JP3009540B2 - Inspection robot for both high places and underwater - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inspection robot for both high places and underwater.

[0002]

2. Description of the Related Art Conventionally, for example, in a nuclear power plant, a dedicated high-altitude inspection device and an underwater inspection device have been used for performing an altitude inspection inside and outside a plant building and an underwater inspection of a storage pool.

[0003] However, these devices require dedicated devices for each of the high-altitude inspection position and the underwater inspection position, so that not only the cost is increased but also the preparation and cleaning of the device are troublesome.

[0004]

DISCLOSURE OF THE INVENTION The present invention has been proposed in view of such circumstances, and a high-altitude inspection and an underwater inspection can be performed with the same device. It is an object of the present invention to provide an economical high altitude / underwater inspection robot capable of saving labor.

[0005]

For this purpose, the present invention relates to an inspection unit body with a float which is disposed at the center and allows the visual recognition mechanism to be suspended downward, and a lower end of which is connected to the center of the top plate of the inspection unit body. The stopped balloon and a relatively large diameter coaxially fixed to the inspection unit main body at the outer ends of a plurality of stabilizer aggregates radially protruding from the outer peripheral surface of the inspection unit main body at equal intervals. An annular buoyancy body, a movable flap and a vertical propeller respectively attached to the middle and upper levels of the middle of each of the stabilizer aggregates, and a rotatable insert that is rotatably inserted into the drive shaft of each of the propellers and has a pitch opposite to that of the propellers And a relatively small-diameter ring wing fixed to the outer end of the turbo fin and formed coaxially with the drive shaft.

[0006]

According to the above construction, an inspection unit body with a float disposed at the center and capable of suspending the visual recognition mechanism downward, and a balloon having a lower end locked to the center of the top plate of the inspection unit body A relatively large-diameter annular buoyant body fixed coaxially to the inspection unit body at outer ends of a plurality of stabilizer aggregates radially protruding from the outer peripheral surface of the inspection unit body at regular intervals. A movable flap and a vertical propeller attached to the middle and upper levels of the stabilizer aggregate, respectively, and a turbo fin rotatably inserted into a drive shaft of each of the propellers and having a pitch opposite to that of the propeller. Since a relatively small ring wing fixed to the outer end and formed coaxially with the drive shaft is provided, it is possible to perform high-level inspection and underwater inspection with the same device. Can, with the device number halved, action preparation and cleanup operations of the apparatus is reduced by a large margin is performed.

[0007]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a vertical sectional view, FIG. 2 is a top view, and FIG. 3 is a partial bottom view. Is a relatively low vertical cylindrical inspection unit main body having an opening. A float 2 having a rectangular cross section in which a control unit, a power supply unit and the like are hermetically sealed is annularly provided on an inner peripheral surface of a lower end portion thereof. Reference numeral 3 denotes a pair of left and right parallel support members 4 and 4 respectively suspended from the lower surface of the top plate of the inspection unit body 1.
A pair of front and rear take-up drums 5 supported by gears mesh with gears 6 respectively attached to the left and right ends of the take-up drum 3 and a pair of front and rear pinions meshed with each other. A total of four cables are wound around the possible winding drums 3 and 3 in pairs, and a viewing mechanism 8 with an illumination lamp capable of tilt pan is suspended at the lower end thereof. 9 is a hook 10 protruding above the center of the top plate of the inspection unit main body 1.
Is a spherical balloon surrounded by a mesh rope 11 having a lower end connected thereto, and filled with helium gas for lifting assist. As shown by a chain line with the lower end of the mesh rope 11 as a center,
It is possible to swing slightly. Numeral 12 denotes three equal-length vertical plate-shaped stabilizer aggregates protruding radially at equal intervals on the outer peripheral surface of the inspection unit main body 1, and 13 has an inner peripheral surface supported by the distal end portion of each stabilizer aggregate 12. A relatively large-diameter aerial annular buoyant body which is disposed coaxially with the inspection unit main body 1 and in which helium gas for assisting lift is sealed. Reference numeral 14 denotes a horizontal axis movable flap attached to the middle level of the center of each stabilizer aggregate 12 and is swingable by a drive mechanism 15, and 16 denotes a vertical drive shaft attached to the upper level of the center of each stabilizer aggregate 12 respectively. This is a lifting drive mechanism in which a propeller 18 is fitted to the upper end of a driving mechanism 17.
Reference numeral 19 denotes a turbo fin rotatably supported by the drive shaft 17 below the propeller 18 via a bearing 20 and a plurality of fins extending the same length in a horizontal radial direction. This pitch is opposite to that of the propeller 18, and At the outer end of the turbo fin 19, a relatively small-diameter ring wing 21 filled with helium gas for assisting lift is fixed coaxially to the drive shaft 17.

In such an apparatus, in order to check a high place in a building or the like, each propeller 18 is rotated in a certain direction to generate a lift, and each thrust is used to rotate each turbo fin 19 in the opposite direction. Ring wing 21
Obtains lift due to the upper surface swirling flow, and the lifts of the balloon 9, the annular buoyant body 13 and the ring wing 21 cooperate to lift the apparatus, and at this time, each movable flap 14
The course is selected by operating in combination with. Also,
When the lifts of the propellers 18 are not uniform with each other and the inspection unit main body 1 is inclined, the ring wing 21 combined with the propeller 18 on the high lift side approaches the balloon 9 and is affected by the ring wing. Since the rotation speed of the swirling flow 21 decreases and its lift slightly decreases, the inclination of the inspection unit main body 1 is automatically eliminated. Then, when the apparatus has been suspended at a desired position, the visual inspection is performed by slightly loosening each winding drum 3 and suspending the visual mechanism 8 slightly below the inspection unit main body 1. On the other hand, in order to perform inspections underwater, after jumping to a desired position and moving, the thrust of the propeller 18 is lowered and lowered, and the float 2 and the annular buoyant body 13 land on the water surface as buoyant bodies. The visual inspection is performed by loosening each winding drum 3 and sinking the visual recognition mechanism 8 from the inspection unit main body 1 to a desired water depth.

According to the apparatus of this embodiment, the inspection unit main body with the float, which is disposed at the center and allows the visual recognition mechanism to be suspended downward, and the lower end of which is connected to the center of the top plate of the inspection unit main body. The stopped balloon and a relatively large diameter coaxially fixed to the inspection unit main body at the outer ends of a plurality of stabilizer aggregates radially protruding from the outer peripheral surface of the inspection unit main body at equal intervals. An annular buoyancy body, a movable flap and a vertical propeller respectively attached to the middle and upper levels of the middle of each of the stabilizer aggregates, and a rotatable insert that is rotatably inserted into the drive shaft of each of the propellers and has a pitch opposite to that of the propellers A relatively small ring wing fixed to the outer end of the turbo fin having the same shape as the drive shaft and provided coaxially with the drive shaft. As the number of devices has been reduced by half, the preparation and cleanup of the devices has been greatly reduced, especially when the inspection position at high altitudes and the inspection position in water are close to each other. Is big.

[0010]

In summary, according to the present invention, an inspection unit main body with a float disposed at the center and capable of hanging the visual recognition mechanism downward, and a lower end locked to the center of the top plate of the inspection unit main body. A relatively large-diameter annular buoyancy fixed coaxially to the inspection unit main body at the outer end of a balloon and a plurality of stabilizer aggregates radially protruding from the outer peripheral surface of the inspection unit main body at equal intervals. A movable flap and a vertical propeller respectively attached to the middle and upper middle levels of the stabilizer aggregates, and a turbo fin rotatably inserted into a drive shaft of each of the propellers and having a pitch opposite to that of the propellers. A relatively small-diameter ring wing fixed to the outer end of the drive shaft and formed coaxially with the drive shaft. Masu can, therefore, from getting economical heights underwater combined inspection robot which can save labor to prepare and clean up operations of the apparatus, the present invention is the extremely valuable industrial.

[Brief description of the drawings]

FIG. 1 is a longitudinal sectional view showing one embodiment of the present invention.

FIG. 2 is a top view of FIG.

FIG. 3 is a partial bottom view of FIG. 1;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Inspection unit main body 2 Float 3 Take-up drum 4 Support member 5 Pinion 6 Gear 7 Cable 8 Visual recognition mechanism 9 Balloon 10 Hook 11 Mesh rope 12 Stabilizer aggregate 13 Toroidal buoyant body 14 Movable flap 15 Drive mechanism 16 Lift drive mechanism 17 Drive Shaft 18 Propeller 19 Turbo fin 20 Bearing 21 Ring wing

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-5-254493 (JP, A) JP-A-61-226393 (JP, A) JP-A-61-182559 (JP, A) JP-A 53-254 102599 (JP, A) JP-A-63-235195 (JP, A) JP-A-57-138500 (JP, A) JP-A-54-75795 (JP, A) JP-A-62-18397 (JP, A) 63-158495 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) B64B 1/34 B63C 11/00 B64C 27/20

Claims (1)

(57) [Claims] 1. An inspection unit main body with a float, which is disposed at a central portion and allows a visual recognition mechanism to be hung downward, a balloon having a lower end locked to a center of a top plate of the inspection unit main body, and the inspection unit main body A relatively large-diameter annular buoyant body coaxially fixed to the inspection unit main body at an outer end of a plurality of stabilizer aggregates protruding radially at equal intervals on an outer peripheral surface of the stabilizer bone; The movable flaps and vertical propellers respectively attached to the middle and upper levels of the central part of the material, and are fixed to the outer ends of turbo fins rotatably inserted into the drive shafts of the respective propellers and having a pitch opposite to that of the propellers. A high altitude / submersible inspection robot characterized by comprising a relatively small diameter ring wing formed coaxially with the drive shaft.