JP2916398B2 - Work robot for tunnel - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tunnel work robot for performing various operations by traveling inside a relatively small or medium-sized tunnel formed of a sewage pipe or the like, which is difficult or difficult for workers to infiltrate. Belongs to the technical field.

[0002]

2. Description of the Related Art Conventionally, as a tunnel work robot, for example, a work robot that is driven by air pressure and hydraulic pressure supplied from outside the tunnel and travels inside the tunnel is known.

[0003] This conventional tunnel work robot has a configuration in which electric drive means which may cause a spark is avoided so as not to burn or explode the flammable gas staying inside the tunnel. Has become.

[0004] Conventionally, as a working robot for a tunnel, for example, a rotating tooth 10 which can abut on a wall surface of a tunnel is used.
0 (see FIG. 4) is known.

The rotating teeth 100 of this conventional tunnel working robot are used for opening a branch pipe covered or sealed with a sealant when the main pipe of the tunnel is repaired by spraying the sealant. It is formed in a cylindrical shape having an annular ground surface 100b provided with a circular hole 100a in the center at the tip and connected to the rotating shaft 200.

[0006]

In the above-mentioned conventional tunnel working robot, all of the traveling section and the working section are pneumatically operated.
Since it is driven by hydraulic pressure, the arrangement of the supply / discharge system for air pressure and hydraulic pressure is complicated, and the operability of the vehicle body and the working unit is reduced, and the workability is low.

Further, in the above-mentioned conventional tunnel working robot, the sealing agent is clogged in the circular hole 100a of the rotating tooth 100 in several operations, so that it must be frequently taken out of the tunnel and cleaned. Unless the center of the branch pipe is accurately detected, the opening of the branch pipe cannot be reliably performed, and thus there is a problem that workability is low.

The present invention has been made in consideration of such problems, and has as its object to provide a tunnel work robot having high workability.

[0009]

Means for Solving the Problems In order to solve the above-mentioned problems, a tunnel working robot according to the present invention employs the following means.

That is, in a first aspect of the present invention, in a tunnel working robot having a vehicle body capable of traveling in a tunnel, an electric motor is mounted as a traveling drive source inside the vehicle body, and air is supplied to the interior of the vehicle body under pressure. The air supply means is provided from outside the tunnel.

According to a second aspect of the present invention, there is provided the tunnel working robot according to the first aspect, further comprising an umbrella-shaped rotating tooth that can abut on a wall surface of the tunnel.

According to a third aspect of the present invention, in the tunnel working robot according to the first or second aspect, a check valve that allows only air to leak from the inside to the outside is provided on the body having a sealed structure. I do.

According to a fourth aspect of the present invention, in the tunnel working robot according to any one of the first to third aspects, the traveling unit includes a caterpillar having a traveling surface formed on an inclined curved surface corresponding to a wall surface of the tunnel. Features.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a tunnel work robot according to the present invention will be described below with reference to FIGS.

This embodiment shows a structure suitable for use in a relatively small-scale tunnel T such as a drain pipe or a sewage pipe buried in an urban area where workers cannot enter.

In this embodiment, an electric motor 2 is mounted inside a vehicle body 1 as a traveling drive source of a traveling section. The electric motor 2 causes the vehicle body 1 to travel by rotating the drive shaft 3 and moving the caterpillar 5 crawled endlessly between the driven shaft 4 and the driven shaft 4. An electric wiring 6 is connected to the electric motor 2 between a power supply installed outside the tunnel T and a controller. The electric wiring 6 is led out from a rear part of the vehicle body 1. In addition, the running surface of the caterpillar 5 is formed in a shape corresponding to the wall surface of the tunnel T and an inclined curved surface having an inclination angle θ in order to enhance running performance.

The vehicle body 1 has a hermetic structure, and is provided with a check valve 7 that allows only leakage of air A from inside to outside. An air supply pipe 8 which is a part of air supply means for supplying air A to the inside of the vehicle body 1 under pressure is led out of a rear portion of the vehicle body 1. The air supply pipe 8 is provided so as to house the electric wiring 6 therein, and is connected to a compressor or the like which is another part of the air supply means outside the tunnel T.

At the front of the vehicle body 1, there is a rotating tooth 9 as a working part.
Is equipped. The rotary teeth 9 have an umbrella shape with a flat head at the tip. A rotary shaft 10 is arranged in the radial direction of the tunnel T and is driven to rotate by a first hydraulic motor 11. The first hydraulic motor 11 is connected to a hydraulic cylinder 1 supported via an arm 12.
3 allows the slide drive in the radial direction of the tunnel T. Further, the hydraulic cylinder 13 is driven to rotate about the axis of the tunnel T by a second hydraulic motor 14 housed inside the vehicle body 1. Therefore, the rotating tooth 9 rotates and revolves inside the tunnel T. In addition, the revolving diameter of the rotating tooth 9 has variability.

A first hydraulic motor 11, a hydraulic cylinder 13, and a second hydraulic motor 14 for driving the rotating teeth 9 to rotate and revolve.
Is controlled by an electromagnetic valve unit 15 housed inside the vehicle body 1. An oil feed pipe 16 for supplying oil O is connected to the solenoid valve unit 15 between an oil tank and an oil pump installed outside the tunnel T. This oil feed pipe 16 is led out from the rear part of the vehicle body 1. The control of the solenoid valve unit 15 is performed via the electric wiring 6.

According to this embodiment, since the traveling drive of the vehicle body 1 is performed by a simplified drive structure such as the electric motor 2, even if there is an obstacle such as a foreign substance inside the tunnel T, it can get over the obstacle. Sufficient torque required to prevent slippage can be obtained. Further, since the traveling unit is driven by the electric motor 2 which does not rely on hydraulic pressure or air pressure, the arrangement of the supply / discharge system for driving is simplified, and the operability of the vehicle body 1 and the rotating teeth 9 is enhanced. Further, the structure of the running surface of the caterpillar 5 can increase the running contact area.

Further, the electric motor 2 and the electric wiring 6, which may generate a spark, are surrounded by the vehicle body 1 and the air supply pipe 8 to which the air A is supplied under pressure, and stay inside the tunnel T. Because it is shut off from flammable gas, it does not burn or explode flammable gas. The air A supplied under pressure contributes to cooling of each part of the vehicle body 1 and wiping of dust and the like. Further, the air A leaked from the check valve 7 of the vehicle body 1 to the inside of the tunnel T diffuses and dilutes the flammable gas remaining inside the tunnel T, thereby reducing the risk of combustion and explosion. Further, the check valve 7 of the vehicle body 1 prevents the flammable gas remaining in the tunnel T under high pressure from flowing into the vehicle body 1.

The rotating teeth 9 driven to rotate and revolve are:
The entire wall of the tunnel T (360
Various operations such as cleaning and repairing can be performed for (degree). In this work, a reaction posture of the stress applied to the rotating teeth 9 can be reliably received by the enlarged running contact area of the running surface of the caterpillar 5, so that a stable posture is ensured without causing the body 1 to fall or tilt. Is done.

In particular, when the main pipe Ta of the tunnel T is repaired by spraying the sealant, the main pipe Ta is used for opening the closed and closed branch pipe Tb with the sealant. Even if P is not accurately detected, the periphery of the branch pipe Tb is not unnecessarily ground by the umbrella-shaped rotating teeth 9. Further, as shown in FIG. 3, even when the opening is started off the center P of the branch pipe Tb, the rotating teeth 9 can be easily corrected and moved in the direction of the center P of the branch pipe Tb. The umbrella-shaped rotating tooth 9 can be used even when the branch pipe Tb is connected to the main pipe Ta of the tunnel T at an inclined angle as shown by a two-dot chain line in FIG. It is possible to cope without unnecessary grinding of the periphery of Tb.

Therefore, according to this embodiment, the workability of various works inside the tunnel T is improved.

As described above, in addition to the illustrated embodiment, the rotary teeth 9 can be driven by an electric motor, a gear, or the like.

[0026]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The angle of the umbrella of the rotary teeth 9 in the embodiment shown in FIGS. 1 to 3 is approximately 90 degrees. This corresponds to the current situation in which the branch pipe Tb is connected to the main pipe Ta of the tunnel T at an inclination angle of 45 degrees or less.

[0027]

As described above, the working robot for tunnel according to the present invention has the effect of improving the workability of various works inside the tunnel, which is common to each claim.

Furthermore, the third aspect of the present invention has the effect that the combustion and explosion of the flammable gas remaining inside the tunnel can be more reliably prevented.

In addition, only the fourth aspect has the effect of improving the running performance of the vehicle body, preventing the vehicle body from tipping over and tilting, and securing a stable posture during the operation of the work machine.

In addition, only the fifth aspect has the effect of improving the running performance of the vehicle body, preventing the vehicle body from tipping over and tilting, and ensuring a stable posture during operation of the work machine.

[Brief description of the drawings]

FIG. 1 is a side view in use showing an embodiment of a tunnel work robot according to the present invention.

FIG. 2 is a front view of FIG.

FIG. 3 is a sectional view showing an operation of a main part of FIGS. 1 and 2;

FIG. 4 is a perspective view showing a main part of a conventional tunnel work robot.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Body 2 Electric motor 7 Check valve 8 Air supply pipe (air supply means) 9 Rotating tooth A Air O Oil T Tunnel

Claims (4)

(57) [Claims] 1. A tunnel work robot having a vehicle body capable of traveling inside a tunnel, wherein an electric motor is mounted as a traveling drive source inside the vehicle body, and air supply means for pressurizing and supplying air to the interior of the vehicle body. A tunnel work robot, which is provided from outside the tunnel. 2. The tunnel work robot according to claim 1, further comprising an umbrella-shaped rotating tooth that can contact a wall surface of the tunnel. 3. The tunnel work robot according to claim 1, wherein a check valve is provided on the vehicle body having a sealed structure to allow only air to leak from inside to outside. . 4. The tunnel working robot according to claim 1, wherein the traveling unit includes a caterpillar having a traveling surface formed on an inclined curved surface corresponding to a wall surface of the tunnel. Working robot.