JP2008110432A - Moving device between wall surfaces - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a moving device between wall surfaces with excellent energy efficiency capable of not only moving without drop while being held between the wall surfaces, but also quickening moving speed, and easily controlling the moving speed. <P>SOLUTION: This moving device between wall surfaces comprises four pairs of sliders 1, in which a plurality of elastic hairs 1a to be pressed to the wall surfaces are embedded, a drive means 2 for oscillating the sliders 1 to an extent that the elastic hairs 1a contact the wall surfaces, and a moving body 3 supporting the drive means 2. The drive means 2 comprises a motor 4 fixed to the moving body 3, and an oscillating mechanism 5 converting rotation of the motor 4 into a direction approximately vertical to the wall surface, and transmitting it to the sliders 1. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an inter-wall surface moving apparatus that moves between wall surfaces, and more particularly, to an inter-wall surface moving apparatus that can freely move in a narrow space where a human cannot pass between buildings.

  Non-Patent Document 1 discloses various robots for automating inspection work for peeling off outer walls of high-rise buildings, inspection work for welding lines of spherical gas holders, dangerous work on a wall near the vertical such as a hydroelectric dam, etc. A wall mobile robot is disclosed.

The wall surface mobile robot has a basic specification of moving the wall surface while maintaining the posture against gravity, and in order to maintain the posture, it is necessary to press the robot body against the wall surface. As the method, adsorption to a wall surface using electromagnetic force by a magnet, adsorption using negative pressure by a vacuum pump or the like is used. In addition, as a moving method, many methods such as a leg moving type, a wheel traveling type, a crawler type, an intermediate type between a leg moving and a wheel traveling have been proposed.
The Robotics Handbook of the Robotics Society of Japan, Corona Publishing (1990), pages 378-379

  By the way, the city is now lined with high-rise buildings, and the space between the buildings is so narrow that humans cannot pass. For this reason, the space between the wall surfaces of a building is a useless space, and if there is a moving body that can move freely in this narrow space, this space can be used effectively. For example, it is also possible to place an article with the gap between the walls as a warehouse, or to move between the walls to move up and down the building and transport the luggage.

  For this purpose, a moving body such as a mobile robot that moves between wall surfaces is required. However, as described in Non-Patent Document 1, there is currently a practical robot that moves using one wall surface, but there is no practical mobile robot that moves using both wall surfaces. The reason for not finding a practical mobile robot that moves using both wall surfaces is that when the moving body moves up and down between the wall surfaces, for example, the moving body is firmly held by the wall surface while moving, This is probably because it is necessary to examine problems such as how to move while being held in between and how to obtain the moving thrust.

The present inventors have already proposed a new moving mechanism that solves these problems (see Patent Document 1). The inter-wall surface moving device described in Patent Document 1 swings a slider in a range in which the elastic bristles are in contact with the wall surface, and a pair of slider bodies having a slider in which elastic bristles pressed against the wall surface are implanted. It is characterized by comprising driving means and a movable body main body that supports the driving means and the sliding body. And as one of the embodiments, there is disclosed one in which an air cylinder is adopted as the driving means.
Japanese Patent Application No. 2006-092730

  However, in the inter-wall surface moving device described in Patent Document 1, when an air cylinder is employed, (1) it is necessary to send compressed air to the air cylinder mounted on the movable body by an air tube. Since the air tube itself can withstand air pressure and is made hard, the weight of the air tube becomes a reverse load on the moving moving body, making it difficult to rise. (2) The air cylinder has a repetition frequency of 7 Hz. Above this, the movement of the piston rod cannot follow, and there is a time delay between the pulse of the solenoid valve and the actual movement of the piston rod, so the longer the air tube, the longer the delay time becomes. As a result, the energy efficiency is not preferable, the moving speed is limited, and it is difficult to accurately control the moving speed.

  The present invention solves the above-described problems, and not only can it move without falling while being held between the wall surfaces, it is also excellent in energy efficiency, can increase the moving speed, and can control the moving speed. It is an object of the present invention to provide an inter-wall surface moving device that can easily perform the above.

  The present invention is an inter-wall surface movement device that moves between wall surfaces, wherein at least a pair of sliders in which a plurality of elastic hairs pressed against the wall surfaces are implanted, and the elastic hairs contact the wall surfaces. A driving means for amplifying the slider in a range, and a movable body main body that supports the driving means. The driving means includes a motor fixed to the movable body main body, and rotational movement of the motor on the wall surface. There is provided an inter-wall surface movement device characterized by comprising an excitation mechanism that converts to a substantially vertical direction and transmits it to the slider. According to this configuration, the propulsive force of the moving body can be obtained by exciting the slider by the motor and the vibration mechanism and pressing the slider against the wall surface.

  The excitation mechanism includes a crank mechanism that converts the rotational motion of the motor into a reciprocating linear motion in a direction substantially parallel to the wall surface, and the reciprocating linear motion of the crank mechanism into a reciprocating linear motion in a direction substantially perpendicular to the wall surface. You may comprise from the link mechanism to convert.

  In addition, at least one pair of the sliders is arranged on the left and right sides of the movable body along the wall surface, and the motor is vibrated simultaneously with the first motor for exciting the left slider and the right slider. You may make it comprise from a 2nd motor.

  Moreover, it is preferable that the inter-wall surface moving device of the present invention includes a control device that controls the number of rotations of each of the motors so that the moving body main body moves straight or bends. With this configuration, the moving direction of the moving body can be controlled.

  Furthermore, a sensor for measuring the attitude of the mobile body may be provided, and the number of rotations of each motor may be controlled by the control device based on the output of the sensor, and the sensor may be a rotary encoder. , And a weight attached to the shaft of the rotary encoder.

  According to the above-described inter-wall surface moving device of the present invention, the movable body can be advanced without falling along the wall surface using the slider due to the relationship between the elastic force of the elastic bristles and the friction coefficient. In addition, by adopting a motor as the vibration means of the slider, energy can be supplied with a lightweight electric wire, which does not hinder the rise of the moving body and does not cause a problem of response delay, so the moving speed is increased. It has excellent effects such as being able to control the moving speed and moving direction only by controlling the rotational speed of the motor, and is also excellent in energy efficiency.

  Hereinafter, specific embodiments of the inter-wall surface moving device of the present invention will be described with reference to FIGS. Here, FIG. 1 is a side view showing an embodiment of the inter-wall surface moving device of the present invention, and FIG. 2 is a view taken in the direction of arrow II in FIG.

  As shown in FIGS. 1 and 2, the inter-wall surface moving device of the present invention includes four pairs of sliders 1 in which a plurality of elastic hairs 1a pressed against the wall surface are implanted, and a range in which the elastic hairs 1a contact the wall surface. Driving means 2 for amplifying the slider 1 and a movable body main body 3 for supporting the driving means 2. The driving means 2 has a motor 4 fixed to the movable body 3, and rotational movement of the motor 4 on the wall surface. And a vibration exciter mechanism 5 that transmits the slider 1 in a direction substantially perpendicular to the vertical axis. Further, in the present embodiment, a control device (not shown) that controls the rotational speed of each motor 4 to move the mobile body 3 straight or bend and a sensor 6 that measures the attitude of the mobile body 3 move. It is provided in the body main body 3 and controls the rotation speed of each motor 4 based on the output of the sensor 6.

  The slider 1 counts two sliders 1 and 1 arranged side by side in FIG. 2 as a pair. That is, if there is at least a pair of the sliders 1 and 1 composed of the slider 1 pressed against one wall surface and the slider 1 pressed against the other wall surface, the slider 1 of the inter-wall surface moving device of the present invention is provided. It can be established.

  As shown in FIG. 1, four pairs of sliders 1 are used in this embodiment, but four sliders 1 (four sliders 1 shown in FIG. 1) that press one wall surface are defined as 1. You may employ | adopt a pair of slider put together in one. In addition, the upper two sliders 1 (the upper two sliders 1 of the four sliders 1 shown in FIG. 1) that press one wall are combined into one, and the lower two You may employ | adopt two pairs of sliders which put the child into one.

  Here, FIG. 3 is an enlarged view of the slider 1, (A) shows the first embodiment, and (B) shows the second embodiment. In order to hold the movable body 3 between the wall surfaces, an object to be held is required, and the slider 1 is employed in the present invention as a jig for firmly holding the movable body 3 on the wall surface.

  As shown in FIG. 3A, the slider 1 has a shape in which a plurality of elastic bristles 1a are planted on a base plate 1b. For example, a nylon wire can be used for the elastic bristles 1a. In the first embodiment shown in FIG. 3A, all elastic bristles 1a are planted at an implantation angle of about 80 °. This implantation angle is set according to various conditions such as the weight of the entire moving device, the moving speed, the size of the slider 1, the material and length of the elastic bristles 1a, and is not limited to 80 °. .

  In the second embodiment shown in FIG. 3B, at least two types of elastic bristles 31 and 32 having different implantation angles are planted on the base plate 33. Here, the implantation angle of the elastic bristles 31 is set to 70 ° and the implantation angle of the elastic bristles 32 is set to 50 °. However, the implantation angle is not limited to this, and for example, a combination of 80 ° and 50 ° may be used. And other combinations may be used, or two or more combinations may be used.

  The slider 1 is fixed to a pedestal 11 connected to a driving means 2 described later by screws, an adhesive, a double-sided tape or the like. In the embodiment shown in FIGS. 1 and 2, the same number of pedestals 11 as the sliders 1 are prepared, but it goes without saying that the pedestals 11 can be appropriately changed according to the shape of the sliders 1. For example, one large pedestal is prepared on one wall side, or a long pedestal is prepared in the left or right direction in the upper or lower part of FIG. 1, and a plurality of sliders 1 are fixed to the pedestal. Also good. Moreover, you may make it plant the elastic hair 1a of the slider 1 directly to the base 11. FIG. Since the principle of operation of the slider 1 is described in Patent Document 1 (Japanese Patent Application No. 2006-092730) by the inventors of the present application, description thereof is omitted here.

  The motor 4 constituting a part of the driving means 2 is a so-called electric motor, and is supplied with electric energy by an electric wire (not shown) to rotate the driving shaft. The power source may be disposed outside the mobile body 3 or may be a battery mounted on the mobile body 3. The motor 4 may be a direct current motor or an alternating current motor.

  Specifically, as shown in FIG. 1, the motor 4 includes a first motor 4 a that vibrates the left upper pair and lower pair of sliders 1 simultaneously, and a right upper pair and lower pair of sliders 1. It is comprised from the 2nd motor 4b excited simultaneously. The first motor 4a and the second motor 4b are arranged in parallel so that the drive shaft is in a substantially horizontal direction at a substantially central portion of the movable body main body 3, and the shaft ends are arranged so as to face outward. ing. A gear that can be connected to a predetermined gear is provided at the tip of each drive shaft.

  The vibration mechanism 5 constituting a part of the drive means 2 includes a crank mechanism 12 that converts the rotational motion of the motor 4 (first motor 4a and second motor 4b) into reciprocating linear motion in a direction substantially parallel to the wall surface; The link mechanism 13 is configured to convert the reciprocating linear motion of the crank mechanism 12 into a reciprocating linear motion in a direction substantially perpendicular to the wall surface.

  Here, FIG. 4 is a schematic diagram of the driving means 2. As shown in FIG. 4, the crank mechanism 12 is a slider crank mechanism having a crank 41 and a slider 42, and one end of the crank 41 is rotatably connected to a turntable 43 rotated by the motor 4. Further, the other end of the crank 41 is rotatably connected to a substantially middle portion of the slider 42. The slider 42 is slidably connected to a long hole 44 formed in the frame of the movable body main body 3. The turntable 43 has a gear portion that meshes with the gear of the motor 4, and the rotation shaft is supported by the frame of the movable body 3.

  The link mechanism 13 includes a pair of parallel links 45 and 45 connected to the slider 1 and the slider 42, and a support link 46 connected to the slider 1 and the moving body 3. Specifically, one end of the parallel links 45, 45 is rotatably connected to both ends of the base 11 of the slider 1, and the other end is a slider so that the parallel links 45, 45 are parallel to each other. Both ends of 42 are rotatably connected. One end of the support link 46 is rotatably connected to one end of the base 11 of the slider 1, and the other end is rotatably connected to the frame of the movable body 3. The link mechanism 13 is arranged so as to be symmetrical in FIG. 4, and the connecting portion of the support link 46 with the movable body 3 and the connecting portion of the parallel links 45 and 45 with the slider 42 are the left and right links. This is a connecting portion shared by the mechanism 13. In addition, the link mechanism 12 is connected with the both sides of the base 11, as shown in FIG.

  According to the drive means 2 described above, the turntable 43 is rotated by driving the motor 4, and one end of the crank 41 connected to the turntable 43 is rotated. The other end of the crank 41 slides along the long hole 44, and the slider 42 performs a reciprocating linear motion along the long hole 44. Furthermore, one end of the parallel links 45, 45 performs a reciprocating linear motion together with the slider 42, and the support link 46 rotates around the connecting portion with the movable body 3. As a result, the base 11 of the slider 1 swings in a direction substantially perpendicular to the wall surface while being parallel to the movable body 3.

  The moving body 3 is composed of a frame that supports the driving means 2 described above. Specifically, as shown in FIGS. 1 and 2, the left frame 3a that supports the left driving means, the right frame 3b that supports the right driving means, and the left frame 3a and the right frame 3b are connected in parallel. The upper frame 3c and the lower frame 3d are configured with a motor support frame 3e that supports the motor 4.

  Each of the left frame 3a and the right frame 3b is composed of two frames. The long hole 44 described above is formed in each frame, and the support link 46 is rotatably connected to each other. Two crank mechanisms 12 and a link mechanism 13 are connected. In addition, the motor support frame 3e is composed of six frames that form a rectangular parallelepiped shape here, but is not limited to the illustrated configuration as long as the motor 4 can be supported horizontally. Moreover, although each flame | frame is connected with the screw, you may make it connect with welding or an adhesive agent.

  For example, as shown in FIGS. 1 and 2, the sensor 6 includes a rotary encoder 14 and a weight 15 attached to the shaft of the rotary encoder 14. Regardless of the inclination of the mobile body 3, the weight 15 always hangs in the vertical direction, so that the inclination angle of the mobile body 3 can be measured by measuring its position with the rotary encoder 14. The sensor 6 may be any sensor as long as it can measure the inclination angle of the moving body 3, and various sensors such as a liquid sensor and a laser or infrared sensor can be employed.

  Here, FIG. 5 is a conceptual explanatory diagram of the attitude control method of the inter-wall surface movement apparatus. As shown in FIG. 5, it is assumed that the movable body 3 is moved in the direction of the set angle A. First, the set angle A of the movable body 3 is set, and the movable body 3 is moved from the position α in the traveling direction. If the measured angle is B at the position β, the angle to be corrected is a corrected angle C obtained by subtracting the set angle A from the measured angle B. And the attitude | position of the mobile body 3 is controlled so that the correction angle C may be set to 0 by vibrating the slider 1 by changing the rotation speed of the motor 4 with a control device (not shown). By using such control, the mobile body 3 can be arbitrarily moved straight or curved.

  For example, if the angle of the movable body 3 is within the range of ± 1 ° of the set angle, the same rotational speed is given to both motors 4 (first motor 4a and second motor 4b), and the angle exceeds that. In this case, the inclined motor 4 is rotated, the other motor 4 is stopped, and the direction of the moving body is corrected on the spot to move.

  According to the above-described inter-wall surface moving device of the present invention, by adopting the motor 4 as the driving means of the slider 1, energy can be supplied with a lightweight electric wire without hindering the moving body 3 from rising. The mobile body 3 can be advanced without falling along the wall surface using the slider 1. In addition, since the problem of response delay does not occur, the moving speed can be increased, and the moving speed and moving direction can be controlled only by controlling the number of rotations of the motor, which is excellent in energy efficiency.

  Hereinafter, the present invention will be described more specifically with reference to examples. In addition, the Example shown below is only a part of the specific illustration of this invention shown in order to make the understanding of the content of this invention easy, and this invention is not limited to these at all. Here, FIG. 6 is a photograph showing a state where the inter-wall surface moving device of the present invention is installed between the experimentally prepared wall surfaces, and FIG. 7 is an enlarged view of the slider 1 employed in the inter-wall surface moving device of FIG. FIG. 8 is a configuration diagram of the control system employed in the inter-wall surface moving device of FIG.

(Slider)
A nylon wire having a diameter of about 1.25 mm was used for the elastic bristles 1a of the slider 1 shown in FIG. The Young's modulus of the nylon wire is 530 kg / mm ² , and the average height from the base plate 1b to the tip of the elastic bristles 1a is 16.5 mm, but the height varies about several mm. The inclination angle of the elastic bristles 1a was 80 °, and 24 plants were planted at intervals of 5 mm. The base plate 1b is made of a methacrylic resin and has a length of 50 mm, a width of 20 mm, and a thickness of 3 mm. A 0.5 mm thick vinyl chloride resin plate is the same size as the base plate 1b in order to flatten the bottom. Cut and pasted.

(Moving body)
The mobile body 3 shown in FIG. 6 has a total length of 385 mm, a width of 220 mm, and a weight of 943 g. The distance between the center positions of the front and rear (width direction in FIG. 1) is 212 mm, and left and right (width direction in FIG. 2). The distance between the center positions of the slider 1 was 158 mm. The motor 4 used is a direct-current geared motor with a rated voltage of 24 V, a rotation speed of 137 rpm, a torque of 2.1 kgcm, and a weight of 155 g.

(Wall surface)
The wall surface was a Lauan plywood having a length of 900 mm, a width of 450 mm, and a thickness of 15 mm. In the experiment, the wall interval was fixed to 128 mm.

(Rising speed measurement test)
The rising speed of the moving device was obtained by providing light sources at two points above and below the wall surface and measuring the passage time during which the moving body 3 blocks the light sources. Specifically, a light-shielding plate is attached to the tip of the mobile body 3, and when the mobile body 3 blocks light from each light source, a signal enters a light receiving circuit using a phototransistor, and a start pulse and A stop pulse was output and input to the universal counter to measure the time interval. The distance between the two points was 50 mm, and the average speed when the experiment was performed five times or more was 10.9 mm / s.

(Traction load measurement test)
The traction load of the moving device was measured using a load detector. In the measurement method, a wire was connected to the rear part of the moving body 3 and a load detector was connected to the tip. The detection output of the load detector was input to the power supply unit to output a voltage, and further input to a DC amplifier to amplify the signal and record it with an electromagnetic oscillograph. The maximum traction load of the moving body was about 2.8 kg.

(Control method)
The angle of the mobile body 3 is detected by a weight 15 attached to the shaft of the rotary encoder 14 attached to the top of the mobile body 3 using the control system shown in FIG. To enter. Further, the data is sent to PI01, and data is input to a CPU (Central Processing Unit). The CPU processes data and outputs the result to a CTC (Counter Timer Circuit). In CTC, the output frequency is changed by changing the input frequency of the motor 4, but in CTC, the output pulse width is widened by a monostable multivibrator and sent to the motor drive circuit, the motor 4 rotates and the movable body 3 moves. At this time, a 4 Hz pulse is output from the timer circuit and input to the CTC. The CTC here converts it to a 1 Hz pulse and interrupts the CPU through the interrupt line. The CPU that has been interrupted by the CTC receives the data from the encoder again through PI01, is calculated by the CPU, and is sent to the motor drive circuit. When it is desired to stop the ascent of the mobile body 3, a stop pulse is output from the stop circuit, a pulse is sent to the motor drive circuit through PI02, and the motor 4 is stopped. In this system, interrupts often handle the input of a large number of detection data and the output of control data, and high operating speed is required. Therefore, priority is provided by hardware, and in this system, interrupt priority is provided in the order of PI01, PI02, and CTC.

It is a side view which shows one Embodiment of the moving apparatus between wall surfaces of this invention. It is II arrow directional view in FIG. It is an enlarged view of the slider 1, (A) is 1st Embodiment, (B) has shown 2nd Embodiment. 3 is a schematic diagram of a driving unit 2. FIG. It is a conceptual explanatory view of the attitude control method of the inter-wall surface moving device. It is a photograph which shows the state installed in the wall surface which created the moving apparatus between wall surfaces of this invention experimentally. It is an enlarged view of the slider 1 employ | adopted as the moving apparatus between wall surfaces of FIG. It is a control system block diagram employ | adopted as the moving apparatus between wall surfaces of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Slider 1a, 31, 32 Elastic hair 1b, 33 Base plate 2 Drive means 3 Mobile body 3a Left frame 3b Right frame 3c Upper frame 3d Lower frame 3e Motor support frame 4 Motor 4a 1st motor 4b 2nd motor 5 Addition Vibration mechanism 6 Sensor 11 Base 12 Crank mechanism 13 Link mechanism 14 Rotary encoder 15 Weight 41 Crank 42 Slider 43 Rotary base 44 Slot 45 Parallel link 46 Support link

Claims (6)

  A wall-to-wall moving device that moves between wall surfaces, wherein at least a pair of sliders in which a plurality of elastic hairs pressed against the wall surfaces are implanted, and the sliding in a range in which the elastic hairs contact the wall surfaces A driving means for swinging the child; and a moving body main body for supporting the driving means. The driving means includes a motor fixed to the moving body main body, and a rotational motion of the motor in a direction substantially perpendicular to the wall surface. A wall-to-wall surface moving device comprising: an excitation mechanism that converts to a slider and transmits it to the slider.   The excitation mechanism includes a crank mechanism that converts the rotational motion of the motor into a reciprocating linear motion in a direction substantially parallel to the wall surface, and the reciprocating linear motion of the crank mechanism into a reciprocating linear motion in a direction substantially perpendicular to the wall surface. The inter-wall surface movement device according to claim 1, comprising a link mechanism for conversion.   The sliders are arranged at least one pair on the left and right sides of the mobile body along the wall surface, and the motor includes a first motor that vibrates the left slider and a first motor that simultaneously excites the right slider. The inter-wall surface moving device according to claim 1 or 2, comprising two motors.   The inter-wall surface moving device according to any one of claims 1 to 3, further comprising a control device that controls the number of rotations of the motors so that the moving body main body moves straight or bends.   The inter-wall surface movement apparatus according to claim 4, further comprising a sensor that measures the attitude of the movable body, and the number of rotations of the motors is controlled by the controller based on an output of the sensor.   The inter-wall surface movement device according to claim 5, wherein the sensor includes a rotary encoder and a weight attached to a shaft of the rotary encoder.

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