JPS5977981A - Magnetically attracted robot - Google Patents

Abstract

PURPOSE:To automatize an operation such as removal of rusts on a wall surface, by providing magnets for supporting a frame on a surface of a magnetic structure. CONSTITUTION:Of the frame, left and right frames 11c, 11d are provided with guide grooves 21 in the interior thereof, and ball nuts 23 fixed to both ends of a rod body 13 are slidably fitted into the grooves 23. The rod body 13 is provided with a guide groove 26 along it, and a ball nut 27 connected to a traveling part 14 is slidably fitted into the groove 26. A screw shaft 28 axially supported along the rod body 13 is engaged with a threaded hole of the ball but 27, and when the screw shaft 28 is rotated by a driving motor 29, the traveling part 14 is moved along the rod body 13. Since the traveling part 14 can be moved in longitudinal and transverse directions to cover a tetragonal area, the surface 8 onto which the robot is to be attracted can be covered in a belt from by sequentially moving the robot in a transverse direction.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a robot that performs work such as removing rust from a wall of a magnetic structure such as a ship's hull while adhering to the wall using magnetic force.

Conventionally, such work has been carried out by setting up scaffolding along the wall and having one worker stand on it, requiring a lot of labor and nine hours to temporarily set up and remove one scaffold. Furthermore, work on scaffolding is always dangerous and inefficient.

The present invention provides a magnetic attraction robot for automating such wall work.

That is, the present invention includes a frame, a magnet 5 for holding the frame on the surface of a magnetic structure, a rod movably supported by the frame and moving in parallel along the surface of the structure, and the rod. To provide a magnetic adsorption robot equipped with a traveling part that moves along.

According to the robot of the present invention, the running part moves vertically and horizontally along the surface of the structure, and the tool is attached to the running part.

The inspection equipment can perform tasks such as removing rust from the surface, painting, and inspecting welded parts. By moving the robot several times along the surface of the M4 structure, this work can be performed over a wide area. In addition, since the running part has a rectangular movable range,
In this way, when the robot moves several times to cover a large area, the efficiency of the 9 work is high.

Hereinafter, reference will be made to the drawings showing embodiments of the present invention.

The magnetic adsorption robot of this invention will be explained in more detail.

1st. FIG. 2 shows the state in which this robot is used, and reference numeral 1 indicates a cart placed on the side of the hull 2.

This includes operation panel 3. Power supply receiving device 4. An emergency storage battery 5 is provided. Reference numeral 7 denotes a robot, which is hoisted up by a crane (not shown) from the storage section 1a of the truck 1 and carried to the outer surface of the hull 2, that is, the surface to be attracted 8, and has a wide diameter.

It receives power from the cable 9'fJ) and is attracted to the surface by the provided electromagnet. Robot 7 is like them.

It can also move laterally along the adsorbed surface.

Tools and the like attached to this can be moved vertically and horizontally along the welding line 10 of the attracted surface 8. Therefore, by attaching a grinder to this, for example, it is possible to remove rust along the weld line, and it is also possible to use an ultrasonic flaw detector to search for flaws in the weld. Furthermore, if you attach a paint spray gun and move it along the weld line, you can touch up the anti-corrosion paint along the weld line, or if you move the spray gun in a zigzag pattern regardless of the weld line, It is possible to paint the entire surface to be attracted.

As shown in FIGS. 3 to 5, each robot 7 includes a square frame 11, four electromagnets 12, a rod 13 that moves up and down on the frame, and a running section 14 that moves along the rod. We are prepared.

The upper and lower frames lla and llb, which are the constituent members of the frame 1, have guide grooves 15 formed therein, and the electromagnet 12 is attached to a pole nut 16 that is slidably fitted into these grooves. ing. On the other hand, screw shafts J7 that engage with the screw holes of these pole nuts are supported vertically in pairs on the upper and lower frames lla and llb, and when these shafts are rotated by their respective drive motors 18, electromagnets are activated. 12 is the axis]7.

A body position control circuit 19 for controlling the movement of the robot is installed in the traveling section 14, and its function will be explained first. When the robot is at rest, each electromagnet 12
As shown in the figure, upper and lower frames 1]-a, 1
It is located in filifA on the side of 1-b. For example, when the robot tries to move in the direction of the stone in Figure 3.

First, turn off the electricity to the two electromagnets 12a and 12b on the left, move them to the right while demagnetizing them, and move them to position aB near the center of the upper and lower frames. During this time, the movement of the two electromagnets 12a and 12b is 9 so that the robot is supported by three electromagnets.
Go back and forth in time.

The paper circuit 19 then controls the drive motor 18 so that all four electromagnets 12 move to the left relative to the main body.

Then, since the electromagnet 512 is attracted to the surface to be attracted, the robot body moves to the right while the electromagnet remains stationary. In this case, to move all electromagnets at the same speed.

It is necessary to synchronize the four drive motors 18, and for that purpose, a Stella Pink motor is used as the same motor. S and configuration become cisible.

As the robot body advances in this manner, the two electromagnets 12a and 12b on the left side return to their original positions A, but the ones on the right side 12C and 12d come to f'MB, which is the center position of the frame. Therefore, these right side electromagnets 12c and 12d are moved to the right to the 5th position A. The procedure in this case is the same as that described above for the one on the left.

In the previous operations, the robot moved each electromagnet.

In other words, the distance group corresponding to the distance between positions A and B has been advanced by repeating this series of operations.

The desired position is reached.

As is clear from the above description, the robots 1 to 1 are held on a surface to be attracted by an electromagnet 12 that is in close contact with the surface.

Moreover, since it is supported by at least three electromagnets during movement, there is little risk of it falling from the surface to be attracted. Also.

The structure required for the movement of the robot is extremely simple, as it only moves the electromagnet 12 along the surface to be attracted.

Electromagnets typically have some residual magnetism even after being disconnected from the power source, so when the electromagnet 12 is moved along the surface to be attracted as described above.

It is preferable to perform this after pulling the electromagnet from the surface to be attracted.

Therefore, in this embodiment, the electromagnet 12 and the pole nut 1
A telescopic cylinder 20 is placed between the magnets 6 and 6, and by introducing a working sub-body such as compressed air into this cylinder, the electromagnet 12 can be moved in a direction perpendicular to the attracting surface 8.

In order to ensure close contact between the electromagnet and the surface to be attracted when the electromagnet rides on the welding line 10 running on the surface to be attracted, the electromagnet] 2 is rotated to some extent in either direction. It is preferable to be able to move. Therefore, the electromagnet 12 and the telescopic cylinder 20 can be connected with a ball joint (not shown).

Left and right frames among the above frames]1. Guide grooves 21 are formed inside C and lld, and pole nuts 23 fixed to both ends of the rod body 13 are slidably fitted into these grooves. Screw shafts 24 rotatably supported by the left and right frames 1], C, 11, and d are screwed into the screw holes of these pole nuts, and when these screw shafts are rotated by their respective drive motors 25, pole nut 23
And the rod 13 is adapted to move along the left and right frames. Note that the two drive motors 25 also need to be synchronized, but for this reason, the configuration can be simplified if stepping motors are used for these motors.

A guide groove 26 is formed along the rod 13, and a pole nut 27 connected to the running portion 14 is slidably fitted into this groove. A threaded shaft 28 supported along the rod 13 is engaged with the threaded hole of this pole nut, and when this threaded shaft is rotated by a drive motor 29, the running section 1
4 is adapted to move along the rod 13.

As described above, since the traveling section moves vertically and horizontally and has a rectangular movable range, by sequentially moving the robot in the horizontal direction, the surface to be attracted 8 can be covered in a band shape.

In addition, in FIG. 3, the point where the traveling portion 14 reaches the apex of the rectangular movable range is indicated by a chain line.

The traveling part] 4 is the box body 1 connected to the pole nut 27;
4a, and a holding member 14b connected to the box body.

The box body 14a has a telescopic cylinder (not shown) between it and the pole nut 27, and by introducing compressed air into this, the WJ body and the holding member can be moved in a direction perpendicular to the attracting surface 8. , when the robot moves.

The holding part 14b is held away from the surface to be attracted.

Holding part G! ' 14b is pushed toward the suction surface 8 by a spring 30, and the distance from the suction surface is maintained constant by the protrusion 31 on the back side coming into contact with the suction surface. (Figure 7).

Tools and inspection equipment are held in the center of this holding portion IA' 14b, and in this embodiment, a rust removal butt 32 is held. This chisel is.

The needle east 32a moves as a piston when supplied with compressed air.

At the end, tap the surface to be attracted along the weld line 10 to knock off any rust or scale that may have adhered to it. In order to prevent the dusted off rust and scale from adhering to the electromagnet 12, it is also possible to vacuum-suction the rust and scale near the needle east 32a.

As shown in FIGS. 6 to 8, in order to locate the welding line 10, the holding member 41 is moved from the center of the welding line 10.
:, A set of three tentacles 34 are provided at locations spaced apart in each direction on the right. These tentacles are attached to the surface to be attracted 8
It can slide in a direction perpendicular to , and its tip is pressed against the surface to be attracted by a built-in spring 35. Each contactor 34 has a corresponding switch 36.
When the tip of the feeler reaches the weld line] 0 -, the surface of the weld line is slightly more protruding than the other parts, so the feeler retracts by that amount and responds accordingly. switch 3
The output of 6 is switched on, for example, 9. One set of tentacles consists of multiple tentacles arranged at slight intervals in the direction perpendicular to the welding line so that when the running part is about to come off the welding line, it can be seen which side it has deviated to. Become. Although one set of tentacles is made up of three in this embodiment, it can also be made up of two.

The traveling part 14 moves along the weld line on the surface to be attracted.

A traveling section position control circuit 37 for controlling the drive motors 25 and 29 in response to the output of the switch 36 is placed in the box 14a, and the operation of this circuit will now be described.

Now, as shown in FIG. 3, it is assumed that vertical and horizontal welding lines 10a and 10b run in an inverted T-shape on the surface of the hull outer plate to which the robot is adsorbed. The control circuit 37 first moves the running section 14 from, for example, the upper left position S to the right, and eventually the upper and lower sets of contactors 34a+34b are turned on, so that the running section rides on the vertical welding line 10. Know that.

Knowing this, the control circuit now moves the running section downward to follow the vertical weld line 10a. At this time.

For example, if the traveling section 14 is about to come off to the left of the weld line, the control circuit will detect this and send it to each set of upper and lower contactors 34a.

It was detected when the left one of 34b was turned off.

The drive motor 29 is controlled to correct the trajectory of the traveling section 14 to the right. While the traveling section 14 moves in this manner following the welding line 1oa, the pin 32 held by the traveling section is moved.

The adhering surface 8 is struck along the weld line to remove adhering rust and scale.

Eventually, when the traveling section approaches the intersection 10e, the lower group of tentacles 34b is turned off, and then the left and right sets of probes 34C are turned off.
, 34d turn on on the weld line 10b, the control circuit can know that the vertical weld line 10a has ended and another weld line 10b runs in the horizontal direction. Therefore, control circuit 3
7, the running portion 14 is now advanced laterally 9, for example to the left, and the chisel 32 strikes the lateral welding line 10b. When the runner reaches the left limit of movement, the control circuit reverses the direction of movement of the runner so that the runner follows the weld line 10b from left to right. In this case, the rust has already been removed up to the intersection ], Oc.

Stop the chisel and return it at a fast speed. Then, when the running section] 4 reaches the right limit of movement, the control circuit stops the operation of the chisel and advances the running section 14 downward until it reaches the lower right position T while searching for another weld line.

This means that all the weld lines within the movable range of the moving part have been removed, and the robot moves sideways to remove the rust from the adjacent parts. The specific configuration of the control circuit 37 for controlling the traveling section as described above is as follows.
Since this can be easily accomplished using conventional techniques, the explanation will be omitted.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention. Figure A1 is an explanatory diagram of the operating state of the robot seen from the side of the ship, Figure 2 is an explanatory diagram of the same state when viewed along the hull, and Figure 3
The figure is an elevational view of the robot, Figure 4 is an enlarged bottom view of the robot seen from the ■ direction in Figure 3, Figure 5 is an enlarged side view of the robot seen from the ■ direction in Figure 3, and Figure 6 is the traveling section. FIG. 7 is a back view of the holding member, and FIG. 7 is a side view of the holding member. FIG. 8 is an enlarged view of FIG. 7 viewed from the direction ■. 1... Mortar wheel 2... Hull 7... Robot 8... Surface to be attracted 10... Welding line 11...
... Frame 12 ... Electromagnet 13 ... Rod 14 ... Running part 14a ... Holding member 17
... Screw shaft 18 ... Drive motor 19 ...
Body position control circuit 20...Telescopic cylinder 24...
... Screw shaft 25 ... Drive motor 28 ... Screw shaft 29 ... Drive motor 32 ... Chisel
34...Toucher 36...Switch 37...
・Traveling part position control circuit attorney Yoshiaki Satake Figure 1 2 Figure 2

Claims (1)

[Scope of Claims] 1. A frame, a magnet for holding the frame on the surface of a magnetic structure, and a rod movably supported by the frame and moving in parallel along the surface of the structure; A magnetic adsorption robot equipped with a running section that moves along this rod. 2. The magnetic attraction according to claim 1, wherein the rod has a screw hole perpendicular to the axial direction thereof, and a screw shaft that is screwed into the screw hole and rotates itself is mounted on the frame. robot. 3. The running part has a screw hole along the rod, and a screw shaft that is screwed into the screw hole and rotates itself is mounted on the rod. Second
Magnetic adsorption robot.