JPS5937075A - Runner - 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 relates to a traveling body that travels within a complex space such as a nuclear reactor containment vessel.

[Technical background of the invention]

Generally, when inspecting and monitoring equipment in an environment where it is not desirable for observers to enter the reactor containment vessel, monitoring equipment such as a television camera is mounted on a vehicle that travels inside the reactor containment vessel by remote control. However, this monitoring equipment has been developed to remotely monitor equipment inside the reactor containment vessel. However, many pipes, equipment, etc. are housed within the reactor containment vessel, and the above-mentioned traveling body must be able to freely travel within such a complex human space.

However, it is difficult to move all parts of a complex space with a single moving body. For this purpose, various types of running bodies are installed, such as running bodies that run on monorails installed inside the reactor containment vessel, running bodies that run on worker passageways, and running bodies that run inside and outside piping. Consideration was given to equipping each body with monitoring equipment.

[Problems with background technology]

As described above, when there are many types of running bodies, maintenance and management of these running bodies becomes troublesome. Further, if a large number of running bodies are provided, problems τ such as other running bodies getting in the way occur during inspection and monitoring.

[Purpose of the invention]

The present invention allows a single traveling body to travel in various ways, such as traveling on a mole rail, traveling on the floor, and traveling inside and outside of piping.
The purpose of the present invention is to provide a running body that can move freely in a complex space such as a nuclear reactor containment vessel. The vehicle body is provided with a manipulator that is rotatable in all directions and can be folded and expanded, or is telescopic, and a wheel is provided at the tip of this manipulator. Therefore, when running on the floor, the wheels on the underside of the vehicle body and the wheels at the tip of the manipulator are grounded, allowing stable running. Also,
When traveling inside the pipe, extend the manipulator upward]
7. The wheel at the tip can be brought into contact with the upper part of the inner surface of the pipe to ensure stable running. Also, when traveling along the outer circumference of the pipe, the manipulator can be used to hold the pipe.
The wheel at the tip is brought into contact with the outer circumferential upper surface of the pipe, the vehicle body is pulled up, the wheel on the upper surface of the vehicle body is pressed against the lower surface of the pipe, and the vehicle can travel by driving the wheels. When traveling along a 1 molar rail, the wheel at the tip of the nibulator is fitted onto the molar rail, the car body is pulled up, the wheel on the top of the car body is pressed against the underside of the molar rail, and this wheel is driven to rotate to move along the molar rail. You can run along it. Therefore, one machine can travel in various ways such as on the floor, inside piping, outside piping, and on a mole rail, and can freely travel in complex spaces such as inside the reactor containment vessel. It is something that can be done.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to the drawings. In the figure, 1 is a car body, and this car body J is composed of a front car body 1a and a rear car body 1b.
The rear vehicle body 1b has a substantially octahedral shape. And, the front body 1a and the rear body 1b are connected to the coupler 2I4.
, 2b are rotatably connected to each other in all directions, and these connectors 2m and 2b connect the front vehicle body 1a and the rear vehicle body 1b.
It is configured so that the rotation can be fixed at any position. In addition, couplers 2b and 2m similar to those described above are provided at the front end of the front body 1a and the rear end of the rear body 1b, making it possible to connect a plurality of such front body 1a and rear body 1b. It is configured so that it can be done. A steering wheel 3 is provided at one end of the front vehicle body 1a. It is composed of

Further, wheels 4 are attached to the lower part of the rear vehicle body 1b, and the wheels 4 are provided so as to be freely protrusive and retractable from the rear vehicle body 1b by rotation of an arm 5. Furthermore, drive wheels 6.degree. 6 are provided on the upper surfaces of the front vehicle body 1a and the rear vehicle body 1b. As shown in FIGS. 3 and 4, these driving wheels 6, 6 are provided on a rotating table 7 that rotates in a horizontal plane and are configured to be freely steerable.
It is configured to be rotationally driven by a drive mechanism (not shown) provided in b. Additionally, a collector 8 is provided at the rear end of the upper surface of the rear vehicle body 1b.
is configured so that when traveling along a mole rail, which will be described later, it comes into contact with a contact wire installed on the mole rail to supply power for motive power. Furthermore, a cable winding mechanism 9 is provided at the rear end of the rear vehicle body 1b and is configured to wind up and unwind a power supply cable 10.

Furthermore, a three-dimensional television camera 11.
Monitoring equipment such as an ultrasonic sensor and a thermocouple 12 is provided, and a running sensor 13 is provided on the lower surface of the rear vehicle body 1b. The vehicle is configured to detect signs placed on the road and guide the driver's travel. Further, a loaded object holding portion 14 is formed at the lower front end of the front vehicle body 1a.
A holding mechanism 15 . Further, the rear vehicle body 1b is provided with a battery 6, a battery 6, and a battery 16 for storing an internal power source (not shown). Furthermore, this rear vehicle body 1b is provided with a wireless device 17, which is configured to transmit signals such as control signals and measurement signals.

A pair of left and right manipulators 18 are protruded from the upper portions of the front vehicle body 1h and the rear vehicle body 1b, respectively. These manipulators 18 are rotatable in all directions, and have a joint 19 in the middle.
・With L7, it is configured to be able to bend and extend freely. At the tip of this manipulator 18... there is a wheel mechanism 2.
0... is provided. This wheel mechanism! As shown in FIGS. 5 and 6, the soil is moved by an arm 21 rotatably provided at the tip of the manipulator 18, a lever 22 rotatably provided at the tip of this arm 21, and this lever 2.
a cylinder mechanism 23 for rotating the lever 2; a wheel 24 rotatably provided at one end of the lever 22;
The roller 25 is provided at the other end of the sol roller 25 and can be moved in all directions. When using the wheel 24, the lever 22 is rotated by the cylinder mechanism 23 as shown in FIG.
When moving along the surface of the pipe B etc. in a direction other than the rolling direction, the lever 22 is rotated by the cylinder mechanism 23 as shown in FIG. - The roller roller 25 is configured to come into contact with the outer circumferential surface of the pipe B, etc.

Further, a chuck mechanism 26 is rotatably provided at the tip of the manipulator 18, and a chuck 22 that can be opened and closed is provided at the tip of the chuck mechanism 26. When not in use, this chuck mechanism 26 is operated by the manipulator 18 as shown in FIGS. 5 and 6.
When in use, the wheel mechanism 20 is folded along the manipulator 18Vc and the chuck mechanism 26 is extended, as shown in FIG.

Next, the operation of this embodiment will be explained. First, when traveling on the floor, as shown in FIG. 8, the pair of manipulators 18° 18 of the ridge car body 1b are rotated downward to ground the wheels 24° 24 at the tip of the manipulators 18, 24.24
The front vehicle body Ja and the rear vehicle body 1b are supported at three points: and the steering drive wheels 3 of the front vehicle body 1b. In this case, the wheels 4 of the rear body 1b are recessed into the rear body 1b, the couplers 2m and 2b are fixed unrotatably, and the wheels 4 of the rear body 1b are fixed unrotatably.
Fold the manipulator 18°18. Then, the steering wheel 3 of the front vehicle body 1a is driven to run on the floor, and the steering wheel 3 is used for steering.

Further, the running sensor 13 detects a sign on the floor and guides the running. In this case, power is supplied from the built-in battery [7, the cable winding mechanism 9 is connected to the power line in the reactor containment vessel 10R, and power is supplied from this power line.

Next, when traveling inside the pipe, as shown in FIGS. 9 and 10, the steering drive wheels 3 of the front vehicle body 1a and the rear vehicle body 1 are
The wheels 4 of b are grounded to the bottom of the inner surface of the pipe B to support the front vehicle body 1g and the rear vehicle body 1b, and the manipulator IF1.18 of the front vehicle body 1a is extended obliquely upward to connect the wheels 24.24 at the tip. is brought into contact with the upper part of the inner surface of pipe B to prevent it from falling. Then, the steering wheel 3 is driven to travel inside this pipe B. In addition, when passing through a bent part of the pipe, the fixation of the couplers 2m and 2b is released to accommodate the bending of the pipe B. can pass through the section smoothly.

Next, when traveling along the outer peripheral surface of the pipe, as shown in FIGS. 11 and 12, the pipe B is held by the manipulators 18 of the front vehicle body 1a and the rear vehicle body 1b, and
The wheels 24 at the tips are brought into contact with the upper surface of the pipe B, the front vehicle bodies 7a, 1, - and the rear vehicle body 1b are pulled up, and the drive wheels 6, 6 provided on the upper surfaces of these are brought into contact with the lower surface of the pipe B. to press. Then, the drive wheels 6, 6 are rotationally driven, and
It runs along the outside of tube B. When passing through a bend in pipe B, if the couplers 2m and 2b are released, the front body 1a and the rear body 1b will rotate in accordance with the bend in pipe B, allowing the bend to pass smoothly. can pass. When the manipulator 18 is to hold the pipe B, the cylinder mechanism 23 of the wheel mechanism first rotates the lever 22 to bring the pole roller 25 into rolling contact with the outer periphery of the pipe B. While rolling in the circumferential direction along the outer peripheral surface of the pipe B, the manipulator 18 is extended to hold the pipe B. When the manipulator 18 has completely held the pipe B, the lever 22 is rotated and the wheel 24 is rotated. Bring it into contact with the outer periphery of pipe B.

In addition, when traveling on the mole rail, as shown in FIGS. 13 and 14, the wheels 24 at the tips of the manipulators 18 are placed on the guide portions on both sides of the mole rail C.
D, pull up the front vehicle body 1a and rear vehicle body 1b, press the drive wheels 6, 6 provided on the upper surface of these onto the lower surface of the mole rail C, and drive these drive wheels 6, 6 to rotate. do. In this case, the current collector 8 is brought into contact with a contact wire (not shown) on the lower surface of the mole rail C to supply power. In addition, when passing through the bending part of the mole rail C, the coupler 2g
, 2b are released, the front vehicle body LL and the rear vehicle body 1b rotate relative to each other in response to the bending of the mole rail C, allowing the vehicle to smoothly pass through the bend.

Note that the present invention is not limited to the above embodiment.

For example, the vehicle body does not necessarily have to be a front vehicle body and a rear vehicle body that are rotatably connected.

Furthermore, signal transmission is not limited to wireless, but may also be done by wire or optical communication.

Further, the manibulator is not limited to one that bends through joints, but may be one that is extendable and retractable.

〔Effect of the invention〕

As described above, the present invention provides wheels on the upper and lower surfaces of the vehicle body, and also provides a manipulator on the vehicle body that is rotatable in all directions and is foldable, deployable, or telescopic, and a wheel is provided at the tip of this manipulator. It is something. Therefore, when running on the floor, the wheels on the underside of the vehicle body and the wheels at the tip of the manipulator are grounded, allowing stable running. Furthermore, when traveling inside the pipe, the manipulator is extended upward and the wheel at the tip is brought into contact with the upper part of the inner surface of the pipe, thereby allowing stable travel.゛Also, when traveling along the outer circumference of the pipe, the manipulator is used to hold the pipe, the wheels at the tip are brought into contact with the upper surface of the outer circumference of the pipe, the vehicle body is pulled up, and the wheels on the upper surface of the vehicle body are pressed against the lower surface of the pipe. It can run by driving the wheels. In addition, when traveling along the mole rail, the wheel at the tip of the manipulator is fitted into the mole rail to pull up the vehicle body, the wheels on the top of the vehicle body are pressed against the bottom surface of the mole rail, and the wheels are rotationally driven to drive the vehicle along the mole rail. Can run.

Therefore, one machine can travel in various ways such as on the floor, inside piping, outside piping, and on mole rails, and can freely travel in complex spaces such as inside the reactor containment vessel. The effect is great.

[Brief explanation of the drawing]

The figures show one embodiment of the present invention, in which FIG. 1 is a side view, FIG. 2 is a front view, FIG. 3 is a side view of the driving wheel portion, FIG. 4 is a plan view of the driving wheel portion, and FIG. Figure 5 is a front view of the wheel mechanism when wheels are used, Figure 6 is a front view of the wheel mechanism when a 111 roller is used, and Figure 7 is a chuck mechanism and wheel mechanism when a chuck mechanism is used. 8 is a side view when running on the floor, FIG. 9 is a front view when running inside the pipe, FIG. 10 is a side view of the same, and FIG. 11 is a front view when running outside the pipe. FIG. 12 is a side view of the same, FIG. 13 is a front view of the mole rail running state, and FIG. 14 is a side view of the same. J... Vehicle body, 1m... Front vehicle body, 1b... Rear vehicle body, 3... Steering drive wheels (wheels), 4... Wheels 1.6
... Drive wheel (wheel), 18 ... Manipulator, 2
0--Wheel mechanism, 24--Wheel. 11 agents Patent attorney Takehiko Suzue Figure 2 Figure 3 Figure 4 Figure 7 Figure 8 Figure 13 Figure 9 Figure 10 Figure 13 Figure 14

Claims (2)

[Claims] (1) A vehicle body, wheels provided on the lower and upper surfaces of the vehicle body, a manipulator provided on the vehicle body that is rotatable in all directions, and is foldable, deployable, or telescopic, and the tip of the manipulator. 1. A running body comprising: wheels provided in the vehicle; (2) The patent application is characterized in that the vehicle body is a front vehicle body and a rear vehicle body connected to each other so as to be rotatable in all directions.