JPS6092176A - Steering device for suction-traveling robot on wall surface - Google Patents

Abstract

PURPOSE:To make a turning angle of 360 deg. securable, by setting a transmission route of traveling power and steering power down to each separate system, while making a steering angle so as not to receive any restriction due to interference with a transmission mechanism of the traveling power in time of operating a steering device. CONSTITUTION:Rotative driving force in a power plant 1 is forcibly applied to space between a first driving shaft 11 and each of friction plates 14 and 14 being pressed by a Belleville spring 13 via a worm 12 locked onto this first driving shaft 11 and thereby rotates a worm wheel 15 engaged with the said worm 5. Driving force in a second driving shaft 16, which is made into a solid structure with the said worm wheel 15 and rotates till the specified load is produced, is raced by a slip between the friction plate and the worm wheel is transmitted to a first differential gear being attached to an axle 6' of a rear wheel 3 via a beveal gear 17 of the second driving shaft, thereby rotating the rear wheel 3.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a steering device for a wall adsorption traveling robot, and more specifically, the present invention relates to a steering device for a wall adsorption traveling robot. The gist of the present invention is to provide a steering device for a wall suction traveling robot that allows the steering wheels to be operated not only under the action of the robot but also when the robot is stopped.

B. Inspection of tanks, storage pools and lining tanks in radioactive waste treatment facilities and reprocessing facilities in conventional electronic power plants; inspection and cleaning of the inner and outer walls of various tanks in petroleum plants;
Remotely controlled wall suction robots are used for tasks such as repainting. These traveling robots are designed to be able to carry out the above tasks by operating an attached manipulator by remote control.
The main body of the traveling robot, which includes a traveling device, a steering device, a power generation device, or a power transmission device, is mounted within a suction wall that is equipped with a suction element that is pressed against a wall or floor surface. Therefore, the known wall suction traveling robot uses the negative pressure suction force generated within the suction cup to suction the main body of the traveling robot to a wall or floor surface, even when traveling on a vertical wall surface. It is constructed so that a strong suction and holding force acts on the traveling robot. In this way, wall adsorption traveling robots can operate as working machines in various work environments where manual work is impossible, but on the other hand, they still have some practical disadvantages to this day. . First, in order to maintain the adsorption and holding force given to the traveling robot at a predetermined level, it is necessary to regulate the flatness and smoothness of the wall or floor surface to a certain level or higher, and due to design conditions constraints, it is necessary to regulate the flatness and smoothness of the wall or floor. The operating range of robots is often restricted. Therefore, in order to deal with such constraints, it is necessary to select the design conditions of the power transmission device and steering device so that the rotation radius of the wall adsorption traveling robot is as small as possible, but as long as a single actuating device is used, the rotation radius There is a limit to the shortening of the radius, and it is extremely difficult to achieve the above objective. Furthermore, if a speed governor such as a constant velocity joint is attached as a means for preventing fluctuations in the rotational drive torque transmitted to the traveling heavy wheels, the power transmission mechanism itself will become complicated, resulting in problems such as an increase in the amount of M in the traveling robot.

OBJECTS OF THE INVENTION The main object of the present invention is to provide a steering device for a wall suction traveling robot that can solve the above-mentioned problems observed in conventional wall suction traveling robots, especially the steering devices thereof. It's about doing.

Another main object of the present invention is to provide a wall suction traveling robot with a reduced rotation radius and good operability.

C8 Structure of the Invention The present invention provides differential devices (4) and (5) for individually transmitting driving power supplied from a first power unit (1) to front wheels (2) and rear wheels (3). ) are attached to the respective axles (6), (6″) of the front wheels (2) and rear wheels (3), and the steering power supplied from the second power unit (29) is applied to the front wheels (2). ) or the rear wheel (3) forms a power transmission mechanism for transmitting power to one of the axles (6) or (6'').

2. Embodiment FIG. 1 is a partially cutaway side view of the wall suction traveling robot according to the present invention, and FIG. 2 is a partially cutaway side view of the rear wheel portion of the wall suction traveling robot illustrating the detailed structure of the friction clutch mechanism. It is a front view. Further, FIG. 3 is a partially broken pressure surface view illustrating the structure of the front wheel portion of the wall suction traveling robot. In these drawings, the main body of the wall suction traveling robot (R> is the suction element (9) on the edge facing the wall or floor (8).
It is mounted in a suction cup (1o) which is equipped with and (5)
The vehicle is configured to be able to run on the wall surface or floor surface (8) by transmitting the signal to the vehicle. The ejector indicated by the reference number (41) functions as a vacuum generator, maintains the interior of the suction cup (10) in a negative pressure state, and generates suction force for the traveling robot to the wall or floor (8). The rotational driving force of the power device (1) is generated by a first drive shaft (11), a worm (12 mm) fixed on the first drive shaft (11),
Friction play 1 pressed by a disc spring (13)
- The worm (1) is crimped between (14) and (14).
a worm wheel (15) that meshes with the worm wheel (15) and rotates integrally with the worm wheel (I5) until a predetermined load is generated, and when the load exceeds the set value, the friction plate (14); (14) and the worm wheel (15) through a second drive shaft (16) that idles due to slip and a bevel gear (17) fixed to the output end of the second drive shaft (16). The signal is transmitted to the first differential device (5) mounted on the axle (6') of the rear wheel (3), causing rotational movement in the rear wheel (3).

The rotational driving force of the power unit (1) is also transmitted to the front wheels (2). That is, the rotational driving force of the power device (1) is
A double helical gear (1B) fixed to the output end of the first drive shaft (11), a second double helical gear (19) that meshes with the double helical gear (18) fixed to one end and the other end. a third drive shaft (20) having a bevel gear (21) for output fixed thereto; a bevel gear (22) meshing with the bevel gear (21) fixed to one end and a bevel gear for output at the other end; (24) and the helical gear (24) shown in FIG.
The front wheel (2) axle ( The signal is then transmitted to the worm wheel (28) fixed to the front wheel (2) via the differential device (4) of the front wheel (2) according to a conventional method.
2) to cause rotational movement. In addition, in the device of the present invention, a power device (1) for driving the front wheels (2) and the rear wheels (3) is used.
A second power unit (29) for steering the front wheels (2) separately from the
is provided. To explain in more detail, the output shaft (
A bevel gear (31) is fixed to 3o), and the second power unit (29) is taken out by the bevel gear (31).
The rotational driving force is generated by a sixth drive shaft (34) formed by fixing a driven bevel gear (33) that meshes with the bevel gear (31) at one end and a worm (35) at the other end. Ohm (
The fourth drive shaft (23) rotatably and loosely supports the worm wheel (37) that meshes with the worm wheel (35), and the sleeve-shaped member (38) integrally joined to the worm wheel (37). ) and the support member (3) for the front wheel (2).
9) through the power transmission path consisting of the front wheel (2) axle (
6), and controls the running direction of the wall suction moving robot in a freely convertible manner. On the other hand, a well-known manipulator (40) or a monitoring camera, etc. is installed at an appropriate position on the suction cup (10) of the wall suction traveling robot according to a conventional method, and necessary work can be performed by remote control. It is configured as follows.

E. 9 Effects of the Invention As is clear from the above explanation, the device of the present invention separates the transmission paths for driving power and steering power, and when the steering device operates, the steering angle changes due to interference with the driving power transmission mechanism. Since it is formed in an unrestricted structure, it is possible to theoretically give the steering wheels a turning angle of 360°.

In reality, the turning angle of the steered wheels will be smaller than the above theoretical value due to external factors such as the attachment of the manipulator, but by adopting the device of the present invention, it is possible to give the steered wheels a wide turning angle of at least 200 degrees. Furthermore, since the transmission path for driving power is formed separately from the transmission path for steering power, the steering device can be operated regardless of whether the vehicle is traveling or stopped. Even under severe operating conditions where the wall or floor surface area is restricted and the traveling robot must be given a large turning angle, stable running conditions can be ensured for the wall suction traveling robot.

Therefore, the device of the present invention can exhibit remarkable effects in improving the power transmission performance to the running wheels of the wall adsorption running robot and reducing the turning radius of the running robot.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a partially cutaway side view of a wall suction traveling robot robot according to the present invention, and FIG. 2 is a partially cutaway front view illustrating the structure of a rear wheel portion. FIG. 3 is a partially cutaway front view illustrating the steering power transmission mechanism. (1), (29)--power unit, (2)...-front wheel,
(3) -Rear wheel, (4), (5)・-Differential, (6)
, (6”) - Axle, (7) - Friction clutch, Chi mechanism, (3
0), (31), (33), (34), (35),'(
37), (23), (3rd), (39) - Steering power transmission mechanism, (41) - Ejector. Figure 2 Figure 3

Claims (1)

[Claims] (1) A differential device for individually transmitting driving power supplied from the first power device to the front wheels and rear wheels is attached to each axle of the front wheels and rear wheels, and a second
A steering device for a wall adsorption traveling robot, characterized in that a power transmission mechanism is formed to transmit steering power supplied from the power device to either the front wheel or the rear axle.