JP3129344B2 - Transition device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer device for moving on stairs or rough terrain applied to a transfer truck of a visual inspection device in a building of a nuclear power plant.

[0002]

2. Description of the Related Art In a nuclear power plant, the inside of the building must be periodically inspected visually. In such buildings, there are many transition obstacles such as stairs and sills between rooms,
Inspection cannot be performed sufficiently simply by mounting a visual inspection device on a mere transition trolley. Therefore, those that can move on stairs and on uneven terrain are conventionally used.

FIG. 4 shows a conventional transfer device. As shown in the figure, this shifting device is a four-legged walking type shifting device, in which an inspection device main body 103 is attached to an upper portion of a traveling vehicle 102 having a pair of left and right driving wheels 101, and the traveling vehicle 1
Before and after 02, a leg 104 composed of a pair of link mechanisms,
105 is attached.

In order for the transfer device to move up the stairs 107 from the floor surface 106, the front and rear legs 104, 1 are required.
05 is bent and stretched and the left and right drive wheels 101 are rotationally driven. Therefore, the inspection device main body 103 can move as indicated by the arrow in FIG.

[0005]

In the above-described conventional transfer device, the inspection device is constructed by bending the front and rear legs 104 and 105 in accordance with the shape of the stairs 107 and rotating the right and left drive wheels 101. The main body 103 is moved. The driving of the legs 104 and 105 and the driving wheels 101 is normally controlled using a control device. However, in this case, there is a problem that the moving amount and moving range of the leg portions 104 and 105, the rotating speed of the driving wheel 101, and the like are different depending on the moving part, and the mechanism and control itself are complicated. In addition, the transfer device includes legs 104, 10
5 and the driving wheel 101 maintain the standing state, so that the vehicle easily falls over on uneven terrain or the like, and there is a problem that it is difficult to return the posture when the vehicle falls down.

An object of the present invention is to solve such a problem, and an object of the present invention is to provide a transfer device which prevents a fall and simplifies a mechanism and control.

[0007]

Means for Solving the Problems] migration device of the present invention for achieving the above object includes a traveling carriage having a pair of drive wheels for driving the juxtaposed independently stretchable self on the traveling carriage
A gas cylinder installed upright and the upper part of the gas cylinder
A frame supported on the frame and a lift provided on the frame
To raise the gas cylinder by generating
An oscilloscope-like lifting mechanism,
The gas cylinder is changed by changing the lift generated by
And a tilting steering mechanism for tilting .

[0008]

In order to move the transfer device, lift is generated by turning drive in a gyroscope-like lift erecting mechanism .
The apparatus main body is erected together with the gas cylinder, and the drive wheels are driven to move forward. At this time, the steering operation is performed based on the difference between the rotational speeds of the pair of drive wheels. When the vehicle moves over an obstacle such as stairs or other irregular terrain, move the device body to the vicinity of the obstacle with the gas cylinder extended , change the lift into propulsion by the tilting steering mechanism, and use the gas cylinder.
The machine body is tilted forward together with the cylinder, and the gas cylinder is rapidly contracted to pull up the traveling vehicle. Then, it moves in the air by the lift of the gyroscope-like lift erecting mechanism and softly lands on the obstacle. Then, the gas cylinder is again extended, and the drive wheels are driven to move forward.

[0009]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 is a front view of a transfer device according to an embodiment of the present invention, FIG. 2 is a plan view of the transfer device, and FIG.

As shown in FIGS. 1 and 2, in the transfer device of the present embodiment, a pair of left and right driving wheels 12, 13 which rotate independently are supported on a traveling vehicle 11, and each driving device has a dedicated driving device. 14 and 15 can be driven to rotate. A telescopic gas cylinder 16 is provided upright on the traveling carriage 11. The gas cylinder 16 is composed of a hollow cylinder case 17 located at the upper part and a hollow piston rod 18 fitted to the cylinder case 17 so as to be movable in the longitudinal (vertical) direction, and a tension coil spring stretched between them. 19 for urging in the direction of rapid contraction. The mounting base 20 is mounted on the upper end of the cylinder case 17, while the lower end of the piston rod 18 is mounted on the traveling vehicle 11.

A gas pressure supply / discharge system unit 21 having a control valve, a compressor, a chamber and the like is mounted on the outer periphery of the gas cylinder 16.
23. Further, the gas cylinder 16
A power supply / control system unit 24 is mounted on an outer peripheral portion of the device, and a viewing device 25 with a directional drive system is mounted on the power supply / control system unit 24.

A gyroscopic lifting mechanism is provided on the mounting base 20 of the gas cylinder 16 via a tilting steering mechanism. In the tilting steering mechanism, concentric annular frames 31, 32, 33 are rotatably supported by a pair of bearings 34, 35 provided facing each other. That is, the frame 31 is rotatable about the X axis with respect to the frame 32 by the pair of bearings 34, and the frame 32 is
3 is rotatable with a Y axis orthogonal to the X axis. The lower part of the frame 33 is the gas cylinder 1
6 is fixed to the mounting base 20.

The gyroscopic lifting mechanism is provided in the frame 31 described above. That is, frame 3
1, a disk-shaped horizontal support base 36 is located at the center thereof, and the support base 36 is provided with four stabilizers 37 (two shown in FIG. 1) extending from four sides of the inner peripheral surface of the frame 31. ). A propeller 39 with a ring is rotatably attached to the center of the support base 36 by a rotating shaft 38, and a spherical band-shaped ring wing 4 is provided on the outer periphery of the propeller 39 via a plurality of drum-shaped guide rollers 40.
1 is mounted so as to be able to turn freely. The rotation shaft 38 of the propeller 39 can be driven to rotate by a small-sized and high-output driving device 43 provided in a housing 42.

Below the four stabilizers 37, four drive shafts 44 (two shown in FIG. 1) are rotatably supported between the respective stabilizers 37 and the frame 31. The flap 45 is fixed, and a steering drive device 46 is connected to one end of each drive shaft 44.

In order to move the transfer device, the driving device 43 is driven to rotate the propeller 39 via the rotating shaft 38. Then, this rotational force is transmitted to the ring wing 41 via the plurality of hourglass-shaped guide rollers 40, and the ring wing 41 turns in the opposite direction to the propeller 39, canceling the spin force and generating lift. Therefore, the apparatus main body stands up, and at this time, the compressed gas is supplied to the gas cylinder 16 by the gas pressure supply / discharge system unit 21 so that the gas cylinder 16 is expanded, and the driving wheels 12, 13 is driven to rotate, and the traveling cart 11 advances the apparatus body on a flat ground. In this state, the visual inspection is performed by the visual inspection device 25. It should be noted that by changing the rotation speed of the pair of drive wheels 12, 13, the steering operation can be performed based on the difference.

When the transition device climbs over the stairs 51 during the transition of irregular terrain such as stairs, as shown in FIG. 3A, the main body of the device is moved to the vicinity of the obstacle with the gas cylinder 16 extended. The ring wing 4 moves and is selected from four flaps 45 and rotated by a driving device 46.
The lift generated by step (1) is changed to propulsion, and the apparatus body is inclined forward. In this state, the gas cylinder 16
The compressed gas is rapidly contracted by the tension coil spring 19 by discharging the compressed gas, and the traveling vehicle 11 is pulled up. Then, the device main body floats in the air momentarily due to the lift, and FIG.
As shown in (2), the apparatus main body swings around the center of the ring wing 41 as a fulcrum by the principle of the pendulum, and softly lands on the stairs 51 while hanging down. After the landing, as shown in FIG. 3 (c), the apparatus body is pushed up again with the gas cylinder 16 in the extended state.
By driving the drive wheel 5, the drive wheels 12, 13 are rotated and driven forward.

[0018]

As described above in detail with reference to the embodiments, according to the transfer apparatus of the present invention, a gas cylinder which can be extended and contracted on a traveling vehicle having a pair of driving wheels which are arranged and driven independently. Support the frame through
Gyroscopic lifting mechanism and tilt steering mechanism
Because, when overcoming obstacles during the transition, before changing the thrust lift and move the apparatus body to the obstacle near
Is inclined towards, can overcome easily obstacle by moving the air by pulling and lift the traveling vehicle rapidly contracted gas cylinder, it is possible to prevent a fall of the apparatus. Further, the mechanism and the control system can be simplified, and inspection work such as irregular terrain can be easily performed.

[Brief description of the drawings]

FIG. 1 is a front view of a transfer device according to an embodiment of the present invention.

FIG. 2 is a plan view of the transfer device.

FIG. 3 is an explanatory diagram of the operation of the transfer device.

FIG. 4 is a front view of a conventional transfer device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 11 Traveling trolley 12, 13 Drive wheel 16 Gas cylinder 25 Visual device 31, 32, 33 Frame 39 Propeller 41 Ring wing 43 Drive device 45 Flap

Continuation of the front page (56) References JP-A-52-135160 (JP, A) JP-A-59-102663 (JP, A) JP-A-52-113097 (JP, A) , U) Japanese Utility Model Hei 5-56773 (JP, U) Japanese Utility Model Application Showa 61-183786 (JP, U) Japanese Patent Publication No.31-1562 (JP, B1) (58) Fields surveyed (Int. Cl. ⁷ , DB Name) B62D 57/02

Claims (1)

(57) [Claims] 1. A traveling vehicle having a pair of driving wheels which are arranged in parallel and independently driven , and is provided on the traveling vehicle so as to extend and contract freely.
Gas cylinder and an upper part of the gas cylinder
And a lift provided on the frame
Gyroscope that raises the gas cylinder
The lifting mechanism is provided on the frame and
Tilt the gas cylinder by changing lift to propulsion
A transition device comprising a tilt steering mechanism .