JP6545092B2 - Unit type wall traveling robot - Google Patents

Description

  The present invention relates to a wall suction self-propelled robot.

In recent years, there is concern over the aging and environmental degradation of social infrastructure.
Inventions of various wall traveling robots have been disclosed according to the shape of social infrastructure.

Conventional wall traveling robots are often invented as individual dedicated machines according to usage. According to JP-A 8-257951 Patent Gazette, the annular main body frame 2, the leg mechanism 10A of the plurality of which taken down from the main body frame 2, and 10B · · · 10H, the legs mechanisms 10A, 10B · · The vacuum suction cup 30 attached to the tip of 10 H is invented as an adsorption type wall walking device characterized in that the main body frame 2 is formed of a flexible member.

According to JP-A 11-79019 Patent Gazette, the adsorption elements 12 provided with suction mechanism and the outer suction frame 2 and the inner suction frame 3 are combined to be movable, the outer suction frame 2 and the inner suction frame 3 respectively, 16, floated adsorber element 16 of the inner suction frame 3 adsorption elements 12 of the outer suction frame 2 in a state of being sucked and secured on the cutting wall, and movement operation to move the suction elements 16 of the inner suction frame 3 then The moving mechanism for moving the suction mechanism by alternately repeating the operation of floating and moving the suction element 12 of the outer suction frame 2 in this state by alternately suctioning and fixing to the surface to be cut, and mounted on this moving mechanism or suction mechanism It was invented as comprising a cutting mechanism, and a control device for controlling the suction mechanism main body, the moving mechanism, and the cutting mechanism.

Thus, it is invented as applied to an application corresponding to an application.

Japanese Patent Application Laid-Open No. 8-257951 Japanese Patent Application Laid-Open No. 11-79019 Tokuhei 2-58070 public information

In the past, many were invented as individual dedicated machines adapted to use and adapted to the environment, and there was no wall traveling robot that could be applied to changes in the form of use, expand robot performance, and change its structure.
The present invention is an invention in which the problem is solved by unitizing the adsorption traveling leg and securing the freedom to the frame arrangement.

In the present invention, a robot, constructed from the inspection apparatus portion sandwiched by the suction travel portion and a plurality of suction driving unit, and a free configuration the combination of the inspection apparatus section and the suction driving unit. The adsorption traveling unit unitizes and modularizes the adsorption traveling unit, which is the key of the adsorption traveling, including its control mechanism, and can be disposed in an arbitrary number at any position.

According to one aspect of the present invention, in a traveling robot that adsorbs and self-propelled concrete vertical wall surfaces, the adsorption traveling unit has a structure capable of arranging a plurality of adsorption traveling units, and a plurality of adsorption traveling units inspect the inspection device It was possible to hold the part.

According to another aspect of the present invention, the adsorption traveling unit includes an X-direction moving mechanism moving in the left-right direction parallel to the wall surface, a Y-direction moving mechanism moving in the vertical direction parallel to the wall surface, The functional module can be integrated into a unit by providing an adsorption / decompression leg , a wall surface adsorption mechanism, and an adsorption / decompression movement dispersion control device for controlling the series of adsorption operations.

According to yet another aspect of the present invention, the suction traveling unit, said a frame having a lattice-shaped space for providing the suction driving unit, arranged adsorption traveling unit in a grid space of any position it is possible to, the suction traveling unit, Ru can be multiple arranged.

According to still another aspect of the present invention, the control of the adsorption traveling unit is performed by an adsorption / expansion movement dispersion control device mounted on the adsorption traveling unit , and a plurality of the adsorption expansion movement dispersion control devices are integrated. is controlled by the control device, between the suction telescopic moving variance controller with integrated control unit, and a cAN communication means for performing a command status control, it made it possible to control the sequence of operation of the unit type wall traveling robot .

According to yet another aspect of the present invention, the suction stretch legs, telescopic upper rectangular body, stretching and middle rectangular body and stretching the lower part 3 tiered consisting rectangular structure, two on four sides of each of these rectangular body 1 A telescopic mechanism consisting of a pair of telescopic link rods, a nut provided on the telescopic middle stage square body, a ball screw screwed to the nut, and a drive mechanism provided on the telescopic upper stage square body to rotate the ball screw By being equipped , a strong expansion and contraction mechanism was realized.

According to still another aspect of the present invention , the above-mentioned adsorption / expansion leg further includes an elastic support rod for preventing lateral deviation which penetrates the telescopic upper / intermediate rectangular body and is fixedly fixed to the telescopic lower rectangular body, thereby being stronger The adsorption telescopic leg structure has been realized.

According to the present invention, as a unit adsorption travel portion, because of the unitized including its control, it can be disposed a suction traveling unit to each of the lattice-shaped space of a plurality of arbitrary positions within the frame of the suction travel portion Thus, the expandability of the wall traveling robot is enhanced, and the replacement of the adsorption traveling unit is easy, and the maintainability is enhanced.

The inspection device held by a plurality of adsorption travel units has become easy to change to various inspection devices according to usage.

Since the adsorption and expansion legs are provided with a link mechanism and an expansion / contraction support rod, and the response to the rotational moment force and the lateral shift force is provided, a strong adsorption and expansion leg that supports the load of the wall traveling robot can be realized.

FIG. 1 is a perspective view of an embodiment of a self-propelled robot provided with an adsorption traveling unit and an inspection unit according to the present invention. FIG. 2 is a perspective view of an embodiment of a self-propelled robot comprising only an adsorption traveling unit according to the present invention. FIG. 3 illustrates the configuration of an adsorption travel unit for explaining the embodiment. FIG. 4 is an illustration of a casing frame for explaining the embodiment. FIG. 5 is an illustration of a suction traveling unit for explaining the embodiment. FIG. 6 is an illustration of the adsorption traveling unit excluding the adsorption and expansion legs. FIG. 7 is an illustration of a Y-axis moving frame for explaining the embodiment. FIG. 8 is an illustration of a suction expansion leg. FIG. 9 is an enlarged view of a telescopic mechanism for explaining the embodiment.

The invention is illustrated on the basis of the following examples.

As illustrated in FIGS. 1 and 2, a plurality of adsorption travel units 3 can be configured to be able to sandwich the inspection device unit 4, and a wall traveling robot can be configured using only the plurality of adsorption travel units 3. ing.

The adsorption traveling unit 3 shown in FIG. 3 has a structure in which the adsorption traveling unit 5 shown in FIG. 5 is disposed in the frame / adsorption traveling unit connecting tool 6-2 of the frame 6 shown in FIG. The structure is easy to add or replace.

For this reason, as shown in FIG. 5, in the suction traveling unit 5, the X direction moving mechanism 5-2 in the lateral direction of the suction wall, the Y direction movement mechanism 5-1 in the vertical direction of the suction wall, The legs 7 are provided, and in order to control them, as shown in FIG. 8, the adsorption / expansion movement distributed control device 13 is mounted on the adsorption / expansion leg 7 to share control functions with the centralized control device (not shown). General control is performed between the control device and the suction expansion / contraction movement dispersion control device 13 in order to exchange commands and statuses by general-purpose CAN communication.
Further, in the adsorption traveling unit 5, a CAN communication connector and a power connector for connecting to the whole are provided for each adsorption traveling unit 5 for modularization.

The structure which remove | excluded the adsorption | suction telescopic leg 7 shown in FIG. 8 from the adsorption | suction travel unit 5 of FIG. 5 is shown in FIG.
FIG. 6 shows a Y-direction moving mechanism 5-1 made of an outer frame square material having a square notch inside the square material, and provided inside the square notch, facing the notch inner side surface of the outer frame material There is provided an X-direction moving mechanism 5-2 made of an inner frame rectangular member shown in FIG. 7 and provided with a Y-moving bearing roller which can slide inward to a pair of Y-moving guide rails 5-1-3 provided in the above.

The inner frame square member of the X direction moving mechanism 5-2 also has a square notch inside the square member, and the notch inner side is provided with a pair of X movement guide rails 5-2-3 facing each other. .
On the inner side of the X movement guide rail, the adsorption / expansion leg 7 shown in FIG. 8 and the X movement bearing roller 21 shown in FIG. 9 are provided slidably in contact with the X movement guide rail 5-2-3.

In order to make it possible to move the adsorption / expansion leg 7 in the X direction (the left and right direction of the wall surface), the inner frame square member of the X direction movement mechanism 5-2 is X drive mechanism 5-2-1, X movement A mechanism 5-2-2 is provided, and the adsorption / expansion leg 7 fastened to the X moving mechanism 5-2-2 moves in the X direction (wall left and right) by the control of the X driving mechanism 5-2-1. I can do it.

The X-direction moving mechanism 5-2 provided on the inner side of the notch of the Y-direction moving mechanism 5-1 made of an outer frame rectangular material is a Y-moving mechanism 5-1 provided in the Y-direction moving mechanism 5-1. 2 and can be moved in the Y direction (upper and lower wall surfaces) through the Y moving mechanism 5-1-2 by the control of the Y driving mechanism 5-1-1.

The adsorption traveling unit 5 includes the Y moving mechanism 5-1-2, the Y driving mechanism 5-1-1, the X moving mechanism 5-2-2, and the X driving mechanism 5-2-1, which are independent of each other. The adsorption / expansion leg 7 can be controlled to any position in the lateral direction of the wall surface and in the vertical direction of the wall surface.

The telescopic mechanism of the adsorptive telescopic leg 7 shown in FIG. 8 is provided with a telescopic link rod 12 consisting of a pair of 2 on each side of the quadrilateral body 4 of the telescopic upper stage quadrilateral body 9, the telescopic middle stage quadrilateral body 10 and the telescopic lower stage quadrilateral body 11. One end of the telescopic link rod 12 is engaged with a hole provided at a predetermined position of the telescopic upper stage square 9 and the front telescopic lower square 11, and the other end of the telescopic link rod 12 is a telescopic link rod joint 20. It is possible to perform an extendable / shrinkable operation which is slidable into an extendable sliding notch 18 provided at a predetermined position of the middle stage 10 of expansion and contraction.
Further, a plurality of expansion / contraction support rods 14 fixed to the lower expansion / contraction lower rectangular body 11 and freely passing through the expansion / contraction upper rectangular body 9 and the expansion / contraction middle-stage rectangular body 10 are provided.
Further, a nut 16 screwed to the Z direction (wall surface direction) telescopic ball screw 15 is provided in the telescopic middle stage rectangular body 10, and the telescopic ball screw 15 is provided with a telescopic upper stage rectangular body 9 with a Z drive mechanism. 17) to be coordinated.
By the control of the Z drive mechanism, the Z direction (wall surface direction) telescopic ball screw 15 is rotated, and the telescopic upper stage rectangular body 9 interlocked with the nut 16 and between the telescopic middle stage rectangular body 10 and the telescopic lower stage rectangular body 11 Is configured to be stretchable.

Since the suction pad 19 is fixed at a predetermined position of the expandable lower rectangular body 11, the suction pad 19 is also provided so as to be able to expand and contract with the wall surface.

The load of the traveling robot is transmitted by the link structure provided on the four side surfaces of the telescopic rectangular body and the telescopic support rod 14 which loosely penetrates the telescopic rectangular body at the upper middle stage, A strong adsorption telescopic leg to support was achieved, and a self-propelled robot was realized.
In addition, by making it possible to move the rigid adsorption and contraction legs freely left and right, and move up and down, and to consolidate necessary functions into modules, a self-propelled robot with unity and wide versatility can be obtained.

It is a unit type self-propelled robot that travels on uneven walls such as concrete walls, mortar walls and tile walls, and step walls, and can be used widely.

DESCRIPTION OF SYMBOLS 1 Wall surface self-propelled robot 2 which held the inspection apparatus 2 Wall surface self-propelled robot 4 constituted only by traveling part Inspection apparatus part 3 adsorption traveling part 5 adsorption traveling unit 5-1 Y direction (wall surface up and down) moving mechanism 5-1-1 Y drive mechanism (motor)
5-1-2 Y movement mechanism (timing belt mechanism)
5-1-3 Y movement guide rail 5-2 X direction (wall left and right) movement mechanism 5-2-1 X drive mechanism (motor)
5-2-2 X movement mechanism (timing belt mechanism)
5-2-3 X moving guide rail 5-2-4 Y moving bearing roller 6 Frame 6-1 Frame material 6-2 Frame / adsorption traveling unit connecting tool 7 adsorption telescopic leg 8 vacuum generating device 9 telescopic upper stage Shape 10: Expansion middle stage square body 11: Expansion lower stage square body 12: Expansion link 杆 13: suction expansion movement dispersive control device 14: expansion and contraction support bar 15: Z direction expansion and contraction ball screw 16: nut 17 Z drive mechanism (wall surface direction expansion motor)
18 Telescopic Sliding Notch 19 Suction Pad 20 Telescopic Link 杆 Joint 21 X Moving Bearing Roller

Claims (4)

In a unit-type wall traveling robot that sucks and moves on concrete vertical wall surfaces,
An adsorption travel unit which is a frame having a plurality of lattice-like spaces;
A plurality of adsorption traveling units mounted in a lattice-like space at a desired position, the adsorption / shrinkage legs for telescopically moving the suction pad with respect to the concrete vertical wall surface, the adsorption / shrinkage legs in the lateral direction of the concrete vertical wall surface An adsorption traveling unit comprising an X direction movement mechanism for moving the movement and a Y direction movement mechanism for moving the adsorption / expansion leg in the longitudinal direction of the vertical wall of the concrete;
A unit type wall surface traveling robot comprising: an adsorption / expansion movement dispersion control device mounted on the adsorption traveling unit and controlling the adsorption traveling unit . The unit type wall surface traveling robot according to claim 1, wherein the inspection device unit is held by the adsorption traveling unit. The suction stretch legs, telescopic upper rectangular body, stretching and middle rectangular body and stretching the lower part 3 tiered consisting rectangular structure, a telescopic mechanism consisting of telescopic link rod consisting of two one-to four sides of each of these rectangular body the expansion and contraction nut provided in the middle a square body, a ball screw that is screwed into the nut, the claim provided telescopic upper rectangular body characterized by comprising a drive mechanism for rotating the ball screw 1 or unit type wall running robot according to 2. 4. The adsorption / expansion leg according to claim 3 , further comprising an elastic support rod for preventing lateral deviation which penetrates the telescopic upper and middle rectangular bodies and is fixed to the telescopic lower rectangular body. Unit type wall traveling robot.

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