JPH0629969U - Air conditioning duct monitoring robot - Google Patents

Abstract

(57) [Summary] [Purpose] To provide a monitoring robot for an air conditioning duct that can travel inside a duct with a small diameter and a small radius of curvature. A television camera 12 and a light 13 are provided in front of a traveling vehicle body 10 having a built-in rotary drive mechanism, and the traveling is performed on a pin holder 19 fixed to a wheel mounting frame 16 rotatably provided in front of the traveling vehicle body 10. A solenoid 2 having two steering pins 20 at relative positions with respect to the center line of the vehicle body 10 and an operating pin 24 corresponding to the steering pins 20.
3, a steering mechanism 15 is provided, and two front wheels 14 provided in parallel with the wheel mounting frame 16 and a rear wheel 25 provided behind the traveling vehicle body 10 are provided. The television camera 12, the light 13, and the steering mechanism 15 are electrically connected to an electric cord.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a monitoring robot for monitoring the inside of an air conditioning duct, and more particularly to a robot for monitoring before and after cleaning in an air conditioning.

[0002]

[Prior art]

 Cleaning robots that remotely clean the inside of an air-conditioning duct are known. For example, in Japanese Utility Models Sho 63-25190 and Sho 63-136783, robots are equipped with a TV camera together with a dust removal mechanism, which is a cleaning tool. Is. These conventional techniques are excellent in that they can accurately grasp the situation before and after the cleaning work because they can be cleaned while monitoring the inside of the duct with a TV camera. Moreover, the cleaning technique before that was to insert an air pipe into the duct as shown in Fig. 4 of S.A. 63-25190 and Fig. 6 of S.A. 63-136783, and the dust in the duct was dropped by the air pipe. Was the way to do.

The proposed prior art was made in order to solve the problem that the situation before and after the cleaning work cannot be known by the cleaning method before that, but the cleaning equipment depends on the size of the duct. Since it is changed and used, only cleaning robots equipped with TV cameras for monitoring are required at the cleaning site.

[0004]

[Problems to be solved by the device]

 The problem to be solved by the present invention is to provide a monitoring robot for an air-conditioning duct that can travel inside a duct having a small diameter and a small radius of curvature.

Another problem to be solved by the present invention is to provide a monitoring robot that can be used also as a cleaning robot by mounting a cleaning device without making any changes.

[0006]

[Means for Solving the Problems]

 Means for solving the problems in the present invention include a traveling vehicle having a built-in rotary drive mechanism, a TV camera and a light provided in front of the traveling vehicle, and a pedestal provided in front of the traveling vehicle. The wheel mounting frame provided, the pin holder fixed to the wheel mounting frame, the two pin-holding pins provided on the pin holder at positions relative to the center line of the traveling vehicle body, and the operating pins corresponding to the respective steering pins. A steering mechanism constituted by a solenoid, two front wheels provided in parallel with the wheel mounting frame, a reduction gear box provided at the rear of the traveling vehicle body in conjunction with the rotary drive mechanism, and protruding from the reduction gear box. The vehicle is equipped with rear wheels provided on both sides of the axle, and an electric cord for energizing the traveling vehicle body, the television camera, the light, and the steering mechanism is connected thereto.

[0007]

【Example】

 1 is a side view, FIG. 2 is a front view, FIG. 3 is a rear view, FIG. 4 is a plan view of a steering mechanism, FIG. 5 is a front wheel part diagram, and FIG. 6 is a rear wheel detail view.

The traveling vehicle body 10 has a motor (not shown) serving as a rotation drive mechanism built therein, and in FIG. 1, the right side is the front side and the left side is the rear side. A mount 11 is provided in front of the traveling vehicle body 10, a television camera 12 and a light 13 are provided on an upper surface of the mount 11, and a front wheel 14 and a steering mechanism 15 are provided on a lower surface. Two lights 13 are installed on both sides of the TV camera 12.

Two front wheels 14 are provided in parallel with the wheel mounting frame 16, and a vertical axis 17 protruding from the top of the wheel mounting frame 16 is rotated within a pedestal 18 provided below the mounting base 11. The front wheel 14 is rotated about the vertical axis 17 to change the direction of the traveling vehicle body 10. Further, on the upper surface of the pedestal 18, a pin holder 19 is integrally provided on the vertical axis 17 via a key, and the pin holder 19 is on the same radius drawn from the center of the vertical axis 17 and of the traveling vehicle body 10. Two steering pins 20 are provided at positions relative to the center line. The rear surface of the pin holder 19 is formed on a flat portion 19a, and two leaf springs 21 provided at the front end of the traveling vehicle body 10 are in contact with the flat portion 19a, so that the pin holder 19 is always constant. It is supported so that it faces the position of. Further, the vertical axis 17 is threaded at the upper end so that it will not fall off from the pedestal 18 by tightening and fixing the nut 22.

The steering mechanism 15 is composed of two solenoids 23 provided on the lower surface of the mount 11, and each solenoid 23 has an operating pin 24 corresponding to the steering pin 20. When either one of the solenoids 23 is energized by remote control, the solenoid operates to cause the operating pin 24 to project and strike the steering pin 20, and the pin holder 19 rotates about the vertical axis 17. As a result, the steering operation of the front wheels 14 is performed via the wheel mounting frame 16.

Two rear wheels 25 are provided behind the traveling vehicle body 10, and therefore the traveling vehicle body 10 is adapted to travel with four wheels. The rear wheel 25 is a drive wheel, and is fixed to an axle 27 that is mounted on a speed reducer box 26 provided at the rear of the traveling vehicle body 10. The output shaft 28 of the motor of the traveling vehicle body 10 and the speed reducer box are fixed. A driven shaft 29 in 26 is connected, and further, an axle 27 and a driven shaft 29 in the reduction gear box 26 are connected so as to be decelerated and output via a worm gear or the like.

As shown in FIG. 6, the rear wheel 25 is provided with a bowl-shaped curved surface traveling portion 25b adjacent to the flatland traveling portion 25a so that the rear wheel 25 can easily travel even when the duct has a circular cross-sectional shape. . Further, the flat land running portion 25a and the curved surface running portion 25b are provided with uneven portions 25c on their surfaces. The rear wheel 25 is preferably made of a material having a large friction coefficient such as nylon.

Besides, an electric cord for energization is connected to each of the traveling vehicle body 10, the television camera 12, the light 13, and the solenoid 23, all of which are drawn out of the duct 30. . In the embodiment, the duct 30 has a circular cross section, but it is needless to say that it can be applied to a duct having a rectangular cross section and a cross section larger than that shown.

The embodiment has the above-described configuration, and in FIG. 1, when the traveling vehicle body 10 moves to the right, it moves forward, and when it travels to the opposite left, it moves backward. Since the television camera 12 and the light 13 are provided in front of the traveling vehicle body 10, the robot travels while photographing the inside of the duct on the monitor television.

In order to change the moving direction of the robot, one of the solenoids 23 of the steering mechanism 15 is energized to project the operating pin 24, and the steering pin 20 provided on the pin holder 19 is pushed to push the pin holder 19 concerned. Is rotated about the vertical axis 17, whereby the front wheel 14 is rotated together with the wheel mounting frame 16 to change the direction to a desired direction. When the energization of the solenoid 23 is interrupted, the operating pin 24 returns to its original position, and at the same time, the elastic force of the leaf spring 21 returns the pin holder 19 to its original position, so that the direction of the front wheel 14 also returns to the immediately preceding direction. To do.

Further, the robot can rotate the rear wheel 25, which is a driving wheel, by the motor in the traveling vehicle body 10 to move forward and backward inside the duct.

In the embodiment, the size of the robot is 320 mm in total length, 100 mm in total height, and 185 mm between the axles of the front and rear wheels, so that the robot can travel in a circular duct having a minimum diameter of 120 mm. However, it is sufficient for the robot to enter and exit as long as a circular entrance and exit with a diameter of 100 mm is secured.

[0018]

[Effect of device]

 In the present invention, the steering mechanism is provided on the front wheels of the traveling vehicle body that travels in the duct with four wheels. Therefore, by making the entire vehicle body smaller, it is possible to travel in the duct with a smaller diameter, and of course, the radius of curvature is reduced. Even small ducts can easily change directions when traveling.

The present invention can also be used as a cleaning robot by mounting a cleaning device without any modification.

[Brief description of drawings]

FIG. 1 is a side view of a surveillance robot.

FIG. 2 is a front view of a surveillance robot.

FIG. 3 is a rear view of the surveillance robot.

FIG. 4 is a plan view of a steering mechanism.

FIG. 5 is a component diagram of a front wheel.

FIG. 6 is a detailed view of a rear wheel, where A is a sectional view and B is a front view.

[Explanation of symbols]

 10 traveling vehicle body 11 mounting base 12 TV camera 13 light 14 front wheel 15 steering mechanism 16 wheel mounting frame 17 vertical axis 18 pedestal 19 pin holder 19a flat part 20 steering pin 21 leaf spring 22 nut 23 solenoid 24 operating pin 25 rear wheel 25a level running part 25b curved surface running portion 25c uneven portion 26 reducer box 27 axle 28 output shaft 29 driven shaft

─────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] November 9, 1992

[Procedure Amendment 1]

[Document name to be corrected] Drawing

[Correction target item name] All drawings

[Correction method] Change

[Correction content]

[Fig. 2]

[Figure 3]

[Figure 4]

[Figure 1]

[Figure 5]

[Figure 6]

Claims (1)

[Scope of utility model registration request] 1. A traveling vehicle body having a built-in rotation drive mechanism, a television camera and a light provided in front of the traveling vehicle body, a wheel mounting frame rotatably provided on a pedestal provided in front of the traveling vehicle body, and the wheels. A pin holder fixed to the mounting frame, two steering pins provided on the pin holder at a position relative to the center line of the traveling vehicle body, and a steering mechanism including a solenoid having an operating pin corresponding to each steering pin, Two front wheels provided in parallel with the wheel mounting frame, a reduction gear box provided at the rear of the traveling vehicle body and interlocked with the rotary drive mechanism, and rear wheels provided on both sides of an axle protruding from the reduction gear box. Equipped with the above-mentioned running car, TV camera,
A monitoring robot for an air conditioning duct, characterized in that an electric cord for energizing the light and the steering mechanism is connected.