentric. 5. The at least one pair of leg portions arranged opposite to each other is configured such that an outer shape forms a circular shape when approaching, and an outer shape forms an oval shape when separated from each other. The automatic traveling robot according to any one of the above.

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