JPS5914479A - Travelling device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Technical Field of the Invention] The present invention provides a manipulator for inspection and monitoring and other operations.
The present invention relates to a traveling device that functions as legs for transportation.

[Technical background of the invention and its problems]

For example, it is undesirable to allow workers to enter areas with high radiation levels, such as inside the reactor containment vessel of a nuclear reactor plant or inside a waste treatment facility.

Therefore, when monitoring or inspecting equipment in such areas, it is necessary to mount a monitoring device such as a television camera on a traveling device equipped with a manipulator for inspection work, and then transport the traveling device into the area. It is desired to operate the vehicle unmanned and to remotely monitor and inspect the equipment.

In addition, in general, in such areas, there are many obstacles on the running surface of the traveling device, and there may also be stairs, so it is not only possible to drive on a flat surface, but also to overcome obstacles and stairs. It is also necessary to make it easy to move up and down.

Furthermore, this type of traveling device also needs to be able to easily change direction in narrow spaces.

By the way, as the traveling mechanism of the traveling device, traveling wheels, crawlers, etc. can be considered, but all of them have difficulty in getting over obstacles, going up and down stairs, and changing direction in narrow spaces, and the traveling range is limited. Therefore, workers must be allowed to enter areas where driving is not possible, and as a result,
The radiation dose of workers may also become an issue.

Furthermore, since the traveling device using crawlers increases the number of racks by one, it becomes difficult to carry it into and out of a narrow area.

[Purpose of the invention]

The present invention was made based on the above four circumstances, and its purpose is to make it relatively easy to carry into and out of narrow areas, and to easily overcome obstacles, go up and down stairs, and change direction in narrow places. An object of the present invention is to provide a traveling device suitable for equipment monitoring and inspection work in areas with high radiation levels.

[General imitation of the invention]

The traveling device according to the present invention includes a traveling device main body, a plurality of traveling wheels provided on the traveling device main body, and a link mechanism attached to the traveling device main body and configured to connect the traveling device main body in contact with a traveling surface. The present invention includes a plurality of manipulators that can be supported, a detection device that detects a state in which the traveling device main body is supported by these manipulators, and a control device that drives the plurality of manipulators based on the detection results of the detector. The manipulator also functions as legs for movement, allowing it to overcome obstacles.
It is easy to go up and down stairs, change direction in narrow spaces, etc., and by using running wheels, it is small and lightweight, making it easy for people to maneuver into narrow spaces. .

[Embodiments of the invention]

FIG. 1 shows a traveling device, in which a traveling device main body 1 is connected to a turntable 8 via a thrust bearing 6 on the upper surface of a bogie 4 having one front wheel 2 and a pair of left and right rear wheels 3 as traveling wheels. It is configured by attaching it so that it can rotate freely. A control device 10 is mounted on the top surface of the turntable 8. An information processing device I2 having a storage section, a pair of left and right working manipulators 14, a central inspection manipulator 16, and the like are attached.

Figures 2 (4) and (B) show the trolley 4.
The figure (B) shows the turntable 8.

Brackets 18 are provided on the upper surface of the turntable 8 to support the pair of working manipulators 14 and inspection manipulators 16, respectively, on the left, right, and center sides.

Both the work manipulator 14 and the inspection manipulator 16 are constructed by a link mechanism.

As shown in FIG. 1, the working manipulator 14 has a cylinder 24 connected to the tip of a beam 20 which can be rotated up and down using a bracket 18 as a fulcrum via a pin 22, and is fitted into the cylinder 24 so as to be able to move forward and backward. A working arm 30 is further connected to the piston rod 26 via a pin 28. A ground member 32 is pivotally supported on the bin 28, and a grip 34 is attached to the tip of the working arm 30. Further, a crank fse for holding the arm 3o in the folded position is provided on the side surface of the piston rod 26. And turntable 8 and beam 2o
A cylinder piston mechanism 38 for rotating the beam 20 in the vertical direction is installed between the beam 20 and the cylinder 2.
A cylinder piston mechanism 4o is provided between the piston rod 26 and the grounding member 32 to change the opening degree of the two, and a cylinder piston mechanism 42 is provided between the piston rod 26 and the grounding member 32 to adjust the inclination of the grounding member 32 to 1lAI. ing.

The inspection manipulator 16 has a beam 44 that can be rotated up and down using the bracket 18 as a fulcrum, as shown in FIG.
A cylinder 48 is connected to the tip of the piston rod 5 via a pin 46, and the piston rod 5 is fitted into the cylinder 48 so as to be able to move forward and backward.
Further, an inspection arm 54 is connected to the inspection arm 54 via a bottle 52. The bin 52 has a grounding member 5.
6 is pivotally supported, and the tip of the inspection arm 54 has temperature, humidity,
An inspection sensor 58 for detecting pressure cicadas is attached.

A cylinder-piston mechanism 60 is provided between the side surface of the information processing device 12 and the beam 44 to vertically rotate the beam 44, and a cylinder-piston mechanism 60 is provided between the beam 44 and the cylinder 48 to change the opening degree of both sides. Is the cylinder piston mechanism 62 crotch? The piston rod 60 and the ground S 5
6 is provided with a cylinder piston isosu 64 for adjusting the inclination of the grounding portion side 56.

A three-dimensional TV camera 66 for monitoring the condition of the running surface can be mounted on the top of the information processing device (to) 12, and the shooting direction can be adjusted freely. Further, a small TV camera 68 for monitoring the inspection area by the inspection sensor 58 is attached to the cylinder 48 of the inspection manipulator 16 so as to be able to freely adjust the shooting direction. Furthermore, one end of an optical image fiber 70 is attached to the inspection arm 54 of the inspection manipulator 16 for observing the blind spot of the small TV camera 68.

The truck 4 is provided with a traveling drive mechanism 72 for steering the front wheels 2 and rotationally driving the rear wheels 3, and a rotating part 14JJ mechanism 74 for rotationally driving the turntable 8. Figure 2 (A)).

Further, each of the grounding members 32.56 is provided with a pressure detector 76 for detecting the pressure applied to the grounding surface.

Furthermore, travel path detectors 78 are provided on the front and rear lower surfaces of the turntable 80, respectively.

The running path detector 78 is composed of an ultrasonic sensor, an optical sensor, etc., and is used to detect the condition of the running surface, such as the presence or absence of obstacles or stairs.

A part of the information processing device 12 is provided with a gyro 8° for detecting the inclination of the entire traveling device.

FIG. 4 is a diagram showing the flow of signals centered on the information processing device 12. Command signals from the central command room 82 are input.

The information processing device 12 then sends operation signals corresponding to those signals to the control device 1o. Therefore, the control device 10 operates the travel drive mechanism 72, rotation drive mechanism 74, work manipulator 14, inspection manipulator 16, grip 34, inspection arm 54, and grounding member 38, 56 based on the above operation (No. 8). In addition to outputting signals to make them perform predetermined operations, the 3D TV camera 66
, the image signals from the small TV camera 68, the optical image fiber 70, and the detection signal from the inspection sensor 58 provided on the inspection arm 54 are sent to an operation display panel 84 provided in the central control room 82. Therefore, the operation display/f channel 84 displays a display based on the image signal and the detection signal, and the various signals described above are recorded on a video tape or other recording device provided in conjunction with the operation display panel 84. Ru.

Next, when the running surface is flat, the running path detector 78 detects the state of the running surface, and the running drive mechanism 72 is operated while being monitored by the 3D TV camera 66. It is possible to run with the vehicle running. When a predetermined inspection position is reached, the rotation drive mechanism 74, inspection manipulator 16, and inspection arm 54 are operated, and the inspection sensor 5BK provided on the inspection arm 54 detects temperature, humidity, atmospheric pressure, and other conditions. These detection signals are displayed on the operation display panel 84 of the central control room 82 along with image signals captured by the stereoscopic TV camera 66, the small TV camera 68, and the optical image fiber 70. Further, signals from the travel drive mechanism 72, rotation drive mechanism 74, inspection manipulator 16, and inspection arm 58 are fed back to the information processing device 12. Therefore, the operator t located in the central control room 82 sends operation signals to the information processing device f12 as appropriate, adjusts the orientations of the 3D TV camera 66, the tJz type TV camera 68, and the optical image fiber 70, and adjusts the directions as desired. It is possible to perform running operations and inspection operations. Further, when performing the above-mentioned work, the work manipulator 14 and the grip 34 are operated, and this situation is imaged by the stereoscopic TV camera 66 and displayed on the memorization operation display panel 84.

Next, if there are stairs or obstacles on the travel path, the manibilators 14 and 16 can be used to easily go up and down the stairs or get over the obstacles.
The figure shows Mizuko's movement of climbing the stairs.

After confirming that the traveling device is located near the stairs 86 using the traveling path detector 78 and the 3D TV camera 66, the operating arm 30 is folded as shown in FIG.
At the same time, the inspection arm 54 is also folded.

Then, the traveling drive mechanism 72 is driven again to bring the traveling device main body 1 closer to the stairs 86 as shown in FIG. 32 in contact with the running surface≦. Further, the grounding member 56 on the side of the inspection manipulator 16 is brought into contact with the first step of the stairs 86.

When the grounding members 32.56 are gradually lowered, the main body 1 of the traveling device rises above the running surface as shown in FIG. The pressure sensor 76 detects the reaction force from the running surface or the step surface of the stairs 86 and sends the detection signal to the information processing device 12.

Next, as shown in FIG. 8, the traveling device main body 1 is moved toward the inspection manipulator 16 and placed on the first step surface of the stairs 86.

This time, as shown in Fig. 9, the working manipulator 14 is bent and its ground contact part 32 is brought into contact with the surface of the first step.
The cylinder 24 and piston rod 26 on the working manipulator 14 side are in a substantially vertical state.

Therefore, as shown in FIG. 10, the inspection manipulator 16 is driven to lift the grounding member 56 to the height of the second step surface of the staircase 86, and then it is positioned on the second step surface as shown in FIG.

Each time the operations shown in FIGS. 6 to 11 are repeated, the stairs 86 can be ascended.

〔Effect of the invention〕

As described above based on the embodiments, the traveling device according to the present invention includes a traveling device main body, a plurality of fixed material wheels provided on the traveling device main body, and a link that is attached to the traveling &tfM1 main body. A number of manipulators that support the traveling device main body in contact with a running surface configured by a mechanism, a detector that detects the state of support of the traveling device main body by these manipulators, and a detection device for this detector. As a result, the present invention is characterized by comprising a control device for driving the plurality of manipulators.

Therefore, the manibilator not only performs specified tasks, but is also used as legs for transportation, and the manipulator allows the main body of the traveling device to levitate, allowing it to easily overcome obstacles, go up and down stairs, and climb in narrow spaces. You can do it. Therefore, when used for inspection and monitoring of equipment in areas with high radiation levels, the inspection and monitoring range is expanded due to the expansion of the driving range, and the area into which workers must enter is reduced, resulting in a radiation exposure of 1IIV+. ! -: The problem can also be solved. In addition, the use of wheels for running allows the lid to be made lighter, and since the manipulator is constructed using a link mechanism, it can be folded into a small size, making it easy to transport into and out of narrow spaces. can be obtained.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention, and FIG. 1 is a side view of the traveling device, FIG. A plan view and a side view of the table, FIG. 4 is a block diagram showing the flow of signals, and FIGS. 5 to 11 are side views showing the operation of climbing stairs. 1... Traveling device main body, 2... Front wheel, 3... Rear wheel,
4... Trolley, 8... Turntable, 10... Control device, 14... Work manipulator, 16...
Inspection manibilator, 32.56...Grounding part removed, 7
6...Pressure detector. 2nd (A) 31st (A) (B) Figure (B)

Claims (1)

[Claims] A traveling device main body, a plurality of traveling wheels provided on the traveling device main body, and a plurality of manipulators attached to the traveling device main body and configured with link mechanisms and capable of supporting the traveling device main body in contact with a traveling surface. and a detector for detecting the state of support of the traveling device main body by these manipulators, and a control device for driving the plurality of manipulators based on the detection results of this detector. Device.