JP2948287B2 - Cleaning robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a robot for cleaning a wall surface of a cooling water intake / drainage channel in a power plant or the like.

[Conventional technology]

A cleaning robot has been developed for a culvert-type intake / drainage channel in a low-speed flow or without running water, but a cleaning robot that can be used in a high-speed flow has not yet been developed.
This is because the fluid drag increases in a high-speed flow, and it is difficult to use a conventional low-speed robot.

[Problems to be solved by the invention]

An object of the present invention is to provide a working robot that can be used in high-speed flowing water in a culvert-type intake / drainage channel.

That is, the present invention seeks to optimize the robot shape and reduce the size thereof in order to reduce the fluid drag of the working robot in order to enable use in high-speed running water, and to improve the efficiency of attached matter, that is, to reduce the amount of residue. An object of the present invention is to provide a cleaning robot having a removing / collecting function.

[Means for solving the problem]

In order to achieve the above object, a cleaning robot according to the present invention is a robot for cleaning a wall of a water channel, wherein the rotary shaft is mounted on a main body of the robot so as to be substantially horizontal and rotatable, and is rotationally driven by a hydraulic torque actuator. And a collection arm attached to the tip of the rotation axis so as to be orthogonal to the rotation axis, a telescopic arm attached to the collection arm so as to be able to protrude and retract, and a pivotable outer end of the telescopic arm. A hood that is attached and has a cutting and removing mechanism for the deposits on the wall surface and a hood for preventing the deposits removed by the cutting and removing mechanism from escaping to the periphery, and a collecting port formed on the hood and having a collecting port connected to a collecting pump. A collection mouse for use with the collection arm and the telescopic arm so that the telescopic arm can be held at a predetermined position and the telescopic arm can be protruded and retracted with respect to the collection arm. And a hydraulic cylinder type telescopic machine interposed between the telescopic arm and the collecting mouse so as to control the posture of the collecting mouse so that the collecting mouse faces the cutting surface when the collecting arm rotates. A hydraulic cylinder type attitude control device interposed therebetween, and a control unit capable of detecting the amount of eccentricity between the rotation axis of the recovery arm and the center of the cross section of the water channel and adjusting the length of the telescopic arm. It is characterized by:

[Action]

In the above-described cleaning robot of the present invention, all of the rotation operation of the collection arm, the expansion / contraction operation of the telescopic arm, and the attitude control operation of the rotary mouse can be performed by the hydraulic torque actuator. Thus, the shape of the robot body can be optimized with respect to the fluid drag.

Further, in cutting and removing the adhering material on the wall surface, it is not necessary to press the collecting mouse against the wall surface, so that the driving force for moving the collecting mouse can be reduced.

〔Example〕

FIG. 1 is a plan view of a cleaning robot according to an embodiment of the present invention.
Fig. 3 is a side view, Fig. 3 is a front view, Fig. 4 is a schematic view showing the movement of the collection mouse together with the cross section of the culvert, Fig. 5 is a plan view of the same, Fig. 6 is cutting when the collection mouse is moving. FIG. 7 is a schematic diagram showing the movement control of the collection mouse, FIG. 8 is a schematic diagram showing the distribution of force during cutting by the collection mouse, and FIG. 9 is a schematic diagram showing the same torque distribution. It is.

Reference numeral 1 denotes a main body of a robot for cleaning adhering matter on the wall of a culvert. The main body 1 of the robot is provided with a crawler 5 for forward and backward movement at a lower portion thereof, and has a main body 1 on a side portion thereof.
A posture detecting device 6 for detecting the left and right positions of the culvert further contacts the ceiling surface of the culvert 10 as shown in FIG. 2 to prevent the main body 1 from sliding due to the water flow in the culvert 10. Holding device 4 (this holding device has the same configuration as that of the conventional device, and therefore the description is omitted). Reference numeral 3 indicates a fender on the side wall.

The main body 1 is provided with a collecting device for removing deposits on the wall of the culvert 10. The collection device includes a posture holding mechanism 22 for holding the suction port of the collection mouse 21 facing the wall, a collection arm 23, a telescopic arm 24, and a hydraulic torque actuator that applies a rotational force to the collection arm 23.
25 and a recovery pump 26.

The collection mouse 21 has a mechanism for cutting off and removing adhering matter (a cutting and removing mechanism for adhering matter) and a hood for preventing the removed adhering matter from dispersing to the surroundings. A connection port is provided.

Further, the posture holding mechanism 22 is a hydraulic cylinder type posture control that controls the posture of the collection mouse 21 so that the suction port of the collection mouse 21 faces the cutting surface when the collection arm 23 rotates by an angle θ (to be described in detail later). The collection arm 23 is formed in a cylindrical body, and is provided with a telescopic arm 24 described later.
Together, they constitute a manipulator, and the inside also serves as a collection pipe.

The telescopic arm 24 is formed of a cylindrical body, forms an inner cylinder of the manipulator, and the inside thereof also serves as a recovery pipe. Then, the collection arm is operated by the hydraulic cylinder type telescopic machine 28.
It is configured to be able to cope with distance fluctuations due to the rotation of the collection arm 23 after entering and exiting the collection arm 23.

The symbols W and W 'in the figure indicate the width of the opening for inserting the cleaning robot into the culvert 10 and the depth, and H
Indicates the height of the culvert 10, and B indicates the width of the culvert 10, respectively.

Reference numeral 27 in the figure denotes a rotating shaft which is disposed substantially horizontally on the main body 1 and is driven to rotate by a hydraulic torque actuator 25. A collection pipe is provided inside the rotating shaft 27 and the tip thereof is provided. The collection arm 23 is attached to the section so as to be orthogonal to the rotating shaft 27, and the hydraulic actuator 25
Thus, the recovery arm 23 can be rotated in the direction indicated by the arrow in FIGS. 6, 8, and 9 (or in the opposite direction).

Reference numeral 29 denotes a rubber hose connecting the collection port of the collection mouse and the telescopic arm 24.

The traveling movement of the main body 1, the expansion / contraction operation of the telescopic arm 24, and the rotation operation of the recovery arm are all hydraulic, and a hydraulic pump, a hydraulic torque actuator, a solenoid valve, and the like are housed in the main body 1. The drive force is minimized and the size of the device is reduced so that the robot body can be optimized for the fluid drag.

Next, the operation will be described with reference to FIGS. The position of the main body 1 of the robot is adjusted so that the rotation center of the recovery arm 23 at the time of the cutting operation, that is, the rotation shaft 27 is located at the center of the cross section of the culvert.

The cutting operation under the so-called step control in which the length 1 of the collection arm 23 is adjusted stepwise within a certain angle range of the rotation angle θ of the collection arm 23 will be described.

In FIG. 6, the collection mouse 21 was collected at the length l ₀ of the collection arm.
Is located at A and performs wall cleaning. Then a recovery mouse 21 to rotate the theta ₁ just recovering arm length of l ₀ is the position of the B. Next, from this state, the collection arm is extended until the collection mouse comes into contact with the wall surface (l ₀ → l ₁ ).
Position. Furthermore, without changing the length l ₁ of the recovery arm, θ
_{After two} rotations, the collection mouse 23 comes to the position of D. When the recovery arm is extended from l _{1 to} l ₂ , the recovery arm comes to the position of E and comes into contact with the wall surface. Now it is theta ₃ rotated by the length l ₂ constant recovering arm comes to the position of F. Here, the collection mouse is brought to the position G as l ₂ → l ₃ . Cleaning is performed by sequentially repeating this operation. The above operation is automatically performed according to the flowchart shown in FIG.

In addition, when the recovery arm 23 is rotated in the direction of contraction, it is needless to say that the rotation is performed after the length to be contracted is rotated and then contracted before rotating. The hatched portion in FIG. 6 indicates the uncut portion.

Here, the frictional force acting on the wall surface during the above-described cutting operation will be examined.

In FIG. 8, the torque T for the recovery mouse to perform cutting forward will be considered as an example when the mouse is located at the bottom of the culvert. Note underdrain this case a square cross section, l: arm length (shortest) f _1: arm cylinder pushing force f _2: Rod Weight and mouse weight f _3: cutting reaction force f _4: wall friction force f _5: rotation by torque Force T / (l ÷ cosθ).

In order for the collecting mouse to perform cutting forward, forward force (horizontal component of rotational force due to torque T)> (cutting reaction force) + (wall friction force) + (horizontal component of arm cylinder pressing force) where wall friction force = friction coefficient mu × vertical load (or grounded load) = μ × [{T / (l ÷ cosθ)} · sinθ + f 1 cosθ + f 2] That {T / (l ÷ cosθ) } · cosθ> f 3 + μ [{T / (L ÷ cos θ)｝ · sin θ + f ₁ cos θ + f ₂ ] + f ₁ sin θ Equation (1) From equation (1), the torque distribution required for the collection mouse to move the culvert wall as shown in FIG. Become.

From FIG. 9, the torque required for the recovery mouse to perform cutting forward (moving by left rotation) is in the direction of contracting the hydraulic cylinder type telescopic device 28 of the rotating arm, that is, the arm cylinder pressing force.
It becomes excessive in the mobile area against the f _1. (Note, on the left wall, the required torque is large, because the recovering arm rod weight and mouse weight is applied, a reverse in the right wall surface) of the pushing force f ₁ of this for hydraulic cylinders telescoping device 28 zero By setting (f ₁ = 0), that is, by performing control without pressing against the wall surface during this cutting movement, the required torque can be reduced.

Thus, the recovery mouse for cutting and removing the wall deposits pushing force f ₁ of the hydraulic cylinder telescopic device 28 when rotating moves along the wall surface constant holding (cutting reaction force retention against only) Since the wall surface is not pressed as it is, that is, during the cutting movement, the accumulator can be eliminated and the movement driving force can be reduced.

By the operation of the collection mouse, the removal / collection operation is completed by one cycle of rotation of the collection arm, the required driving force can be reduced, and the rotation device (torque actuator) and the arm structure can be reduced in size and weight.

The above description is based on the premise that the rotation axis of the collection arm 23 coincides with the center of the cross section of the culvert. However, there is a possibility that the rotation axis of the rotation arm 23 and the center of the cross section of the culvert may become inconsistent due to the traveling of the robot. is there.

Even in such a case, the eccentric amounts δ _X , δ _{Y of the} center of rotation are required to move the rotational movement trajectory of the recovery mouse so as to be similar to the sectional shape of the culvert while keeping the pressing force of the recovery mouse constant. And a control unit capable of controlling the length of the telescopic arm by detecting the control signal.

It is desirable to provide a control mechanism for keeping the moving speed of the collection mouse constant.

When the culvert shape data is accurately grasped, θ
And may be carried out a program set to advance the numerical control as a target value the relationship l and beta, also detects the optimum conditions for cutting and removing _{(θ, α, δ X,} δ Y) further if ask attached a feedback system to Appropriate cutting can be performed.

It should be noted that β can be obtained by calculation if the rotation angle θ of the rotation axis can be detected, since the dimensions of the collected mouse are known.

Needless to say, the same effect can be obtained even when the sectional shape of the culvert is other than square (for example, circular or horseshoe-shaped).

〔The invention's effect〕

As described above, according to the cleaning robot of the present invention, the following effects and advantages can be obtained.

(1) Since all of the rotation operation of the collection arm, the expansion / contraction operation of the telescopic arm, and the attitude control operation of the collection mouse can be performed by the hydraulic torque actuator, the operation device can be downsized and the fluid of the robot body can be reduced. Shape optimization for drag can be achieved.

(2) Since it is not necessary to press the collecting mouse against the wall surface when cutting and removing the adhered matter on the wall surface, the driving force for moving the collecting mouse can be reduced.

(3) Since the removal of the adhering material on the wall surface is performed by rotating the collecting arm after the collection mouse is brought into contact with the wall surface, it is possible to remove the adhering material on the wall surface with little leftover.

[Brief description of the drawings]

1 to 9 show a cleaning robot according to an embodiment of the present invention. FIG. 1 is a plan view, FIG. 2 is a side view, FIG. 3 is a front view, and FIG. FIG. 5 is a schematic view showing the movement of the collection mouse together with the cross section of the culvert, FIG. 5 is a plan view of the same, FIG. 6 is a schematic diagram showing a cutting state when the collection mouse is moved, and FIG. , FIG. 8 is a schematic diagram showing the distribution of force during cutting by the collection mouse,
FIG. 9 is a schematic diagram showing the torque distribution. 1 ... body, 4 ... holding device, 5 ... crawler, 6 ...
Posture detection device, 10… culvert, 21… collection mouse, 22…
Posture holding mechanism, 23 ... Recovery arm, 24 ... Telescopic arm,
25 ... Hydraulic torque actuator, 26 ... Recovery pump, 27 ... Rotary shaft, 28 ... Hydraulic cylinder type telescopic machine, 29 ...
... rubber hose.

──────────────────────────────────────────────────続 き Continued on front page (72) Inventor Yoshio Okubo 1-3-1 Uchisaiwaicho, Chiyoda-ku, Tokyo Tokyo Electric Power Company (72) Inventor Susumu Tsuzuki 1-3-1 Uchisaiwaicho, Chiyoda-ku, Tokyo TEPCO (72) Inventor Motoyoshi Adachi, 5th Bancho, Chiyoda-ku, Tokyo Toa Construction Industry Co., Ltd. (72) Inventor Ken Kato 5 Yonbancho, Chiyoda-ku, Tokyo Toa Construction Industry Co., Ltd. (72) Invention Person Masanari Tsuji 1-1-1, Wadazaki-cho, Hyogo-ku, Kobe-shi, Hyogo Mitsubishi Heavy Industries, Ltd.Kobe Shipyard (72) Inventor Koichi Hayashiba 1-1-1, Wadazaki-cho, Hyogo-ku, Kobe-shi, Hyogo Kobe Shipyard Co., Ltd. (56) References JP-A-64-54167 (JP, A) JP-A-62-282609 (JP, A) JP-A-1-139181 (JP, A) Open flat 3-281842 (JP, A) JitsuHiraku flat 4-41582 (JP, U) JitsuHiraku Akira 49-6673 (JP, U) (58 ) investigated the field (Int.Cl. ^6, DB name) B08B 9 / 02 E03F 9/00

Claims (1)

(57) [Claims] 1. A robot for cleaning a wall of a water channel, wherein the rotating shaft is mounted on a main body of the robot so as to be substantially horizontal and rotatable, and is rotationally driven by a hydraulic torque actuator; A collection arm mounted to be orthogonal to the axis, a telescopic arm mounted to the recovery arm so as to be able to protrude and retract, and a mechanism for cutting off the adhering matter on the wall surface rotatably mounted to the outer end of the telescopic arm And a collection mouse for collecting the attached matter, which has a hood for preventing the attached matter removed by the same cutting and removing mechanism from dispersing to the periphery, and a collecting port formed in the hood and connected to a collecting pump,
A hydraulic cylinder-type telescopic machine interposed between the collection arm and the telescopic arm so as to hold the telescopic arm at a predetermined position and allow the telescopic arm to be retractable from the collection arm; A hydraulic cylinder-type attitude control device interposed between the telescopic arm and the collection mouse so as to control the attitude of the collection mouse so that the collection mouse faces the cutting surface during rotation of the collection arm; A cleaning robot, comprising: a control unit capable of detecting the amount of eccentricity between a rotating shaft and a cross-sectional center of the water channel and adjusting the length of the telescopic arm.