JP2016150681A - Robot for amphibian survey - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot for amphibian survey, which is compact, which can move in a narrow pipe path and on a grating floor even in atmosphere without air, and which can travel in water.SOLUTION: A robot 10 for amphibian survey comprises: a robot body 12 capable of mounting thereon, a measurement apparatus for measuring a surrounding state; travel means 14 for moving the robot body by driving under atmosphere; and in-water travel means for traveling the robot body in water, by moving fin parts 24a, 24b disposed on the robot body. The robot body is configured so that, when traveling in-water, the robot body can deform to an in-water travel shape in which the fin parts are expanded during in-water travel, and a narrow shape in which the robot body can travel in a pipe path having predetermined thickness, by making the fin parts narrower.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a land and land exploration robot capable of exploring a situation in a reactor containment vessel scheduled for decommissioning.

  An underwater vehicle with oscillating wings that can control not only propulsion but also steering and sag by oscillating (swinging) the wing like a fish fin and controlling the rise and fall by pouring and draining the tank (floating bag) Has been proposed (see, for example, Patent Document 1). Further, a power transmission mechanism using a power transmission mechanism that converts a drive of the rotary shaft into a special rocking motion depending on how the swing plate is attached to the rotary shaft, and a robot using the power transmission mechanism have been proposed. (For example, refer to Patent Document 2).

  On the other hand, due to the Great East Japan Earthquake and the tsunami damage caused by it, the cooling water circulation system control of the Fukushima Daiichi Nuclear Power Station was lost and the core was damaged. Toward the decommissioning of the reactor core, decontamination robots that work inside the reactor building and robots that investigate the situation inside the reactor containment vessel are under development at a rapid pace.

JP 2003-231396 A JP 2011-33186 A

  The investigation target necessary for the decommissioning of the core is the bottom of the Primary Containment Vesse (PCV). Its bottom is filled with contaminated water and has been found to be exposed to high radiation. In order to cope with this adverse condition, exploration by an unmanned exploration robot capable of underwater navigation is considered. This exploration robot has a variety of features in response to the harsh conditions, in addition to its mission to travel to polluted water even under high radiation doses and communicate the state of the bottom of the reactor containment vessel to our observers. Must be provided.

  For example, in order to enter the reactor containment vessel, it is required to move a narrow pipe line having an inner diameter of 100 mm communicating with the reactor containment vessel. In addition, since a grating floor is arranged in the reactor containment so as to cover the periphery of the core below the pipe line communicating with the reactor containment, the central direction of the reactor containment is on the grating floor. It is necessary to travel to the contaminated water at the bottom of the container and travel in different situations on the pipeline and on the grating floor.

  An object of the present invention is to provide a small amphibious exploration robot that can move on a narrow pipe line or a grating floor even in an atmosphere without water and can travel underwater.

The land and land exploration robot according to the invention described in claim 1 includes a robot body that can be equipped with a measuring device that measures a surrounding situation,
Traveling means for driving in the air to move the robot body;
An underwater exploration robot provided with an underwater navigation means for moving the fin body provided in the robot main body to make the robot main body go underwater,
It is possible to transform into an underwater traveling form in which the fin portion is expanded when underwater traveling and a narrowed form in which the fin portion is constricted and can travel inside a pipe having a predetermined thickness. It is.

According to a second aspect of the present invention, there is provided an aquatic land exploration robot, wherein the fin portion according to the first aspect swings and moves in a state where the fin portion is extended outward with respect to the robot body, A seat portion that couples one side to the swing shaft piece and scrapes the surrounding water by swinging the swing shaft piece to generate thrust;
The swing shaft piece is deformable into an underwater traveling form extended outward with respect to the longitudinal axis of the robot body and a narrowed form folded along the robot body. To do.

  A land-and-land exploration robot according to a third aspect of the present invention includes at least one pair of fin portions according to the first or second aspect that are extended outwardly symmetrically with respect to the longitudinal axis of the robot body. It is characterized by this.

According to a fourth aspect of the present invention, there is provided a water and land exploration robot according to the third aspect, wherein the robot main body has the measuring device arranged at one end in the longitudinal axis direction, and the center of gravity is located on the measuring device side in an underwater navigation mode. With a buoyancy on the other side,
A pair of the fin portions is provided in each of the front and rear portions in the longitudinal direction of the robot body.

  A land-and-land exploration robot according to the invention described in claim 5 is a longitudinal axis of the robot main body whose individual rotation direction and rotation speed are controlled as the traveling means according to any one of claims 1 to 4. It is characterized by having a pair of screw shafts arranged along.

  The robot for land and land exploration according to the invention described in claim 6 is the robot whose individual rotation direction and rotation speed are controlled as the traveling means according to any one of claims 1 to 4. A first screw shaft arranged along the longitudinal axis of the main body, and a second screw shaft that changes a traveling direction arranged in a direction intersecting the first screw shaft are provided. .

  The robot for water and land exploration according to the invention described in claim 7 is an imaging device, a water temperature measuring device, or a measuring device according to any one of claims 1 to 6, which captures a survey video or a still image, or It is one of the radiation dose measuring devices.

  INDUSTRIAL APPLICABILITY The present invention has an effect that it can provide an amphibious exploration robot that can move on a narrow pipe line or a grating floor even in an atmosphere without water and can travel underwater.

It is a front view which shows the structure of one Example of the robot for land and land exploration of this invention. FIG. 2 is a right side view of the water and land exploration robot of FIG. 1. It is a top view of the robot for land and land exploration of FIG. FIG. 2 is a bottom view of the water and land exploration robot of FIG. 1. It is a front view of the constriction form which folded the fin part of the robot for aquatic exploration of FIG. It is a front view which shows the structure of another Example of the robot for aquatic exploration of this invention. FIG. 7 is a right side view of the water and land exploration robot of FIG. 6. FIG. 7 is a perspective view of the water and land exploration robot of FIG. 6. It is a perspective view from the back surface side of the robot for land and land exploration of FIG.

  In the present invention, a robot body that can be equipped with a measuring device that measures the surrounding situation, traveling means that moves in the atmosphere to move the robot body, and a fin portion that is provided in the robot body is moved to move the robot body. An underwater navigation robot provided with an underwater navigation means for underwater navigation of the robot body, wherein the underwater navigation mode expands the fin portion during underwater navigation, and the fin portion is narrowed to a predetermined thickness. It can be transformed into a constricted form that can travel inside the pipe. Accordingly, it is possible to provide a small amphibious exploration robot that can move on a narrow pipe line or a grating floor even in an atmosphere without water and can travel underwater.

  That is, the amphibious exploration robot of the present invention can be transformed into a narrowed form capable of traveling inside a pipeline having a predetermined thickness, and can enter and move inside the narrow pipeline by the traveling means. After passing through the inside of the pipeline, it is further moved into the tank where water has accumulated, and after entering the water, it is transformed into an underwater cruising mode that expands the fin when underwater cruising, and underwater cruising By means, it can move in the water. The situation around the robot, such as the inside of the pipeline, the path to the inside of the tank where the water has accumulated, and the inside of the water, is reported to the observer and the like by the measuring instrument. Thereby, even if it is a reactor containment vessel, the situation investigation towards a decommissioning can be performed.

  The robot body of the amphibious exploration robot of the present invention may be any robot body that can travel inside a conduit having a predetermined thickness when deformed into a narrowed shape, for example, a cross section that crosses the longitudinal axis of the robot body. May have a cross-sectional shape that fits in the inner region of the pipe having a predetermined thickness. Therefore, as a preferable robot main body, in order to be able to move a narrow pipe line having an inner diameter of 100 mm communicating with the reactor containment vessel, a robot main body having an outer diameter of 90 mm or less and extending in the longitudinal axis direction is used. Can be mentioned.

  More preferably, in particular, in order to investigate in detail the bottom of the reactor containment vessel, the robot body is provided with a measuring device for measuring the surrounding situation at one end in the longitudinal axis direction, and this measuring device side is placed on the side of the measuring device during underwater navigation. Place weights, floats, and ballasts so that the center of gravity is on the opposite side. As a result, the robot body moves up and down with the measuring device facing downward and the longitudinal axis standing. For this reason, the bottom of the reactor containment vessel can be explored in detail.

  The traveling means of the amphibious exploration robot of the present invention is not limited as long as it can move at least inside the narrow pipeline and on the grating floor. It may be moved by the rotation of the wheels, but more preferably as a traveling means comprising a pair of screw shafts arranged along the longitudinal axis of the robot body whose individual rotation direction and rotation speed are controlled. As a traveling means, a first screw shaft disposed along the longitudinal axis of the robot body whose individual rotational direction and rotational speed are controlled, and a traveling direction disposed in a direction crossing the first screw shaft It is possible to reliably convert the rotation of the shaft into a forward / backward movement and a left / right rotation movement.

  The underwater navigation means of the amphibious exploration robot of the present invention may be any means as long as it moves underwater by moving the fin portion provided in the robot, and preferably the fin portion is outward with respect to the robot body. An oscillating shaft piece that oscillates in an extended state, and a seat portion that couples one side to the oscillating shaft piece and scratches the surrounding water by the oscillation of the oscillating shaft piece to generate thrust. And the swinging shaft piece is deformable into an underwater traveling form extended outward with respect to the longitudinal axis of the robot body and a constricted form folded along the robot body. .

  As a result, the pipe travels in a constricted form inside a pipe having a predetermined thickness, and in the water, the fin portion is swung in an underwater running form to obtain a thrust and sail to a desired location. The fin portion preferably includes at least one pair extending outwardly symmetrically with respect to the longitudinal axis of the robot body, and more preferably, the front and rear portions (in water) in the longitudinal direction of the robot body. One pair is installed in each of the upper and lower portions in a standing state.

  Specifically, a fin portion installed on one end side of the robot main body provided with a measuring device for measuring the surrounding situation, and a fin portion installed on the other end side not provided with the measuring device are divided into a plurality of Swing with electric motor. In this case, it is only necessary to realize the ascending / descending and forward / reverse movement of the robot body by taking into account the direction of thrust by the fins.

  As an example of preferable raising / lowering of the robot main body, for example, the buoyancy of the robot main body is set to a buoyancy that slightly sinks when the power is stopped, and the thrust of the two sets of fins on the front side and the rear side is increased. It arrange | positions so that it may face, and it raises by rock | fluctuating the fin part of a front part and a back part. On the contrary, the buoyancy of the robot body is set so that the buoyancy of the robot body can be gently raised when the power is stopped, and the thrusts of the two sets of fins on the front side and the rear side are directed downward, and the front part and the rear part You may make it descend | fall by rock | fluctuating a fin part with a part.

  Furthermore, by setting the buoyancy as neutral buoyancy, the thrust of one of the two fins on the front side (lower side) or the rear side (upper side) is directed in the direction of increasing or decreasing, and the other is reversed. Alternatively, it may be raised or lowered by swinging either one of the fin portion with the front portion or the rear portion. In addition, the air chamber that generates buoyancy is arranged on the rear side where the measuring device is not arranged, and the air chamber is expanded and contracted like a float, so that it rises and falls. Alternatively, the ballast tank may be more actively arranged in the robot body, and the surrounding water may be allowed to enter and leave the ballast tank to generate buoyancy / sinking force to raise / lower.

  As an example of the preferred movement of the robot body in the horizontal direction, it is possible to generate a thrust by swinging one of the pair of fins and advance in the other direction. In this case, the other fin portion that is not swung can be used as a rudder by inclining in the direction in which it wants to travel. For example, when turning left in the propulsion direction, the front fin portion is steered left (tilted), the rear fin portion is swung, and when turning right, the front fin is steered right ( Tilt), you can turn in the direction you want to go by swinging the back fin part.

  In addition, as a preferred example, since the pair of fin portions is provided in each pair of front and rear portions in the longitudinal direction of the robot body, the two fin portions on the swinging side are swung with a phase shifted by 90 °. As a result, it is possible to reduce blur due to the swinging of the robot body. In addition, the other fin part utilized as steering can be rotated in the direction which wants to advance by driving synchronously.

  The traveling means of the amphibious exploration robot according to the present invention includes a screw shaft arranged along the longitudinal axis of the robot body whose individual rotation direction and rotation speed are controlled. Thereby, for example, it becomes possible to travel on a narrow pipe line having an inner diameter of 100 mm that communicates with the reactor containment vessel and on a grating floor disposed so as to cover the periphery of the reactor core, and is immersed in the contaminated water at the bottom of the reactor containment vessel. be able to.

  The screw shaft used for movement in the atmosphere is formed by forming a helical screw blade along the longitudinal direction on the rotation axis. Along the flow can be generated. For this reason, when the robot body moves up and down with the measuring device facing down and the longitudinal axis is standing, the robot body is lifted by the rotation of the screw shaft in addition to the thrust due to the swing of the fins and the air chamber.・ It can assist thrust to descend.

  Further, since the spiral screw blades rotate, it is possible to move over not only on a grating floor in which metal materials are assembled in a lattice shape but also on some obstacles. Note that the pitch of the screw blades of the screw shaft does not coincide with the distance between lattices of the traveling grating. This is because if the pitch is the same, the screw blades are caught in the grating of the grating and cannot run.

  The amphibious exploration robot of the present invention also assumes exploration in a high-dose environment in order to explore the situation inside the reactor containment vessel scheduled for decommissioning. Therefore, when an electronic device that performs various drive controls is mounted, it is conceivable that a malfunction, failure, or the like due to radiation has occurred. Therefore, it is preferable to avoid mounting the electronic device. Therefore, it is possible to operate only the driving of the motor for driving the screw shaft and the fin portion (and adjusting the buoyancy) using only the strength of the power supply by the power cable.

  For this purpose, a screw shaft as a traveling means, at least two or more motors for driving a pair of fins, and a power cable for supplying power to each motor may be provided. Although all the drive parts may be performed by individual motors, there is a risk of the robot itself becoming large, so a motor that drives one of the pair of screw shafts and one of the pair of fins, and the pair of screw shafts It is good also as a structure provided with at least two motors, the motor which drives the other of this and the other of a pair of fin part.

  In this case, the swinging shaft pieces of the pair of fin portions are configured to be always urged to the outside of the main body even in a constricted form, and pass through a narrow pipe line having an inner diameter of 100 mm communicating with the reactor containment vessel. At the same time, a special drive control is not required because the swing shaft piece is widened. Further, the swing shaft piece is configured to swing by driving the motor when the swing shaft piece spreads, so that no special drive control is required.

  In addition, the tip of the swinging shaft piece that opens is configured to open in the direction of travel in the constricted configuration, so that the swinging shaft piece spreads as soon as it passes through the narrow conduit, and the power supply is completed after the exploration. When the cable is pulled back by pulling the cable, it is folded at the opening of the pipe line when entering the pipe line to form a narrowed shape.

  The measuring device of the amphibious exploration robot of the present invention is any one or more of an imaging device, a water temperature measuring device, and a radiation dose measuring device for photographing a survey video or a still image, and an illumination device that illuminates a photographing target Etc. are also included. Note that these measuring devices can also be deformed between the underwater navigation mode and the narrowing mode.

  For example, for an imaging device, when a symmetric stereoscopic image is measured from a stereo image based on the parallax of each other's video using two cameras, the two cameras must be separated by a fixed distance. For this reason, in the narrowed configuration, two cameras may be folded so as to be movable in a narrow pipeline, and the two cameras may be arranged at a predetermined distance when they pass through the pipeline.

  FIG. 1 is a front view showing a configuration of an embodiment of the aqualand exploration robot of the present invention. 2 is a right side view of the land and land exploration robot shown in FIG. FIG. 3 is a plan view of the land and land exploration robot of FIG. FIG. 4 is a bottom view of the water and land exploration robot of FIG. FIG. 5 is a front view of a constricted form in which a fin portion of the water and land exploration robot of FIG. 1 is folded.

  As shown in FIG. 1, the water and land exploration robot 10 of this embodiment moves along a narrow pipe line having an inner diameter of 100 mm communicating with the reactor containment vessel, so that the cross-sectional configuration perpendicular to the longitudinal axis has a maximum outer dimension of 90 mm or less. The robot main body 12 is provided. The robot body 12 includes a pair of screw shafts 14 provided along the longitudinal axis direction of the robot body 12 as traveling means for grounding the floor surface when traveling on the floor surface. The pair of screw shafts 14 includes spiral screw blades 18 having different winding directions on the side surfaces of the rotation shaft 16, and are rotated by two DC motors (not shown). It is possible to run and move even inside narrow pipes and on the grating floor by rotating on the ground.

  The spiral direction of the screw blades 18 is wound at the same pitch and in different winding directions, and the two DC motors are moved in different rotational directions by the control device inside the robot body 12. Furthermore, by rotating at the same number of rotations, it is possible to go straight, and by changing the rotational speed of one screw shaft 14, the tip position on the spot can be rotated even when turning or even laterally moving. Is also possible.

  At one end of the robot main body 12, a measuring device 20 including a camera for taking a survey moving image or a still image, a water temperature measuring sensor, and a radiation dose measuring sensor is arranged. The land-and-land exploration robot 10 as a whole has a buoyancy that is close to neutral buoyancy that gradually sinks in water, the one end side where the measuring device 20 is arranged is heavy, and the buoyancy on the other end side is large. For this reason, the robot body 12 floats vertically underwater with the measuring device 20 facing downward.

  In order to ascend / descend underwater and perform free underwater navigation in the horizontal direction, the robot body 12 includes four sets of fin portions 22a, 22b, 24a, and 24b as underwater navigation means. The individual fin portions are first fin portions 22a and 22b on the side close to the measuring device 20 and are arranged on opposite sides of the robot body 12 on which a pair of screw shafts 14 are arranged, and a second fin portion 24a on the far side. 24b are provided along the longitudinal axis direction of the main body 12. In the water, the robot body 12 floats vertically with the measuring device 20 downward, so that the first fin portions 22a and 22b are downward and the second fin portions 24a and 24b are upward.

  These four sets of fin portions 22a, 22b, 24a, and 24b are provided with swinging shaft pieces 26a, 26b, 28a, and 28b that swing and move outwardly with respect to the robot body 12, and the swinging shafts. The sheet portions 30a, 26b, 28a, 28b are provided with sheet portions 30a, 30b, 32a, 32b that combine one side and scratch the surrounding water by the swinging of the swinging shaft piece to generate thrust. These swinging shaft pieces 26 a, 26 b, 28 a, 28 b are deformed into an underwater traveling form extended outward with respect to the longitudinal axis of the robot body 12 and a narrowed form folded along the robot body 12. Is possible.

  As shown in FIGS. 1 to 4, the first fin portions 22 a and 22 b that are downward when traveling underwater have a pair of swing shaft pieces 26 a and 26 b that extend obliquely downward, and the pair of swing shafts. Sheet portions 30a and 30b are stretched between the pieces 26a and 26b and the side of the robot main body 12, and thrust is applied obliquely downward by swinging. For this reason, when the first fin portions 22a and 22b are swung, the buoyancy (weight in water) that gradually sinks is offset, and the buoyancy becomes neutral buoyancy or higher.

  Further, the second fin portions 24a and 24b that are located upward when traveling underwater extend substantially horizontally when the pair of swing shaft pieces 28a and 28b travel underwater as shown in FIGS. The sheet portions 32a and 32b are stretched between the pair of swing shaft pieces 28a and 28b and the side of the robot main body 12, and the sheet portions 32a and 32b are turned in the horizontal direction by swinging in the horizontal direction. Give thrust. For this reason, if the 2nd fin part 24 is rock | fluctuated, the robot main body 12 will obtain the thrust which moves to a horizontal direction.

  The swing shaft pieces 26a, 26b, 28a, 28b of the first fin portions 22a, 22b and the second fin portions 24a, 24b are driven by two DC motors that drive each of the pair of screw shafts 14. In this case, one of the swing shaft pieces 26a, 26b and the swing shaft pieces 28a, 28b on the same side of the first fin portions 22a, 22b and the second fin portions 24a, 24b is synchronized with one of the pair of screw shafts 14. The other swing shaft pieces 26a, 26b and the swing shaft pieces 28a, 28b on the same side of the first fin portions 22a, 22b and the second fin portions 24a, 24b are synchronized with each other and are driven by a DC motor. It is driven by the other DC motor of the shaft 14.

  The spiral direction of the screw blades of the pair of screw shafts 14 is arranged at the same pitch and in different winding directions so that the robot main body rotates in the reverse direction due to the rotation of the screw shaft 14 in water. To cancel out the moment. In addition, in the atmosphere, a pair of screw shafts can be rotated straight in different rotational directions and at the same rotational speed, and can be turned and further moved laterally by changing the rotational speed of one screw shaft. However, the tip position on the spot can be rotated.

  The land and land exploration robot 10 of the present embodiment includes first and second fin portions 22a and 22b and second fin portions 24a and 24b installed on both sides of the robot body 12 by the same two motors that drive a pair of screw shafts 14. Is swung and sails underwater. Specifically, by swinging both the lower pair of first fin portions 22a and 22b and the upper pair of second fin portions 24a and 24b quickly in an underwater floating state, the first fin portions 22a, The robot 10 is lifted by the thrust of 22b.

  The robot 10 sinks when the first fin portions 22a and 22b and the second fin portions 24a and 24b are stopped due to the buoyancy that slightly sinks when the power is stopped. When stopping at an arbitrary height position in the water, the robot 10 stops by gently swinging both the first fin portions 22a and 22b and the second fin portions 24a and 24b.

  The movement in the horizontal direction can be moved in the traveling direction by swinging the first fin portions 22a and 22b and the second fin portions 24a and 24b on the opposite side to the traveling direction with one motor. In this case, it is possible to turn by stopping the first fin portions 22a, 22b and the second fin portions 24a, 24b on the traveling direction side in the direction in which they want to proceed as a rudder. The movement in the opposite direction can be moved in the opposite direction by swinging the other first fin portions 22a, 22b and the second fin portions 24a, 24b with the other motor.

  As shown in FIG. 5, the first fin portions 22a and 22b and the second fin portions 24a and 24b are configured such that the swing shaft pieces 26a, 26b, 28a, and 28b have a cross-sectional configuration perpendicular to the longitudinal axis and a maximum outer dimension of 90 mm. It takes a narrowed shape that is folded along the robot body 12 below. As a result, it is possible to move a narrow pipe line having an inner diameter of 100 mm communicating with the reactor containment vessel. When exiting the narrow pipeline and entering the reactor containment vessel, it will be transformed into an underwater navigation mode as shown in FIG.

  The swing shaft pieces 26a, 26b, 28a, 28b of the first fin portions 22a, 22b and the second fin portions 24a, 24b of the water and land exploration robot 10 of the present embodiment are always outside the main body even in a narrowed form. For example, it is configured to be biased by a biasing member such as a spring. For this reason, since the swing shaft pieces 26a, 26b, 28a, 28b can be widened while passing through a narrow pipe line having an inner diameter of 100 mm communicating with the reactor containment vessel, special drive control is not required. Further, since the swing shaft pieces 26a, 26b, 28a, 28b are configured to swing by driving the motor when the swing shaft pieces 26a, 26b, 28a, 28b are spread, special drive control is not performed. It becomes unnecessary.

  After entering the inside of the reactor containment vessel, the robot main body 12 is grounded on the grating floor in which metal materials are assembled in a lattice shape and travels on the floor. Traveling on these pipelines and the grating floor is performed by a pair of screw shafts 14. Contaminated water is collected in the central part of the reactor containment vessel. After entering the contaminated water, the first fins 22a and 22b and the second fins 24a and 24b are driven to explore the bottom inside the reactor containment vessel in order to float vertically with the measuring device 20 downward. .

  The two DC motors are driven by a power cable 34 that feeds power to the opposite end of the measuring device 20 of the robot body 12. The power cable 34 has a power supply line for each motor twisted in the cable. The power cable 34 has a sufficient strength because the search robot 10 that has completed the search is collected by pulling the power cable 34.

  Further, since the tip end portions of the swinging shaft pieces 26a, 26b, 28a, 28b are configured to open toward the traveling direction in the narrowed configuration, when the power cable 34 is pulled back after the exploration is finished. In this case, when entering the pipe line, it is folded at the opening of the pipe line against the urging force to form a constricted form, so that there is also an advantage that the recovery operation becomes easy.

  FIG. 6 is a front view showing the configuration of another embodiment of the water and land exploration robot of the present invention. FIG. 7 is a right side view of the land and land exploration robot of FIG. FIG. 8 is a perspective view of the land and land exploration robot of FIG. FIG. 9 is a perspective view from the back side of the water and land exploration robot of FIG. Also for the land and land exploration robot 60 shown in FIG. 6, in order to move through a narrow pipe having an inner diameter of 100 mm communicating with the reactor containment vessel, the robot main body 62 whose cross-sectional configuration perpendicular to the longitudinal axis has a maximum outer dimension of 90 mm or less. Is provided.

  The robot main body 62 also has a single long screw shaft 64a provided along the longitudinal axis of the robot main body 62 as a traveling means for contacting the floor when traveling on the floor, and the long screw. Short screw shafts 64b and 64c that rotate in a direction orthogonal to the rotation direction of the long screw shaft 64a are disposed at both ends of the shaft 64a. Each of the screw shafts 64 a, 64 b, 64 c includes a spiral screw blade 68 on the side surface of the rotating shaft 66.

  The robot main body 62 is equipped with three DC motors. A first motor that drives the long screw shaft 64a, one short screw shaft 64b, and a second motor that drives the other short screw shaft 64c are provided in the robot body 62 along the longitudinal direction. A third motor 63 is mounted on the upper surface of the robot body 62 along the longitudinal direction. The third motor 63 is mounted side by side and is driven to switch between the first fin portion 72 and the second fin portion 74 that are driven when traveling underwater. ing. The first motor moves up and down by rotating the long screw shaft 64a forward or backward when traveling underwater. In addition, you may move up and down by taking in and out the water in the ballast tank which is not shown in figure with one motor of three.

  With these three screw shafts 64a, 64b and 64c, the screw blade 68 can rotate on the ground and in the narrow pipeline or on the grating floor, and the running path can be changed. That is, by rotating the long screw shaft 64a, the grounded portion of the screw blade 68 moves, so that the inside of the narrow pipe line can be moved. On the grating floor, the long screw shaft 64a moves forward. In addition, the forward direction of the robot body 62 can be changed by the rotation of the two short screw shafts 64b and 64c.

  The three screw shafts 64a, 64b, and 64c are made of PEEK (polyetheretherketone) material to reduce the weight of the robot 60 for land and land exploration.

  A camera that shoots an investigation video or still image so as to be juxtaposed with a third motor 63 mounted along the longitudinal direction on the upper surface of the body front portion 62a of the robot body 62, a water temperature measurement sensor, and a radiation dose measurement A measuring device 70 having a sensor is arranged. The land-and-land exploration robot 60 has a buoyancy close to neutral buoyancy as a whole, the main body front portion 62a side where the measuring device 70 is arranged is heavy, and the main body rear portion 62b side has a large buoyancy. For this reason, the robot body 62 floats substantially vertically underwater with the measuring device 70 downward. In addition, since the support members of the main body front portion 62a and the main body rear portion 62b of the robot main body 62 are made of aluminum, the strength is high.

  A main body rear portion 62b on the rear end side of the main body front portion 62a on which the three screw shafts 64a, 64b, 64c of the robot main body 62 are mounted in order to ascend / descend underwater and perform free underwater navigation in the horizontal direction. In addition, four sets of fin portions 72a, 72b, 74a, 74b are provided as underwater navigation means. The four sets of fins 72a, 72b, 74a, 74b are provided over two layers, the upper surface side on which the measuring device 70 is mounted on both the left and right side surfaces of the longitudinal axis of the robot body 62 and the lower surface side on which the screw shaft is exposed. It has been.

  The fin portions 72a, 72b, 74a, 74b provided on each of the left and right side surfaces in two upper and lower layers are swinging shaft pieces 76a that swing and move outwardly with respect to the robot body 62. , 76b, 78a, 78b, auxiliary swing shaft pieces 77a, 77b, 79a, 79b arranged on the inner side thereof, and swing shaft pieces 76a, 76b, 78a, 78b are coupled to one side to assist swing. Sheet portions 80a, 80b, 82a, 82b that generate thrust by scratching the surrounding water by swinging the swinging shaft piece passed to the robot body 62 via the shaft pieces 77a, 77b, 79a, 79b are provided. . Underwater running mode in which the swing shaft pieces 76a, 76b, 78a, 78b and the auxiliary swing shaft pieces 77a, 77b, 79a, 79b are extended outward with respect to the longitudinal axis of the robot body 62, and the robot It can be deformed into a narrowed shape folded along the main body 62.

  The first fin portions 72a and 72b arranged on the left and right sides of the surface on which the measuring device 70 of the robot main body 62 is mounted are pivoted at one end by a support shaft arranged on the robot main body 62 and in contrast with each other. The auxiliary swing shaft pieces 77a and 77b, which are rotatably supported so that the pieces 76a and 76b extend to the left and right, and whose one ends are supported by the same support shaft as the swing shaft pieces 76a and 76b, are inclined downward. It is rotatably supported so as to be extended. Sheet portions 80a and 80b are stretched between the swinging shaft pieces 76a and 76b and the auxiliary swinging shaft pieces 77a and 77b and the side of the robot body 62, and thrust is applied obliquely downward by the swinging.

  As for the second fin portions 74a and 74b arranged on the screw shaft side of the first fin portions 72a and 72b, respectively, one end of the second fin portions 74a and 74b is rotated by a support shaft arranged in the robot body 62, and the swing shaft piece 78a is contrasted with each other. 78b are rotatably supported so as to extend to the left and right, and the auxiliary swing shaft pieces 79a and 79b supported at one end by the same support shaft as the swing shaft pieces 78a and 78b are extended obliquely downward. It is supported so that it can rotate. Sheet portions 82a and 82b are stretched around the swing shaft pieces 78a and 78b and the auxiliary swing shaft pieces 79a and 79b and the side of the robot body 62, and thrust is applied obliquely downward by the swing.

  In the water and land exploration robot 60 of this embodiment, the robot main body 62 has a buoyancy close to neutral buoyancy that floats substantially vertically with the measuring device 70 downward, and the long screw shaft 64a is rotated forward or backward. By doing so, it floats and sinks in the vertical direction in water. A ballast tank (not shown) is arranged in the robot body 62, and the surrounding water is made to enter and exit from this ballast tank by one of the three DC motors, thereby generating buoyancy and sinking force so as to raise and lower. It may be configured.

  As for the movement in the horizontal direction in water, if one side of the first fin portions 72a and 72b and / or the second fin portions 74a and 74b is swung, thrust is generated at the swollen fin portion. Therefore, a thrust that moves to the opposing side is obtained. Specifically, in this embodiment, one of the left and right fins is driven by switching between one forward and reverse rotation of three DC motors. In this case, it is possible to turn by stopping the first fin portions 72a and 72b and the second fin portions 74a and 74b on the traveling direction side in the direction in which they want to proceed as a rudder. The movement in the opposite direction can be moved in the opposite direction by swinging the other first fin portions 72a, 72b and the second fin portions 74a, 74b by rotating the motor in the reverse direction.

  The land and land exploration robot 60 of this embodiment is driven by three DC shafts mounted on the three screw shafts 64a, 64b, 64c and the four fin portions 72a, 72b, 74a, 74b, and the water in the ballast tank. Take out and put in. The robot 60 has buoyancy close to neutral buoyancy, and is configured to raise and lower by generating buoyancy and sinking force by rotating the long screw shaft 64a forward or backward. By adjusting forward / reverse rotation of the screw shaft 64a, the robot 60 can be stopped at an arbitrary depth. On the other hand, the movement in the horizontal direction can be moved in the traveling direction by swinging the first fin portions 72a and 72b and the second fin portions 74a and 74b on the opposite side to the traveling direction with a DC motor.

  In addition, the 1st fin part 72a, 72b and the 2nd fin part 74a, 74b are the rocking | fluctuation shaft pieces 76a, 76b, 78a, 78b, and the auxiliary | assistant rock | rock arrange | positioned inside it like the robot 10 for land exploration. The shaft pieces 77a, 77b, 79a, and 79b have a narrowed shape that is folded so as to be along the robot body 62 whose cross-sectional configuration perpendicular to the longitudinal axis is a maximum outer dimension of 90 mm or less. As a result, it is possible to move a narrow pipe line having an inner diameter of 100 mm communicating with the reactor containment vessel.

  In this case, the swinging shaft pieces 76a, 76b, 78a, 78b and the auxiliary swinging shaft pieces 77a, 77b, 79a, 79b are supported by the same support shaft so that one end thereof is pivotable. The shaft piece and the auxiliary swing shaft piece are squeezed in a state of being biased so as to be rotated by a torsion spring, and are fixed by fixing means so as not to open the shaft pieces. When entering the conduit communicating with the reactor containment vessel, the fixing means is removed and the constriction is entered in accordance with the inner diameter of the narrow conduit. When exiting a narrow pipeline and entering the reactor containment vessel, it will transform into an underwater cruising mode.

  After entering the reactor containment vessel, the robot main body 62 is grounded on a grating floor in which metal materials are assembled in a lattice shape and travels on the floor. Travel on these pipelines and the grating floor is performed by the long screw shaft 64a, and the direction change is performed by the short screw shafts 64b and 64c. Contaminated water is collected in the central part of the reactor containment vessel. After entering the contaminated water, the first fin portions 72a and 72b and the second fin portions 74a and 74b are driven to explore the bottom inside the reactor containment vessel in order to float vertically with the measuring device 70 downward. .

  The three DC motors are driven by a power cable 84 that supplies power to the end of the main body rear portion 62b opposite to the measuring device 70 of the robot main body 62. The power cable 84 has a power supply line for each motor twisted in the cable. The power cable 84 has a sufficient strength because the search robot 60 that has completed the search is collected by pulling the power cable 84.

  In addition, since the tip portions of the swing shaft pieces 76a, 76b, 78a, 78b and the auxiliary swing shaft pieces 77a, 77b, 79a, 79b are configured to be opened in the traveling direction in the narrowed configuration, When the power cable 84 is pulled back by pulling the power cable 84 after completion of the process, it is folded at the opening of the pipe line against the urging force when entering the pipe line, so that the collecting operation becomes easy. There are also advantages.

  It can be moved in narrow pipes and under different conditions on the grating floor, can move up and down in the water, and can move freely underwater in the horizontal direction, and can conduct investigations necessary for decommissioning the core. .

10… Robot for land and land exploration,
12 ... Robot body,
14 ... screw shaft,
16 ... rotating shaft,
18 ... Screw blades,
20 ... measuring equipment,
22a, b ... fin part,
24a, b ... fins,
26a, b ... oscillating shaft pieces,
28a, b ... oscillating shaft pieces,
30a, b ... sheet part,
32a, b ... sheet part,
34 ... power cable,
60 ... Robot for land and land exploration,
62 ... the robot body,
62a ... the front part of the main body,
62b ... rear part of main body,
63 ... a third motor,
64a ... long screw shaft (first screw shaft),
64b ... short screw shaft (second screw shaft),
64c ... short screw shaft (second screw shaft),
66 ... rotating shaft,
68 ... screw blades,
70 ... measuring equipment,
72a, b ... fin part,
74a, b ... fin part,
76a, b ... oscillating shaft pieces,
77a, b ... auxiliary rocking shaft pieces,
78a, b ... oscillating shaft pieces,
79a, b ... auxiliary rocking shaft pieces,
80a, b ... sheet part,
82a, b ... seat part,
84 ... power cable,

Claims (7)

A robot body that can be equipped with a measuring device that measures the surrounding situation,
Traveling means for driving in the air to move the robot body;
An underwater exploration robot provided with an underwater navigation means for moving the fin body provided in the robot main body to make the robot main body go underwater,
An underwater vehicle that is capable of being deformed into an underwater traveling mode in which the fin portion is widened when traveling underwater, and a narrowed shape in which the fin portion is narrowed to travel inside a pipe having a predetermined thickness. Exploration robot. A swing shaft piece that swings in a state where the fin portion extends outward with respect to the robot body, and one side of the swing shaft piece is coupled to the swing shaft piece to swing the swing shaft piece. A sheet portion that generates thrust by scratching the surrounding water,
The swing shaft piece is deformable into an underwater traveling form extended outward with respect to the longitudinal axis of the robot body and a narrowed form folded along the robot body. The robot for land and land exploration according to claim 1.   3. The land and land exploration robot according to claim 1, wherein at least a pair of the fin portions are extended outwardly symmetrically with respect to the longitudinal axis of the robot body. The robot body is arranged with the measuring device at one end in the longitudinal axis direction, and has a center of gravity on the measuring device side and a buoyancy on the opposite side during underwater navigation,
4. The land and land exploration robot according to claim 3, wherein one pair of the fin portions is installed in each of the front and rear portions in the longitudinal direction of the robot body. 5.   5. The driving device according to claim 1, further comprising: a pair of screw shafts arranged along a longitudinal axis of the robot main body, each of which is controlled in rotation direction and rotation speed. The land exploration robot described in 1.   As the traveling means, a first screw shaft disposed along the longitudinal axis of the robot body whose individual rotational direction and rotational speed are controlled, and a traveling direction disposed in a direction intersecting with the first screw shaft. The robot for land and land exploration according to any one of claims 1 to 4, further comprising a second screw shaft to be changed.   The land according to any one of claims 1 to 6, wherein the measuring device is any one of an imaging device, a water temperature measuring device, and a radiation dose measuring device for photographing a survey moving image or a still image. Exploration robot.

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