JP2014046759A - Mobile vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a mobile vehicle to move with a higher degree of freedom.SOLUTION: Characteristically, a mobile vehicle comprises: an arm which has one end connected to a partial area of a vehicle body and which is telescopically configured; a structure holding unit which is provided at an end on the side opposite to the side, connected to the vehicle body, of the arm; and a traction member winding mechanism which is provided in the vehicle body and which winds a traction member provided in a tensioned state between it and the structure holding unit.

Description

  The present invention relates to a moving vehicle.

  In nuclear power plants, thermal power plants, chemical plants, steel plants, various tanks, ships, etc., it is necessary to inspect the maintenance status of equipment and perform repair work as necessary. However, if the site where the repair work is performed is, for example, very uneven, steeply inclined, narrow, or high, it is difficult for the operator to approach and the work is performed efficiently. I can't. Further, depending on the work site, the worker may not be able to approach the work site from the viewpoint of safety.

  Further, for example, in a disaster site, it is necessary to perform operations such as searching for a rescuer and confirming the damage situation promptly after a disaster occurs. However, for example, immediately after the occurrence of a fire or an earthquake, there is a high possibility that the disaster site is difficult for an operator to enter.

  Therefore, in recent years, an unmanned mobile vehicle has been proposed which is equipped with a device for repair work, various sensors for checking the situation, etc., and operates by remote control or automatic control. For example, in the following Patent Document 1, a vehicle body having a plurality of vehicle body nodes arranged in parallel in the traveling direction of the vehicle, a support shaft that supports the vehicle body members so as to be folded and unfolded, and six or more wheels having magnetic force. A magnetic traveling vehicle having wheels and traveling on the surface of a magnetic body is disclosed.

JP 2008-12947 A

  The surface (road surface) of a magnetic structure such as a steel structure such as a bridge has a curved surface, but many have a concavo-convex structure in which a rib plate is attached to a flat surface. For example, when repair work or the like is performed on the surface of a magnetic structure, a magnetic mobile vehicle capable of magnetically adsorbing on the unevenness, vertical surface, and bottom surface as shown in Patent Document 1 is effective. However, even when moving on the surface of the magnetic structure, for example, when passing through a corner of the structure such as an entrance corner or an exit corner, or over a step having a height higher than the vehicle height of the own vehicle In some cases, it may be difficult to attract and travel the magnetic vehicle by reducing the magnetic attraction force or reducing the friction coefficient.

  In addition, for example, when moving to a structure provided above the own vehicle, such as a protrusion formed in a bowl shape or a pipe laid in the air, the magnetic body moving vehicle is formed of a magnetic body, for example. It is necessary to reach the structure by moving the wall surface vertically. However, depending on the travel route to the destination structure, the travel distance and travel time may be lengthened and work efficiency may be reduced.

  In addition, the magnetic vehicle cannot perform adsorption running with a magnetic material on the surface of non-metallic structures such as towers, various equipment, piping, buildings, etc., and the degree of freedom of movement decreases. There was a problem.

  Therefore, the present invention has been made in view of the above problems, and an object of the present invention is to provide a new and improved moving vehicle that can move with a higher degree of freedom. is there.

  In order to solve the above problems, according to an aspect of the present invention, an arm having one end connected to a partial region of a vehicle body and configured to be extendable and a side of the arm connected to the vehicle body are reversed. A structure holding unit provided at a side end; and a traction member winding mechanism that is provided on the vehicle body and winds up a traction member that is stretched between the structure holding unit. A mobile vehicle is provided.

  In addition, an adsorption mechanism that adsorbs to the surface of the structure may be provided in at least a part of the structure holding unit.

  Further, at least a part of the structure holding unit may be provided with a hook mechanism for holding the structure.

  The arm may include a plurality of arm members and a plurality of arm joint portions that rotatably connect the ends of the plurality of arm members.

  The mobile vehicle may further include an interference avoidance mechanism that adjusts a separation distance between the traction member and the arm.

  The interference avoidance mechanism may include a pulley on which the pulling member is hooked, and an interference avoidance member stretched between the pulley and a partial region of the arm.

  The interference avoidance mechanism may further include an interference avoidance member winding mechanism that winds the interference avoidance member.

  Moreover, the said moving vehicle may further be provided with the fall prevention member which prevents the fall of the said moving vehicle.

  The fall prevention member may be a flapper unit provided on a wheel portion of the moving vehicle.

  The adsorption mechanism may include at least one of adsorption means of magnetic adsorption, vacuum adsorption, and chemical adsorption.

  As described above, according to the present invention, a desired structure at the destination can be held by the structure holding unit provided at the tip of the arm. For example, the structure holding unit provided at the tip of the arm can hold the structure on the opposite side of the vehicle body across the step or the obstacle, across the step or the obstacle. Then, the vehicle body is pulled by retracting the arm, winding the traction member, or winding the traction member while contracting the arm while holding the structure. Therefore, the driving force of the arm can be further reduced, and the weight of the arm can be further reduced. Therefore, the arm can be moved with a lighter device and can be moved with a higher degree of freedom.

It is a schematic perspective view which shows one structural example of the moving vehicle which concerns on one Embodiment of this invention. It is a schematic perspective view which shows one structural example of the moving vehicle which concerns on one Embodiment of this invention. It is a schematic perspective view which shows the mode of the inside of the vehicle body of the mobile vehicle which concerns on this embodiment at the time of cut | disconnecting by the AA cutting line shown to FIG. 1A. It is a schematic perspective view which shows the mode of the cross section in the AA cutting line shown to FIG. 1A of a moving vehicle. It is a perspective view which shows a mode that the structure holding unit which concerns on this embodiment is adsorb | sucking to a structure. It is a side view which shows a mode that the structure holding unit which concerns on this embodiment is adsorb | sucking to a structure. It is a perspective view which shows a mode that the structure holding unit which concerns on this embodiment is holding the structure. It is a side view which shows a mode that the structure holding unit which concerns on this embodiment is holding the structure. It is a side view which shows the modification of the structural example of the moving vehicle which concerns on this embodiment. It is a side view which shows the modification of the structural example of the moving vehicle which concerns on this embodiment. It is the schematic which shows the levitating movement method using the adsorption | suction part of the arm of the moving vehicle which concerns on this embodiment. It is the schematic which shows the levitating movement method using the adsorption | suction part of the arm of the moving vehicle which concerns on this embodiment. It is the schematic which shows the levitating movement method using the adsorption | suction part of the arm of the moving vehicle which concerns on this embodiment. It is the schematic which shows the levitating movement method using the adsorption | suction part of the arm of the moving vehicle which concerns on this embodiment. It is the schematic which shows the levitating movement method using the adsorption | suction part of the arm of the moving vehicle which concerns on this embodiment. It is the schematic which shows the rising movement method using the hook of the arm of the moving vehicle which concerns on this embodiment. It is the schematic which shows the rising movement method using the hook of the arm of the moving vehicle which concerns on this embodiment. It is the schematic which shows the rising movement method using the hook of the arm of the moving vehicle which concerns on this embodiment. It is the schematic which shows the rising movement method using the hook of the arm of the moving vehicle which concerns on this embodiment. It is the schematic which shows the rising movement method using the hook of the arm of the moving vehicle which concerns on this embodiment. It is the schematic which shows the rising movement method using the hook of the arm of the moving vehicle which concerns on this embodiment. It is the schematic which shows the step climbing movement method using the arm of the mobile vehicle which concerns on this embodiment. It is the schematic which shows the step climbing movement method using the arm of the mobile vehicle which concerns on this embodiment. It is the schematic which shows the step climbing movement method using the arm of the mobile vehicle which concerns on this embodiment. It is the schematic which shows the step climbing movement method using the arm of the mobile vehicle which concerns on this embodiment.

  Exemplary embodiments of the present invention will be described below in detail with reference to the accompanying drawings. In addition, in this specification and drawing, about the component which has the substantially same function structure, duplication description is abbreviate | omitted by attaching | subjecting the same code | symbol.

<1. Configuration of mobile vehicle>
First, a schematic configuration of a moving vehicle according to an embodiment of the present invention will be described with reference to FIGS. FIG. 1A is a schematic perspective view showing a configuration of a moving vehicle according to the present embodiment, and shows a state where an arm described later is extended. FIG. 1B is a schematic perspective view showing the configuration of the moving vehicle according to the present embodiment, and shows a state where an arm described later is folded (shrinked). Furthermore, FIG. 1C is a schematic perspective view showing the inside of the vehicle body of the mobile vehicle according to the present embodiment when cut along the AA cutting line shown in FIG. 1A.

  1A to 1C, a mobile vehicle 10 according to the present embodiment includes a vehicle body 100, an arm 200, a structure holding unit 300, a traction member 400, a wheel portion 500, and a traction member winding mechanism 600. Here, the moving vehicle 10 is an unmanned moving vehicle that operates by remote control or automatic control, for example.

  In the following description, the direction in which the arm 200 extends from the vehicle body 100 is defined as the traveling direction of the moving vehicle 10. The traveling direction is referred to as “front”. Further, the left and right directions in the state of facing “front” are referred to as “left” and “right” of the moving vehicle 10, respectively. In the direction perpendicular to the floor surface, the direction in which the moving vehicle 10 exists with respect to the floor surface is referred to as “up”, and the opposite direction is referred to as “down”.

  In the following description, coordinate axes are defined in each drawing as shown in FIGS. Here, the “front” direction of the moving vehicle 10 is the positive direction of the x axis, the direction from the “right” to the “left” of the moving vehicle 10 is the positive direction of the y axis, and the “up” of the moving vehicle 10 is “up”. The direction is the positive direction of the z axis.

  Hereinafter, the structure of each component of the mobile vehicle 10 will be described. The vehicle body 100 includes a chassis 101 and an arm mounting portion 102. The chassis 101 is a member constituting a base of the mobile vehicle 10 and has, for example, a substantially rectangular parallelepiped shape as shown in FIG. 1A. A space may be formed inside the chassis 101. In the space, for example, a traction member winding mechanism 600, a motor for driving the moving vehicle 10, a battery for supplying electric power to the motor, and an output of the motor A gear box that transmits the vehicle to the wheel unit 500, an axle that is connected to the center of wheels 501a, 501b, 501c, and 501d to be described later and serves as a center of rotation, a control device that comprehensively controls driving of the moving vehicle 10, and the like are disposed. . Here, the chassis 101 does not have to have a space inside. In that case, the traction member take-up mechanism 600, the motor, the battery, the gear box, the axle, the control device, etc. Can be installed. Further, the shape of the chassis 101 is not limited to a substantially rectangular parallelepiped, and may be appropriately changed in consideration of mobility at a work site as long as it can have these configurations in an internal space. Here, in FIG. 1A-C, illustration is abbreviate | omitted about a motor, a battery, a gear box, an axle shaft, and a control apparatus.

  An arm mounting portion 102 is provided at substantially the center of the upper surface of the chassis 101. The arm attachment portion 102 is a region to which one end of the arm 200 is connected, and may be a substantially circular pedestal, for example. Here, the position where the arm mounting portion 102 is provided is not limited to the approximate center of the upper surface of the chassis 101, and may be an arbitrary part of the chassis 101. The position where the arm attachment portion 102 is provided can be appropriately determined in consideration of the direction in which the arm 200 is extended.

  The arm 200 is configured to be extendable and contractable within a plane defined by the x-axis and the z-axis, and one end of the arm 200 is connected to the arm mounting portion 102 of the vehicle body 100. Further, for example, if the arm mounting portion 102 can rotate about the z-axis direction as a rotation axis, the moving vehicle 10 can extend the arm 200 in an arbitrary direction without moving the vehicle body.

  The arm 200 includes, for example, arm members 201a, 201b, 201c, and 201d that are rod-like members and arm joint portions 202a, 202b, 202c, and 202d.

  One end of the arm member 201a is connected to the arm attachment portion 102 via the arm joint portion 202a. Here, the arm joint portion 202a is a joint mechanism having a rotation shaft, and the arm member 201a is rotatably connected to the arm attachment portion 102 with the arm joint portion 202a as a base point. Here, the rotation axis of the arm joint portion 202a may be in the y-axis direction, for example, as shown in FIGS.

  One end of the arm member 201b is connected to the other end of the arm member 201a via an arm joint portion 202b. The function of the arm joint part 202b is the same as the function of the arm joint part 202a. Therefore, the arm member 201b is rotatably connected to the arm member 201a with the arm joint portion 202b as a base point. Furthermore, one end of the arm member 201c is connected to the other end of the arm member 201b via the arm joint portion 202c, and one end of the arm member 201d is connected to the other end of the arm member 201c via the arm joint portion 202d. Is done.

  That is, the rod-shaped arm members 201a, 201b, 201c, and 201d are sequentially connected to each other through the arm joint portions 202a, 202b, 202c, and 202d so that the ends thereof can rotate. Therefore, the arm 200 can be expanded and contracted by expanding the arm members 201a, 201b, 201c, and 201d as shown in FIG. 1A or by folding the arm members 201a, 201b, 201c, and 201d as shown in FIG. 1B. Configured. Here, each of the arm joint portions 202a, 202b, 202c, and 202d may have a function of an actuator for rotating the arm members 201a, 201b, 201c, and 201d around itself. By driving, the arm 200 can be expanded and contracted. The arm joint portions 202a, 202b, 202c, and 202d may further be provided with a rotation restricting member (not shown) that restricts the rotation range thereof.

  A structure holding unit 300 is provided at the tip of the arm member 201 d, that is, at the tip of the arm 200. The structure holding unit 300 has a function of holding the structure by adsorbing to the structure or holding the structure. Here, the structure held by the structure holding unit 300 may be, for example, a pipe, a wall surface, a floor surface, or the like. The structure of the structure holding unit 300 will be described in detail later with reference to FIGS.

  A traction member 400 is stretched between the structure holding unit 300 and a traction member winding mechanism 600 provided inside the vehicle body 100. The pulling member 400 may be a flexible linear member that can be wound by the pulling member winding mechanism 600, and its structure and type are not limited. For example, the traction member 400 may be a wire, string, rope, chain, link, or the like. 1A to 1C and other drawings, as an example of the traction member 400, an example in which the traction member 400 is a rope is illustrated, but the traction member 400 is not limited to such an example. Other structures as described above may be used. The pulling member 400 is formed of a material having a strength that can support a tensile load due to the weight of the vehicle, and is formed of, for example, Kevlar fiber or steel wire. One end of the pulling member 400 may be connected to the structure holding unit 300, and the other end may be connected to the pulling member winding mechanism 600.

  Here, a moving method using the arm 200 of the moving vehicle 10 will be described. When the moving vehicle 10 moves, the moving vehicle 10 can support the vehicle body by holding the structure by the structure holding unit 300 provided at the tip of the arm 200. For example, when the moving vehicle 10 is about to cross a step, the arm 200 is extended, the structure holding unit 300 is attracted to the destination, that is, the upper floor of the step, and the arm 200 is contracted (folded). It is possible to lift the vehicle body over the steps. Further, for example, when the moving vehicle 10 is about to move to a structure such as a pipe laid above the own vehicle, the arm 200 is extended and the structure holding unit 300 is adsorbed to the destination, that is, the surface of the pipe. By contracting (folding) the arm 200, the vehicle body can be lifted and moved onto the pipe.

  Here, when the moving vehicle 10 tries to get over the level difference as described above, or when it moves up to the pipe, if it tries to move using only the arm 200, the arm 200 is contracted (folded). However, in order to pull up the vehicle body, a relatively large joint torque is required to increase the weight of the vehicle body and the weight of the arm 200 itself. Further, when the length of the arm 200 is increased in order to widen the reachable range of the arm 200, the weight of the arm 200 increases exponentially.

  On the other hand, the moving vehicle 10 according to the present embodiment can use the traction member 400 when performing the movement using the arm 200. In other words, the moving vehicle 10 can move over the step or move up while the arm 200 is contracted (folded) while the pulling member winding mechanism 600 winds the pulling member 400. By using the pulling member 400, the arm 200 only needs to have a driving force that can support the structure holding unit 300 and the pulling member 400. The weight can be reduced, for example, from a fraction to a tenth.

  Further, as will be described later, the driving force for the traction member winding mechanism 600 to wind the traction member 400 is supplied from, for example, a motor for driving the wheel unit 500. Therefore, since the driving force originally possessed by the traveling mechanism can be used for winding the traction member 400, an additional mechanism is not necessary. Further, in traction using the traction member 400, the traction member 400, for example, the traction capability is higher than the own weight of the rope, so that the weight of the traction member 400 can be designed to be smaller. Therefore, in the mobile vehicle 10 according to the present embodiment, an increase in the vehicle weight can be minimized, and the above-described step-over movement and floating movement can be facilitated.

  Here, the driving force of the arm 200 may be freely set according to the use environment or application of the mobile vehicle 10. Therefore, the arm 200 may have a driving force for towing the vehicle body other than the driving force for supporting the structure holding unit 300 and the towing member 400. That is, it is good also as a structure which distributes load moderately with the arm 200 and the pulling member 400 in the range which can accept | permit the increase in the weight of the arm 200.

  As described above, by using the pulling member 400 and the pulling member winding mechanism 600, the moving vehicle 10 can be moved even when the driving force of the arm 200 is relatively small. For the method of moving the moving vehicle 10 using the arm 200 as described above, <3. Floating movement using arm> and <4. This will be described in detail in “Moving over a step using an arm>.

  Here, as the material of the arm members 201a, 201b, 201c, 201d, a material having sufficient strength that can withstand the load applied to the arm 200 in the moving method as described above is used. For example, the arm members 201a, 201b, 201c, and 201d may be formed of various steel plates. The arm members 201a, 201b, 201c, and 201d may be formed of aluminum, stainless steel, magnesium, FRP (fiber reinforced resin), CFRP (carbon fiber reinforced resin), or the like.

  Moreover, the actuator which arm joint part 202a, 202b, 202c, 202d has should just implement | achieve the operation | movement of the arm 200 as mentioned above, The kind and structure are not limited. Various known actuators may be used, or an actuator specialized for the moving vehicle 10 according to the present embodiment may be used. In addition, the driving force of the actuator can be set as appropriate according to the structure and material of the pulling member 400, the use environment and use of the mobile vehicle 10, and the like.

  As described above, the pulling member winding mechanism 600 is disposed in a space formed inside the chassis 101, for example, and winds the pulling member 400. Referring to FIG. 1C, the traction member winding mechanism 600 may include, for example, a cylindrical drum. One end of the pulling member 400 is fixed to a partial region of the surface of the drum. Therefore, the pulling member 400 is wound up by rotating the drum. Here, in order to obtain a driving force for rotating the drum, a drum driving motor may be further provided. For example, even if the driving motor for the wheel unit 500 described above supplies the driving force for rotating the drum. Good. In this way, by supplying the driving force of the wheel unit 500 and the driving force of the traction member winding mechanism 600 by the same motor, an additional mechanism becomes unnecessary and the weight of the mobile vehicle 10 can be reduced.

  The wheel unit 500 is driven by the motor for driving the wheel unit 500 described above, and fulfills the function of moving the moving vehicle 10. 1A to C, a wheel unit 500 according to the present embodiment includes, for example, two pairs of wheels 501a, 501b, 501c, and 501d. Here, the wheels 501a, 501b, 501c, and 501d constitute a right front wheel portion, a right rear wheel portion, a left front wheel portion, and a left rear wheel portion of the mobile vehicle 10, respectively. Since the right front wheel part, the right rear wheel part, the left front wheel part, and the left rear wheel part have the same structure, in the following description, the structure of the left front wheel part will be mainly described.

  1A to 1C, the left front wheel portion of the wheel portion 500 according to the present embodiment includes a wheel 501a, a small wheel 502a, a support member 503a, and a first belt 504a. Here, the left front wheel part of the wheel part 500 may have a flapper unit. In the flapper unit, for example, the center of the wheel 501a and the center of the small wheel 502a are coupled by the support member 503a, and the first belt 504a is provided so as to straddle the rotation of the wheel 501a and the rotation of the small wheel 502a. It is constituted by being done. This flapper unit is an example of the fall prevention member of the mobile vehicle 10, and by having the flapper unit, the ground contact area of the mobile vehicle 10 can be increased and the stability can be increased.

  Further, an axle is connected to the center of the wheel 501a, and a final gear disposed at the final stage of the gear box for transmitting power from the motor may be engaged with the axle. . Accordingly, the wheel 501a is driven to rotate about the axle. Here, the rotational driving of the wheels 501a, 501b, 501c, and 501d may be controlled respectively, and the front wheels (wheels 501a and 501c) and the rear wheels (wheels 501b and 501d) share an axle. The front wheel and the rear wheel may be controlled separately. Further, only either the front wheel or the rear wheel may be driven.

  Furthermore, the second belt 505a may be provided so as to straddle the circumference of the wheel 501a of the left front wheel section and the circumference of the left rear wheel section 501b. That is, the wheel 501a of the left front wheel part and the 501b of the left rear wheel part may be connected by the second belt 505a to form a crawler structure. By having a crawler structure, the ground contact area of the moving vehicle 10 further increases, and the stability can be further increased.

  In the above description, the structure of the left front wheel portion of the wheel portion 500 has been mainly described, but the left rear wheel portion, the right front wheel portion, and the right rear wheel portion may have the same structure. That is, for example, the left rear wheel portion includes a wheel 501b, a small wheel 502b, a support member 503b, and a first belt 504b, and the right front wheel portion includes a wheel 501c, a small wheel 502c, a support member 503c, and a first belt. The right rear wheel portion includes a wheel 501d, a small wheel 502d, a support member 503d, and a first belt 504d. Further, the wheel 501c of the right front wheel part and the 501d of the right rear wheel part may be connected by a second belt 505b.

  In the above description, the case where the wheel unit 500 has four wheels has been described, but the present embodiment is not limited to this example. The number of wheels that the moving vehicle 10 has may not be four, and the moving vehicle 10 may have more wheels, for example, a six-wheeled vehicle. Moreover, the number of wheels which the moving vehicle 10 has is not limited to an even number, For example, an odd number may be sufficient like a three-wheeled vehicle.

  Next, a schematic configuration of the structure holding unit 300 according to the present embodiment will be described with reference to FIGS. FIG. 2A is a perspective view showing a state where the structure holding unit 300 is adsorbed to the structure, and FIG. 2B is a side view showing a state where the structure holding unit 300 is adsorbed to the structure. 2C is a perspective view showing a state in which the structure holding unit 300 is holding the structure, and FIG. 2D is a side view showing a state in which the structure holding unit 300 is holding the structure. 2A to 2D also show a part of the arm member 201d in order to show the connection state between the arm 200 and the structure holding unit 300.

  Referring to FIGS. 2A to 2D, the structure holding unit 300 according to this embodiment includes a suction portion 301 and hooks 303a and 303b. Here, the adsorption unit 301 is an example of an adsorption mechanism for adsorbing to the surface of the structure, and the hooks 303a and 303b are examples of a hook mechanism for grasping the structure. The structure holding unit 300 includes at least one of the adsorbing portion 301 and the hooks 303a and 303b, and has a function of holding the structure by adsorbing to the structure or holding the structure.

  The suction part 301 is, for example, a plate-like member, and a suction surface is formed on the surface corresponding to the negative z-axis direction. The adsorbing portion 301 can be adsorbed to the structure by bringing the adsorbing surface into contact with the surface of the structure, such as a floor surface or a wall surface. Here, FIGS. 2A and 2B show a state in which the suction surface of the suction portion 301 is sucked to the surface of a structure 800, for example, a pipe.

  Further, a hinge 302 is provided on one side of the suction portion 301, and the suction portion 301 and the arm member 201 d are connected via the hinge 302. Accordingly, the suction portion 301 is configured to be rotatable with respect to the arm member 201d with the hinge 302 as a rotation center. With such a configuration, the angle of the suction portion 301 can be adjusted so that the suction surface and the surface of the structure are substantially parallel without moving the arm member 201d. Here, for example, the rotation axis of the hinge 302 may be in the y-axis direction.

  The hooks 303a and 303b are formed, for example, by bending a rod-shaped member into a substantially L shape. Further, one ends of the hooks 303a and 303b are connected to the suction portion 301 via hinges 304a and 304b, respectively. That is, the hooks 303a and 303b are configured to be rotatable with respect to the suction portion 301 with the hinges 304a and 305 as rotation centers, respectively. Here, the rotation axes of the hinges 304a and 305 may be substantially parallel to the rotation axis of the hinge 302, for example. When the rotation axes of the hinges 304a and 305 are substantially parallel to the rotation axis of the hinge 302, as shown in FIGS. 2C and 2D, the surfaces of the hooks 303a and 303b that face the suction surface of the suction portion 301 (z-axis positive direction). The surface can be sandwiched between the surface and the surface. Here, in the following description, holding the structure between the hooks 303a and 303b and the suction portion 301 in this way is referred to as holding the structure by the hooks 303a and 303b. 2C and 2D show a state in which the hooks 303a and 303b are holding a structure 900, for example, a pipe.

  In addition, the hooks 303a and 303b also play a role of pulling the suction portion 301 away from the surface of the structure. That is, when the suction surface of the suction part 301 is sucked on the surface of the structure, the hooks 303a and 303b are driven so that the tips of the hooks 303a and 303b press the surface of the structure. The part 301 can be separated from the surface of the structure.

  The schematic configuration of the structure holding unit 300 according to the present embodiment has been described above with reference to FIGS. Here, in the above description, the case where the structure holding unit 300 has both the suction mechanism and the hook mechanism has been described. However, the structure holding unit 300 according to the present embodiment includes at least one of the suction mechanism and the hook mechanism. You may have.

  Here, the adsorption means included in the adsorption unit 301 may be, for example, magnetic adsorption, vacuum adsorption, chemical adsorption, or the like. For example, when the adsorption mechanism of the adsorption unit 301 is magnetic adsorption, the adsorption surface of the adsorption unit 301 may be configured by an electromagnet, a permanent magnet, or the like. Furthermore, when the adsorption mechanism of the adsorption part 301 is an electromagnet, it is possible to control the attachment / detachment of the adsorption part 301 to the structure surface by controlling the magnetic force generated from the electromagnet.

  When the suction mechanism of the suction unit 301 is vacuum suction, the mobile vehicle 10 may further include a mechanism such as an air pump in order to place the vicinity of the suction surface of the suction unit 301 in a negative pressure state.

  When the adsorption mechanism of the adsorption unit 301 is chemical adsorption, for example, a gel-like viscous chemical substance may be applied to the surface of the adsorption surface of the adsorption unit 301. In that case, a mechanism for applying a current or the like to the suction unit 301 may be further provided so that the temperature of the suction surface can be controlled. By controlling the temperature of the adsorption surface of the adsorption unit 301, the viscosity of the chemical substance can be adjusted, and the desorption of the adsorption unit 301 to the structure surface can be controlled.

  Here, for example, in the movement using the arm as described above, the adsorption force required for the adsorption unit 301 depending on whether the movement over the step or the movement of the own vehicle body is levitated. Is different. Further, for example, the conditions required for the adsorption unit 301 are different depending on the difference in the above-described adsorption methods (magnetic force adsorption, vacuum adsorption, chemical adsorption, etc.), the material of the surface of the structure to be adsorbed, the weight of the vehicle body, and the like. Accordingly, the area of the suction portion 301 and the suction force are not particularly limited, and may be appropriately designed in consideration of these situations.

  Here, as described above, the moving vehicle 10 includes a control device (not shown) that comprehensively controls the driving of the moving vehicle 10. Below, the function and structure of the said control apparatus are demonstrated.

  For example, the control device may control the movement of the moving vehicle 10 by the wheel unit 500 by adjusting the rotation speed, rotation direction, and the like of the motor.

  The control device may control the operation of the arm 200, for example. Here, the operation of the arm 200 is, for example, individually driving the arm joint portions 202a, 202b, 202c, and 202d, and rotating and driving the arm members 201a, 201b, 201c, and 201d, respectively, to expand and contract the arm 200. It may be an action.

  The control device may control the operation of the structure holding unit 300. Here, the operation of the structure holding unit 300 may be, for example, an operation in which the adsorption unit 301 is adsorbed on the structure surface. When the adsorption unit 301 is adsorbed on the surface of the structure, the control device adjusts the adsorption force of the adsorption unit 301 by adjusting, for example, the amount of current in magnetic adsorption, the amount of air sucked in vacuum adsorption, the temperature in chemical adsorption, and the like. You may control. The operation of the structure holding unit 300 may be an operation in which the hooks 303a and 303b grip the structure, for example. For example, the control unit can individually drive the hooks 303a and 303b to grip the structure.

  In addition, the mobile vehicle 10 may further include a device for repairing equipment, various sensors for checking the situation, and the like, and the control device may control the driving thereof. Here, the various sensors may include, for example, a video acquisition device such as a camera, and may include known measurement devices such as an acceleration sensor, an angular velocity sensor, a GPS sensor, a thermometer, a hygrometer, and a barometer. In addition, when the moving vehicle 10 is an unmanned vehicle that operates by automatic control, the control device uses these various sensors to relate information on the position and shape of structures around the vehicle and the current position of the vehicle. Information or the like may be acquired. Furthermore, the control device can determine, for example, a moving route or a moving method using the arm 200 based on these pieces of information acquired by various sensors.

  Further, when the moving vehicle 10 is an unmanned vehicle that operates by remote operation, the control device may further include a communication unit that can communicate with a communication device provided outside. The operator can remotely operate the moving vehicle 10 via the communication device. Here, the control device receives, for example, information related to the position and shape of structures around the host vehicle, information related to the current position of the host vehicle, and the like acquired by the various sensors described above via the communication unit. Then, it may be transmitted to an external communication device. By referring to these pieces of information, the operator can remotely operate the moving vehicle 10 while grasping the situation at the work site.

  Furthermore, the control device may include a storage unit for storing various data, for example. The storage unit may store, for example, information on the position and shape of structures around the host vehicle, information on the current position of the host vehicle, and the like acquired by the various sensors described above. Further, the storage unit may store, for example, a computer program for realizing the function of the control device as described above. The control device can perform various controls based on the computer program. Here, the computer program may be distributed via the communication unit without being stored in the storage unit.

  The schematic configuration of the moving vehicle 10 according to the present embodiment has been described above with reference to FIGS. 1A to 1C and 2A to 2D. According to this description, the mobile vehicle 10 according to the present embodiment includes the vehicle body 100, the telescopic arm 200, the structure holding unit 300 provided at the tip of the arm 200, the traction member 400, and the traction member winding. Mechanism 600. Then, the mobile vehicle 10 winds the traction member 400 by the traction member winding mechanism 600 while the arm 200 is contracted (folded) while the arm 200 is extended and the structure holding unit 300 holds the structure. Thus, the vehicle body 100 can be moved toward the structure. Therefore, even when traveling in the corner of the structure or overcoming a step having a height equal to or higher than the vehicle height of the vehicle body, the vehicle can move more stably and the freedom of movement is improved.

  Moreover, the structure holding unit 300 of the mobile vehicle 10 according to the present embodiment does not matter the material of the surface of the structure when holding the structure. Accordingly, the degree of freedom of movement is further improved.

  In addition, when the moving vehicle 10 according to the present embodiment attempts to move to a structure provided above the host vehicle, the structure is held by the structure holding unit 300 provided at the tip of the arm 200. Then, it is possible to move directly to the structure. Therefore, since it is not necessary to go through a wall surface or the like, it is possible to move more efficiently.

  In addition, the moving vehicle 10 according to the present embodiment uses a force for contracting the arm 200 and a force for winding the pulling member 400 together when moving using the arm. Therefore, even when the driving force of the arm 200 is relatively small, the moving vehicle 10 can be moved more easily.

  Further, by supplying the driving force of the wheel unit 500 and the driving force of the traction member winding mechanism 600 with the same driving source (for example, a motor), an additional mechanism is not required, and the weight of the vehicle is reduced. Can do.

<2. Modified example of configuration of moving vehicle>
Next, with reference to FIGS. 3A and 3B, an example in which the moving vehicle further includes an interference avoidance mechanism will be described as a modification of the configuration example of the moving vehicle according to the present embodiment. 3A and 3B are side views showing a modification of the schematic configuration of the moving vehicle according to the present embodiment. Here, the configuration of the moving vehicle shown in FIGS. 3A and 3B is the same as the configuration of the moving vehicle shown in FIGS. 1A to 1C except that an interference avoidance mechanism is provided. The interference avoidance mechanism will be described.

  3A and 3B, the mobile vehicle 20 according to the present embodiment includes an interference avoidance mechanism 700 that adjusts the separation distance between the traction member 400 and the arm 200. The interference avoidance mechanism 700 has a function of adjusting the separation distance between the traction member 400 and the arm 200. For example, the traction member 400 is arranged below the traction member 400 by stretching the traction member 400 along the arm 200. It is possible to prevent contact (interference) with the object.

  The interference avoidance mechanism 700 includes, for example, a pulley (pulley) 701, an interference avoidance member 702, and an interference avoidance member winding mechanism 703. The pulley 701 is a moving pulley, and a portion of the pulling member 400 stretched between the structure holding unit 300 and the pulling member winding mechanism 600 is hooked on the pulley 701. Further, an interference avoidance member 702 is stretched between the pulley 701 and the interference avoidance member winding mechanism 703 provided at one part of the arm 200.

  Here, the interference avoiding member 702 may be a flexible linear member that can be wound by the interference avoiding member winding mechanism 703, and the structure and type thereof are not limited. For example, the interference avoiding member 702 may be a wire, a string, a rope, a chain, a link, or the like. 3A and 3B and other drawings, as an example of the interference avoidance member 702, an example in which the interference avoidance member 702 is a rope is illustrated, but the interference avoidance member 702 is limited to such an example. Instead, other structures as described above may be used. The interference avoiding member 702 is formed of a material that is not easily cut, and is formed of, for example, Kevlar fiber, steel wire, or the like, similar to the pulling member 400. Moreover, the site | part in which the interference avoidance member winding mechanism 703 is provided may be arm joint part 202c vicinity, as shown to FIG. 3A and B, for example, and another arbitrary site | parts may be sufficient as it.

  One end of the interference avoiding member 702 is connected to the pulley 701, and the other end is connected to the interference avoiding member winding mechanism 703. The interference avoiding member winding mechanism 703 may have a cylindrical drum, for example, like the pulling member winding mechanism 600. The interference avoidance member 702 can be wound up by rotating the drum. In other words, the interference avoiding member winding mechanism 703 functions to adjust the length of the interference avoiding member 702 stretched between the pulley 701 and itself. By appropriately adjusting the length of the interference avoiding member 702, the interference avoiding mechanism 700 can lift one portion of the tensioned pulling member 400 via the pulley 701.

  By providing the interference avoidance mechanism 700, it is possible to prevent the traction member 400 from contacting (interfering) with the obstacle when the arm is extended. Specifically, for example, when the arm 200 is extended to hold the structure with the structure holding unit 300, a case is assumed in which an obstacle exists between the vehicle body 100 and the target structure. In that case, for example, as shown in FIG. 3A, the arm 200 can avoid an obstacle by extending the arm 200 into a substantially inverted U shape. However, when there is no interference avoidance mechanism 700, that is, the traction member 400 is stretched between the structure holding unit 300 and the traction member take-up mechanism 600 provided in the vehicle body 100 in a straight line at the shortest distance. In some cases, the traction member 400 may come into contact with the obstacle. If the arm 200 is contracted while the traction member 400 is in contact with the obstacle, the traction member 400 and the obstacle rub against each other, and the traction member 400 may be damaged depending on the shape of the obstacle.

  The interference avoidance mechanism 700 according to the present embodiment functions to avoid such contact and interference between the pulling member 400 and the obstacle. For example, as shown in FIG. 3A, the length of the interference avoiding member 702 is adjusted, and the distance between the pulling member 400 and the arm 200 is adjusted, so that the pulling member 400 extends along the shape of the arm 200. Therefore, the interference between the pulling member 400 and the obstacle is avoided.

  Further, as described above, the interference avoidance mechanism 700 can adjust the length of the interference avoidance member 702 by the interference avoidance member winding mechanism 703. Here, the length of the interference avoidance member 702 may be appropriately adjusted according to the shape of the arm when the arm 200 is expanded and contracted and the shape of the obstacle to be avoided. For example, as shown in FIG. 3B, when the arm 200 is extended in a substantially M shape, the length of the interference avoiding member 702 is larger than that in the case where the arm shape shown in FIG. 3A is a substantially inverted U shape. It may be adjusted short. As described above, the interference avoidance mechanism 700 prevents contact and interference between the pulling member 400 and the obstacle, so that the degree of freedom of operation of the arm 200 is further improved.

  Here, the interference avoiding member winding mechanism 703 is connected to a control device provided inside the vehicle body 100, for example, by a cable (not shown) disposed along the arm 200, and the driving thereof is controlled. Good.

  As described above with reference to FIGS. 3A and 3B, the mobile vehicle 20 according to this modification includes the vehicle body 100, the telescopic arm 200, the structure holding unit 300 provided at the tip of the arm 200, and the traction. A member 400, a pulling member winding mechanism 600, and an interference avoidance mechanism 700 are provided. Therefore, the moving vehicle 20 can avoid contact (interference) between the traction member 400 and the obstacle when the arm 200 is extended. Therefore, since it is possible to avoid the traction member 400 and the obstacle from rubbing against each other and damaging the traction member 400, the arm 200 can be operated more freely. Accordingly, the degree of freedom of movement of the moving vehicle 20 can be improved.

  Here, the interference avoidance mechanism 700 may not have the interference avoidance member winding mechanism 703. When the interference avoidance mechanism 700 does not have the interference avoidance member winding mechanism 703, the interference avoidance member 702 is stretched between the pulley 701 and a part of the arm 200, for example, the arm joint portion 202c with a certain length. May be provided. In this case, for example, the length of the interference avoiding member 702 is appropriately designed in advance according to the usage method of the mobile vehicle 10 or the situation at the work site, so that the pulling member 400 and the obstacle come into contact with each other (interference). Can be avoided.

  In the above description, the case where the interference avoiding mechanism 700 has one pulley 701, one interference avoiding member 702, and one interference avoiding member winding mechanism 703 has been described. However, the present embodiment is not limited to such an example. The interference avoidance mechanism 700 may include a plurality of pulleys 701, interference avoidance members 702, and interference avoidance member winding mechanisms 703. In this case, for example, the position where the plurality of pulleys 701 are provided may be a plurality of different parts on the pulling member 400, and the position where one end of the interference avoiding member 702 is connected is the mutual position of the arms 200. It may be a plurality of different parts. That is, the distance between the pulling member 400 and the arm 200 may be adjusted by supporting a plurality of different portions of the pulling member 400 by the pulley 701. By individually controlling the lengths of the plurality of interference avoidance members 702, the separation distance between the pulling member 400 and the arm 200 can be adjusted in more detail.

  Further, in the above description, the case where the interference avoidance mechanism 700 supports the pulling member 400 using the pulley 701 has been described, but the present embodiment is not limited to such an example. A member (holding member) for hooking the pulling member 400 may not be a pulley, and may be, for example, a ring or a hollow tube.

<3. Levitation movement using arm>
From here, the moving method of the moving vehicle using an arm is demonstrated. The mobile vehicle according to the present embodiment can hold the structure existing above the host vehicle by the arm structure holding unit and retract the arm to pull up the host vehicle body to the structure. That is, the moving vehicle according to the present embodiment can levitate to a structure existing above the host vehicle. Hereinafter, such levitating movement using the arm of the moving vehicle according to the present embodiment will be described with reference to FIGS. 4A to 4E and 5A to 5F.

  Here, in the following description, a moving method of the moving vehicle 10 shown in FIGS. 1A to 1C will be described, but the same movement is possible in the moving vehicle 20 shown in FIGS. 3A and 3B. For the configuration of the moving vehicles 10 and 20, <1. Configuration of moving vehicle> and <2. Since it is described in <Modification Example of Configuration of Moving Vehicle>, description thereof is omitted here.

  4A to 5E and FIGS. 5A to 5F used for the following description, the direction from the moving vehicle toward the structure is defined as the vertical direction and indicated by the z axis. Here, the direction from the structure toward the moving vehicle (the negative direction of the z-axis) is the direction of gravity.

[3.1. Floating movement using the suction part of the arm]
First, with reference to FIGS. 4A to 4E, a description will be given of a rising and moving method using an arm suction portion. 4A to 4E are explanatory diagrams for explaining a levitating movement method using the adsorbing portion of the arm of the moving vehicle according to the present embodiment.

  First, the moving vehicle 10 moves to a position below the target structure 800 as shown in FIG. 4A. Since the wheel portion 500 of the moving vehicle 10 may have a flapper unit, the moving vehicle 10 raises its own vehicle body so that only the left rear wheel portion and the right rear wheel portion are grounded, for example, as shown in FIG. 4A. May be. Here, the structure 800 may be a pipe laid in a factory, for example.

  Next, as illustrated in FIG. 4B, the moving vehicle 10 extends the arm 200 toward the structure 800 and causes the adsorption portion 301 of the structure holding unit 300 to be adsorbed on the surface of the structure 800. When the adsorption unit 301 is adsorbed on the surface of the structure 800, the moving vehicle 10 contracts the arm 200 and winds the traction member 400 by the traction member winding mechanism 600. Due to the force that retracts the arm 200 and the force that winds the traction member 400, the moving vehicle 10 floats toward the structure 800, that is, in the positive direction of the z-axis, and as shown in FIG. Can move up to.

  As shown in FIG. 4D, the moving vehicle 10 further contracts the arm 200 and further winds the traction member 400 by the traction member winding mechanism 600 until the wheel portion 500 contacts the surface of the structure 800. When the wheel unit 500 contacts the surface of the structure 800, the moving vehicle 10 can drive the wheel unit 500 and move to a relatively stable place on the structure 800 as shown in FIG. 4E. Here, the materials of the first belts 504a, 504b, 504c, and 504d and the second belts 505a and 505b are appropriately selected so that the ground contact portion of the wheel unit 500 and the surface of the structure 800 have a sufficient frictional force. May be.

[3.2. Floating movement using arm hooks]
Next, with reference to FIGS. 5A to 5F, a method of rising and moving using an arm hook will be described. 5A to 5F are explanatory diagrams for explaining a method of rising and moving using a hook of an arm of a moving vehicle according to the present embodiment. Here, the levitating movement method using the hook of the arm is described in [3.1. Since only the moving method described in “Floating movement using the arm suction portion” and the structure holding method of the structure holding unit are different, only the differences will be mainly described in the following description.

  First, the moving vehicle 10 moves to a position below the target structure 900 as shown in FIG. 5A. For example, as shown in FIG. 5A, the moving vehicle 10 may raise its own vehicle body so that only the left rear wheel portion and the right rear wheel portion are grounded using a flapper unit of the wheel portion 500. Here, the structure 900 may be a pipe laid in a factory, for example. However, here, the structure 900 is a pipe having a smaller outer diameter as compared with the structure 800 shown in FIGS.

  Next, as shown in FIG. 5B, the moving vehicle 10 extends the arm 200 toward the structure 900 and grips the structure 900 by the hooks 303 a and 303 b of the structure holding unit 300. When the structure holding unit 300 grips the structure 900, the moving vehicle 10 retracts the arm 200 and winds the traction member 400 by the traction member winding mechanism 600. Due to the force that retracts the arm 200 and the force that winds the traction member 400, the moving vehicle 10 floats toward the structure 900, that is, in the positive direction of the z-axis, and as shown in FIG. Can move up to.

  The moving vehicle 10 can further drive the arm 200 and the pulling member winding mechanism 600 and pull up the own vehicle body until the structure 900 is positioned at the approximate center of the vehicle body 100 as shown in FIG. 5D, for example. Further, for example, as shown in FIG. 5E, the moving vehicle 10 can further grip the structure 900 by driving the wheel unit 500 by the flapper unit provided on the front and rear wheels.

  By gripping the structure 900 with the flapper unit, the mobile vehicle 10 can stably fix the vehicle body to the structure 900 even when the structure holding unit 300 is separated from the structure 900. Therefore, the arm 200 can be further extended to another structure 901 different from the structure 900 in a state where the vehicle body is fixed to the structure 900 by the flapper unit. The moving vehicle 10 can further move to another structure 901 by gripping another structure 901 with the hooks 303 a and 303 b of the structure holding unit 300.

  As described above with reference to FIGS. 4A to 4E, the moving vehicle according to the present embodiment retracts the arm and retracts the traction member in a state where the arm adsorption portion is adsorbed to the surface of the structure. Thus, the vehicle body can be lifted and moved up to the structure. As described with reference to FIGS. 5A to 5F, the moving vehicle according to the present embodiment contracts the arm and winds up the traction member while holding the structure with the hook of the arm. Can be lifted and moved up to the structure. Therefore, for example, compared to the case of moving using a wall surface or the like, it is possible to move to the destination in a shorter time, and more efficient movement can be realized.

  Here, for example, when an attempt is made to move up using only the arm, the arm is required to have a joint output and robustness to support its own weight and lift it. Further, as a characteristic of the arm, the weight increases in proportion to the reach distance, while the force for attracting the vehicle body decreases. Therefore, when attempting to fly using only the arm, the weight of the arm increases, and as a result, the weight of the vehicle may increase. As the weight of the vehicle increases, the weight that must be supported by the arm further increases, making arm design difficult. On the other hand, the moving vehicle according to the present embodiment uses both the arm and the traction member when levitating. That is, the moving vehicle can be lifted and moved by the force for contracting the arm and the force for winding the traction member. Therefore, even if the arm driving force is relatively small, the moving vehicle can move up and down. Moreover, the moving vehicle which concerns on this embodiment does not require the additional mechanism of a traction member winding mechanism by supplying the driving force which winds up a traction member with the motor which drives a wheel part. Therefore, the weight of the vehicle body can be further reduced, and the floating movement can be performed more easily.

  Moreover, the moving vehicle which concerns on this embodiment can perform levitation | floating movement repeatedly with respect to another structure from the moved structure. Here, the above-described floating movement using the adsorbing portion of the arm and the floating movement obtained by moving the hook of the arm may be combined with each other. That is, the moving vehicle according to the present embodiment can float and move by using the holding method of the structure holding unit depending on the size and shape of the structure. Accordingly, the degree of freedom of movement is further improved.

<4. Moving over steps using arms>
Heretofore, the rising and moving method using the arm according to the present embodiment has been described. Next, a method of moving over the level difference using the arm will be described.

  Below, with reference to FIG. 6A-D, the level | step climb movement method using an arm based on this embodiment is demonstrated. 6A to 6D are explanatory diagrams for explaining a method of moving over a step using the arm of the moving vehicle according to the present embodiment. Here, in the following description, the moving method of the moving vehicle 20 shown in FIGS. 3A and 3B will be described, but the same movement is also possible in the moving vehicle 10 shown in FIGS. For the configuration of the moving vehicles 10 and 20, <1. Configuration of moving vehicle> and <2. Since it is described in <Modification Example of Configuration of Moving Vehicle>, description thereof is omitted here. In addition, in order to simplify the description, in FIGS. 6A to 6D, the structure and operation of the moving vehicle 20 are illustrated by punch pictures. Further, in FIGS. 6A to 6D, the configuration of the arm 200 is simplified, and the case where the arm 200 is configured by two arm members is shown.

  First, as shown in FIG. 6A, the moving vehicle 10 is located at the lower stage of the step. When attempting to get over the step, first, as shown in FIG. 6B, the moving vehicle 10 extends the arm in the upper direction of the step, and sucks the suction portion 301 of the structure holding unit 300 on the upper floor surface. . Here, the pulling member 400 may be extended along the arm 200 so that the pulling member 400 does not contact the step by the interference avoidance mechanism 700.

  In a state where the suction portion 301 is attracted to the upper floor surface, the moving vehicle 20 retracts the arm 200 while rotating the wheel portion 500 in the direction of the step, and winds the traction member 400 by the traction member winding mechanism 600. take. Due to the driving force of the wheel unit 500, the force of contracting the arm 200, and the force of winding up the traction member 400, the moving vehicle 20 moves in the upper direction of the step as shown in FIG. 6C. By further driving the wheel unit 500, the arm 200, and the pulling member winding mechanism 600, the moving vehicle 20 can move to the upper stage of the step as shown in FIG. 6D.

  In the above, with reference to FIGS. 6A to 6D, the step climbing movement method using the arm of the moving vehicle according to the present embodiment has been described. In general, for a moving vehicle, for example, when the height of the step is larger than the height of the vehicle body, it is often difficult to get over the step with only the driving force of the wheel portion. In addition, as with floating movement, when trying to move over a step using only the arm, the arm requires a relatively large driving force. Therefore, in addition to an increase in the weight of the arm itself, a motor for driving the arm. There is a possibility that the battery and the like will be enlarged, and the weight of the entire vehicle may increase. As the weight of the vehicle increases, the weight that must be supported by the arm further increases, making arm design difficult. On the other hand, the moving vehicle according to the present embodiment uses both the force for contracting the arm and the force for winding the traction member when moving over the step. Therefore, even if the driving force of the arm is relatively small, it is possible to move over the step. Therefore, the freedom of movement can be further improved while suppressing an increase in the weight of the vehicle.

<5. Summary>
As described above, the following effects can be obtained in the mobile vehicle according to the embodiment of the present invention.

  The mobile vehicle according to an embodiment of the present invention winds the traction member by the traction member winding mechanism while the arm is contracted (folded) while the arm is extended and the structure is held by the structure holding unit. Thus, the mobile vehicle can be moved toward the structure. Therefore, even when traveling in the corner of the structure or overcoming a step having a height equal to or higher than the vehicle height of the vehicle body, the vehicle can move more stably and the freedom of movement is improved.

  Moreover, the structure holding unit of the moving vehicle according to the present embodiment does not matter the material of the surface of the structure when holding the structure. Accordingly, the degree of freedom of movement is further improved.

  In addition, for example, when the moving vehicle according to the present embodiment tries to move to a structure provided above the host vehicle, the structure is held by the structure holding unit provided at the tip of the arm. You can move directly to the structure. Therefore, since it is not necessary to go through a wall surface or the like, it is possible to move more efficiently.

  Moreover, the moving vehicle which concerns on this embodiment uses together the force which retracts an arm, and the force which winds up a traction member, when moving using an arm. Therefore, even if the driving force of the arm is relatively small, the moving vehicle can be moved more easily.

  Further, in the moving vehicle according to the present embodiment, an additional mechanism becomes unnecessary by supplying the driving force of the wheel portion and the driving force of the traction member winding mechanism with the same driving source (for example, a motor), The weight of the vehicle can be reduced.

  In addition to the above-described configuration, the moving vehicle according to the present embodiment may further include an interference avoidance mechanism. By providing the interference avoidance mechanism, it is possible to avoid contact (interference) between the pulling member and the obstacle when the arm is extended. Therefore, the traction member and the obstacle can be prevented from sliding and the traction member can be prevented from being damaged, so that the arm can be operated more freely. Accordingly, the degree of freedom of movement of the moving vehicle can be improved.

  The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to such examples. It is obvious that a person having ordinary knowledge in the technical field to which the present invention pertains can come up with various changes or modifications within the scope of the technical idea described in the claims. Of course, it is understood that these also belong to the technical scope of the present invention.

  For example, in the above-described embodiment, the example in which the moving vehicle includes only one arm has been described, but the present invention is not limited to such an example. For example, a moving vehicle may be provided with a plurality of arms, and movement with a higher degree of freedom can be realized by moving while holding a structure alternately by these arms.

  Further, for example, in the above-described embodiment, the case where the arm is configured by connecting a plurality of arm members by a plurality of arm joint portions has been described, but the present invention is not limited to such an example. The arm according to the present invention may have any configuration as long as it is a telescopic structure. For example, the arm according to the present invention may have a structure in which a plurality of tubular members having different diameters are inserted in a nested manner in order, and each member may slide to achieve expansion and contraction. .

  Further, for example, in the above embodiment, the example in which the wheel unit has the flapper unit has been described, but the present invention is not limited to such an example. The flapper unit is an example of a fall prevention member for a moving vehicle, and the fall prevention member may have another structure. For example, the moving vehicle may have a plurality of arms as described above, and may obtain stability by supporting the floor surface with an arm different from the arm holding the structure.

  Further, the moving vehicle according to the present invention is not limited to the configuration described above, and may be any type of vehicle. For example, the moving vehicle according to the present invention may be a magnetic vehicle that includes a wheel having a magnetic force in a wheel portion and can travel on the surface of the magnetic material.

DESCRIPTION OF SYMBOLS 10, 20 Moving vehicle 100 Car body 101 Chassis 102 Arm attachment part 200 Arm 201a, 201b, 201c, 201d Arm member 202a, 202b, 202c, 202d Arm joint part 300 Structure holding unit 301 Adsorption part 302 Hinge 303a, 303b Hook 304a, 304b Hinge 400 Pulling member 500 Wheel portion 600 Pulling member winding mechanism 700 Interference avoiding mechanism 701 Pulley 702 Interference avoiding member 703 Interference avoiding member winding mechanism

Claims (10)

An arm connected at one end to a partial region of the vehicle body and configured to be stretchable;
A structure holding unit provided at an end of the arm opposite to the side connected to the vehicle body;
A traction member winding mechanism that winds a traction member that is provided on the vehicle body and is stretched between the structure holding unit;
A moving vehicle comprising: The mobile vehicle according to claim 1, wherein an adsorption mechanism that adsorbs to a surface of the structure is provided in at least a part of the structure holding unit. The mobile vehicle according to claim 1 or 2, wherein a hook mechanism for gripping a structure is provided in at least a part of the structure holding unit. The arm includes a plurality of arm members and a plurality of arm joint portions that rotatably connect the ends of the plurality of arm members. The moving vehicle according to item. The mobile vehicle according to claim 1, further comprising an interference avoidance mechanism that adjusts a separation distance between the pulling member and the arm. The interference avoidance mechanism includes a pulley on which the traction member is hooked, and an interference avoidance member stretched between the pulley and a partial region of the arm. The moving vehicle described. The mobile vehicle according to claim 6, wherein the interference avoidance mechanism further includes an interference avoidance member winding mechanism for winding the interference avoidance member. The mobile vehicle according to claim 1, further comprising a fall prevention member that prevents the mobile vehicle from falling. The mobile vehicle according to claim 8, wherein the fall prevention member is a flapper unit provided at a wheel portion of the mobile vehicle. The mobile vehicle according to claim 2, wherein the adsorption mechanism includes at least one adsorption means of magnetic adsorption, vacuum adsorption, and chemical adsorption.

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