JPH0123750Y2 - - Google Patents

Description

[Detailed description of the invention] This invention is based on the traveling device already proposed by the applicant.
That is, it has a device main body, left and right running wheels attached to the device main body, and four leg members, each of which is connected to a first arm and a second arm of each leg member, and a first arm and a second arm of each leg member, respectively. A traveling device (if necessary, a traveling device constructed of a joint that attaches the first arm of the device to the main body of the device so that it can be raised and lowered, and a joint that connects the first arm and the second arm of each leg member so that they can bend and extend (if necessary, -Refer to Specification No. 173109), the rope winding device has a rope winding device that grips and winds up a rope hanging from the ceiling surface, etc. above the traveling device, and the rope winding device is connected to the frame of the traveling device. It consists of an outer drum that is rotatably attached to the outer drum, and an inner drum that is rotatably attached to the outer drum, and a part of the cylindrical part of the outer drum and the inner drum has a roughly triangular notch for gripping the rope. It is characterized by having a section, and its purpose is to
The object of the present invention is to provide a traveling device that can rise off the floor, can cling to piping, etc. above the floor, and can maintain and inspect the piping with inspection equipment mounted on the device body.

Next, the traveling device of the present invention will be explained with reference to an embodiment shown in FIGS. 1 to 6. First, the entire running device will be explained with reference to Fig. 1. 1 is the main body of the device, 2 and 3 are two running wheels attached to the left and right lower portions of the main body 1. It is independently rotated by a motor with a speed reducer (not shown) provided in the main body 1. Further, 4 to 7 are four joints attached to the top of the device body 1 on the front, back, left, and right, and each joint 4 to 7 has a rotating shaft (not shown) parallel to the axes of the running wheels 2 and 3 inside each joint. ), and the first joints of each of joints 4 to 7 are located near it.
There is a rotation drive device (not shown) that selectively rotates the arm 8 in forward and reverse directions about the same rotation axis. Further, reference numerals 9 to 12 indicate four joints attached to the other end of each of the first arms 8, and each of the joints 9 to 12 has a rotating shaft (not shown) parallel to the axes of the traveling wheels 2 and 3. ), and there are joints 4 and 7 near it.
There is a rotation drive device (not shown) that selectively rotates each first arm 8 and one of the second arms 13 of each of the joints 9 to 12 in forward and reverse directions about the same rotation axis. Further, reference numeral 14 denotes four rollers attached to the other end of each of the second arms 13, each of which has a rotating shaft parallel to the axes of the traveling wheels 2 and 3, and each of the rotating shafts is located near the rotating shaft. It is independently rotated by a rotary drive device (not shown) located at. Moreover, 15 is a spherical roller provided in each roller 14 so as to be retractable. Note that steering can be performed by rotating the traveling wheels 2 and 3 at different rotational speeds, but at this time, if each spherical roller 15 is projected, steering can be performed smoothly. Further, reference numeral 16 is a floor surface, and the four first and second arms 8, 13 are bent in an M shape as shown in FIG.
and the four rollers 14, while rotating these running wheels 2, 3 and each roller 14, or moving the four first arms 8 from the state shown in FIG. Rotate upwards to 4
While only the rollers 14 are placed on the floor (lifting the device main body 1 and the running wheels 2 and 3), each roller 1
4 or rotate the four first arms 8
From the state shown in the figure, rotate the four second arms 13 downward around joints 4 to 7, and move the four second arms 13 to joints 9 to 1.
2 in the front-rear direction (lowering the height of the traveling device), while rotating the traveling wheels 2, 3 and each roller 14 to travel, the four first and second arms By alternately bending and stretching arms 8 and 13, the robot can overcome obstacles and go up and down stairs. Next, the rope winding device 17, which is the most characteristic feature of the present invention, will be explained in detail with reference to FIG. a case, 21 a bearing rotatably supporting the outer drum 19 and the case 20 on the frame 18; 22 an inner drum; 23 a bearing rotatably supporting the drum 22 in the outer drum 19;
4 is a geared motor for driving the inner drum built into the case 20, 25 is a cord extending from the geared motor 24, and 26 is a cord 25 that is connected when the geared motor 24 is rotated together with the case 20.
said frame 18 to prevent it from twisting.
27 is a cord extending from the slip ring 26, 28 is a mounting plate fixed to the frame 18, 29 is a geared motor attached to the mounting plate 28, and 30 is a cord extending from the geared motor 29. As shown in FIG. 2, the outer drum 19 and the inner drum 22 have a cylindrical portion partially cut out in a substantially triangular shape to form a rope gripping cutout. Further, 31 in FIGS. 3 to 6 is a rope hanging down from above, and 31a is a bulge at the lower end of the rope 31.

Next, the operation of the traveling device will be explained. FIG. 3 shows that the traveling device travels to just below the rope 31,
The expanded portion 31a of the rope 31 extends from the notch of the outer drum 19 and the inner drum 22 to each of the drums 19, 22.
It shows the state inside. Also, Figure 3 shows
The inner drum 22 rotates in the direction of the arrow, and the outer drum 1
9 shows the state in which the rope 31 is held in its mouth. Further, FIG. 3 shows a state in which the outer drum 19 rotates in the direction of the arrow, begins to wind up the rope 31, and the traveling device begins to rise. In addition, Figure 4,... includes the traveling device, Figure 3,...
This shows the operation. Also, Figure 5...
is a pipe 32 whose traveling device is above the floor 16.
The figure shows a state in which it has risen to the position shown in FIG. Figure 6 also shows that the traveling device is connected to pipe 3.
Fig. 6 shows a state in which the traveling device hugs the pipe 32 upward, and Fig. 6 shows a state in which the traveling device hugs the pipe 32 sideways.
FIG. 6 shows a state in which the traveling device hugs the pipe 32 downward. Note that when the traveling device hugs the pipe 32, the traveling wheels 2 and 3
is in contact with the pipe 32, so by rotating it, the traveling device can be changed to any of the above states. Further, the traveling wheels 2 and 3 are configured to be able to change direction by 90 degrees, and by changing the direction by 90 degrees, the traveling device can be moved in the axial direction of the pipe 32.

In the traveling device of the present invention, as described above, the lower end 31a of the rope 31 hanging down from the ceiling surface etc. is guided into the inner drum 22 from the rope gripping notch provided in the outer drum 19 and the inner drum 22 of the rope winding device 17. The outer drum 19 is rotated to hold the lower end 31a side of the rope 31 in the rope gripping notch of the outer drum 19 and the inner drum 22, and the rope 31 is wound up by the outer drum 19 so that it does not touch the floor surface. The main body 1 of the traveling device
This has the effect of making it possible to maintain and inspect piping using inspection equipment mounted on the pipe.

[Brief explanation of the drawing]

Fig. 1 is a side view showing an embodiment of the traveling device according to the present invention, Fig. 1 is a front view thereof, Fig. 1 is a plan view thereof, Fig. 2 is a longitudinal sectional front view showing the main parts thereof, Fig. 2 is a plan view of the drum seen from the direction of the arrow in Fig. 2, and Fig. 2 is a plan view of the drum seen from the direction of the arrow in Fig. 2.
Longitudinal side view of the drum along the line, Figure 3.
6 to 6 are explanatory diagrams of its operation. 1... Device main body, 2, 3... Running wheels, 4 to 7
and 9 to 12... joints, 8, 13... four leg members, 17... rope winding device, 31... rope.

Claims (1)

[Scope of utility model registration request] It has a device main body, left and right running wheels attached to the device main body, and four leg members, each leg member having a
a first arm and a second arm of each leg member;
In a traveling device configured with a joint that attaches the first arm of each leg member to the device main body so as to be able to rise and fall, and a joint that connects the first arm and the second arm of each leg member so that they can bend and extend, the upper part of the traveling device is provided. The rope winding device is equipped with an outer drum rotatably attached to the frame of the traveling device, and a rope winding device that is rotatably mounted inside the outer drum. What is claimed is: 1. A traveling device comprising an attached inner drum, and a substantially triangular rope gripping notch provided in a part of the cylindrical portion of the outer drum and the inner drum.