JPS61119478A - Traveling apparatus - Google Patents

Abstract

PURPOSE:To obtain a traveling apparatus which can freely shift between a floor surface and a wall surface by connecting, in foldable ways, a floor-surface traveling part which can travel on the floor surface through wheels and a wall-surface transfer part which is equipped with two pairs of magnetic adsorbing tools in shiftable ways in the two dimensional directions and can travel on the wall surface. CONSTITUTION:The captioned apparatus 1 is constituted of a floor-surface traveling part 5 which travels on a floor surface 3 and is equipped with four wheels 13 driven by a motor on the undersurface, wall-surface transfer part 9 which transfers on the wall surface 7 of a magnetic body, and a connecting mechanism 11 for connecting the floor traveling part 5 and the wall-surface transfer part 9 in foldable ways. Said wall-surface transfer part 9 is equipped with a body plate 43 having a pair of U-shaped magnetic adsorbing tolls 49A and 49B at the both side parts and a slidable plate 45 which is installed onto the undersurface of the body plate 43 and moved in slidable ways along a guide rail 65 by the operation of a motor 69. A rotary plate 47 equipped with a pair of semicircular magnetic adsorbing tools 85A and 85B which are supported in turnable ways around a shaft 81 is installed onto the plate 45, and can be transferred in the two-dimensional directions.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a traveling device that can freely move from a floor to a wall and from a wall to a floor.

(Technical background of the invention and its problems) In general, in nuclear power plants, some periodic inspections and inspections of various types of imaging are performed by robots. This is mainly to reduce the burden on workers and improve work efficiency.

This type of robot includes a robot that uses magnetic force to move while adhering to the surface of a steel structure such as a nuclear reactor pressure vessel using magnetic force. As for the movement method, there are methods using permanent magnet wheels and methods that slide around multiple magnets with a flat seating surface, but such robots that use magnetic force.

Since it is not possible to move between the steel structure being inspected and the floor, workers must install and remove the robot from the steel F2 structure for each inspection and inspection location. . Therefore, there is a risk that workers will be exposed to radiation during installation and removal, and the exposure IWm may be considerable depending on the work location. Furthermore, since it is necessary to attach and detach the robot, there is an inconvenience that inspection work is troublesome and takes a long time.

Furthermore, if the robot moves using wheels,
There are problems in that it is relatively difficult to change direction, etc., and it is difficult to obtain strong attraction force because the magnetic attraction area is small.

In addition, in the case of the slide movement method, since the seating surface on the magnetic body is flat, if the surface of the magnetic body has large curvature, distortion, or unevenness, the magnetic attraction area will become small at the 8i end and the robot will fall. There is a fear. Even if the seating surface is machined to match the curvature of the magnetic material surface, there is a problem in that only the magnetic material surface with that curvature can be moved, and it cannot deal with distortions or unevenness having other curvatures. [Object of the Invention] This invention has been made in view of the above circumstances, and provides a traveling device that can move between a floor surface and a magnetic wall trough using its own blade, and can freely travel on a floor surface and a wall surface of any shape. The purpose is to

[Summary of the invention]

In order to achieve the above object, the traveling device according to the present invention has a floor traveling section that is equipped with wheels and is configured to be able to run on the floor by itself, and two sets of magnetic adsorbers that can be attached to a wall surface in a two-dimensional manner. It has a wall surface moving section movable in the direction and configured to be able to self-travel on the wall surface, and a connecting device that connects the floor surface traveling section and the wall surface traveling section mutually in a foldable manner. , the floor surface traveling section runs on the floor surface, and the wall surface moving section moves on the wall surface.

[Embodiments of the invention]

Embodiments of the present invention will be described below based on the drawings.

FIG. 1 is an overall configuration diagram of an embodiment of a traveling device according to the present invention.

In FIG. 1, the traveling device LT 1 is composed of a floor traveling section 5 that travels on a floor surface 3, a wall surface moving section that moves on a magnetic wall surface 7, and a connecting mechanism 11 that connects them. The traveling device 1 also includes a TV camera (not shown), a sensor (not shown) that recognizes and detects walls and floors, and a position 2 detector (
(not shown) and a computer (not shown). This traveling equipment automatically travels as a computer processes information from TV cameras, sensors, and the like. Alternatively, images from a TV camera may be sent to the operator (not shown) using radio waves and remotely controlled by one worker based on the image information.

2 (A) and (B) mainly show the configuration of the floor running unit 5, (A) is a perspective view of the running device 1 seen from above, and (B) is a perspective view of the running device 1 viewed from the side. It is a perspective view.

Four wheels 13A, 138.1 are mounted on the lower surface of the floor running section 5.
5A and 15B are provided. Wheel 13A.

13B is connected to the floor traveling motor 2 via shafts 17A, 17B and gear boxes 19A, 19F3, respectively.
Connected to 1A and 12B. These motors 21A, B
11 are connected to a battery 20 provided in the floor running section to supply power. In addition, shafts 17A and 17B
is pulley 23A.

BS is fixed. Further, shafts 25A, 25B are connected to the wheels 15A, 15B, respectively, and pulleys 27A, 27B are fixed to the shafts 25A, B, respectively.

Each of these pulleys 25A,B.

27A and 27B are formed to have approximately the same diameter. And pulley 2
Timing belt 29A between 3A and 27AI and pulleys 23B and 278, respectively.

B is given the chance.

Therefore, when traveling on the floor, the floor traveling motors 21A and 21B are driven to drive the wheels 13A and 1, respectively.
3A is rotationally driven, and wheels 15B, 15B are rotationally driven via timing belts 29A, 8, respectively. When moving one step forward or backward on the floor surface, use motor 21A.
, [3] and the motor 21A when bending and traveling.

The rotation speed of B is made different.

Next, I'll explain about 2' & Keikisou 4.

Connection structure 1 that connects the floor running part 5 and the wall moving part 9
1 is arms 31A, 3i8, 33A extended from both sides
, 33B, and a shaft 35 rotatably connecting these arms. This shaft 35 is fixed to arms 33Δ, 33B on the side of the wall moving section 9, and the arms 31A, 31B on the side of the floor running section 5 are formed so as to be freely rotatable around the shaft 35.

A worm wheel 37 is mounted on the shaft 35, and a worm 41 connected to a connecting motor 39 is screwed into the worm wheel 37.

This motor 39 is fixed to the floor traveling section 5 and connected to the battery 20. Therefore, when the worm 41 is rotated by the connecting motor 39, the worm wheel 37 rotates, and the floor traveling section 5 and the wall moving section 9 rotate relative to each other around the shaft 35, and are folded and expanded.

FIG. 3 shows the configuration of the wall moving section 9.

This wall moving section 9 is mainly composed of a main body plate 43, a slide plate 45, and a rotary plate 1-/17.

A pair of U-shaped magnetic adsorption tools 49A and 49B are fixed to both ends of the main body plate 43. These U-shaped magnetic attraction devices 49Δ, B are composed of a U-shaped yoke 51 and flexible magnetic poles 53 as attraction parts fixed to both lower ends of the yoke 51, and a coil 55 is wound around the yoke 51. flexible!
The single pole 53 is constructed by filling a flexible and deformable bag 57 with magnetic powder 59 such as metal powder with good fluidity, and the bag 57 is made of, for example, artificial leather or stainless steel fiber. Formed from cloth.

The principle of the magnetic adsorption tool having such a structure will be explained with reference to FIG. 4. Since the flexible magnetic pole 53 is composed of a bag 57 with good flexibility and magnetic powder 59 with good fluidity, when the magnetic adsorption tool 49 is pressed against the magnetic body 61, the flexible magnetic pole 53 will be attached to the magnetic body 61.
Even if the surface is distorted, it adheres closely along the curved surface. When the coil 55 is energized in this state, the yoke 51 becomes an electromagnet and the magnetic powder 59 is magnetized. As a result, magnetic flux 63
occurs, and the magnetic attraction tool 49 magnetically attracts the magnetic body 61. When detaching the magnetic adsorption tool 49 from the magnetic body 67, it is sufficient to turn off the current to the coil 55.

On the other hand, as shown in FIG. 3 (A>), channel-shaped guide rails 65 are attached to each inner side of the yoke 51 in parallel with each other. A rack 67 is fixed substantially parallel.

Moreover, the slide plate 45 is supported by the guide rail 65 so as to be able to vibrate. A linear motor 69 rx+=i is mounted on the upper surface of this slide plate 45, and this motor 69
As a result, the ion 73 is transferred via the reduction gear 71.

This pinion 73 is engaged with the rack 67. Therefore, by driving the straight motor 69,
The main body plate 43 and the slide plate 45 relatively slide along the guide rail 65.

Further, a direction changing motor 75 is fixed to the lower surface of the slide plate 45. A worm 79 is rotated by this motor 75 via a reduction gear 77 . Further, a shaft 81 is supported by the slide plate 45 via a bearing (not shown).

This shaft 81 is provided vertically inwardly with respect to the main body plate 43 . Roughly speaking, a worm wheel 83 that meshes with the worm 79 is attached to the shaft 81, and a rotary plate 47 is fixed to the lower end. Therefore, by driving the direction conversion motor 75, the slide plate 45 and the rotating plate 47 rotate relative to each other about the shaft 81.

The rotating plate 47 has a disk shape, and a pair of semicircular magnetic suction tools 85A and 85B are arranged in a disk shape on the lower surface of the rotating plate 47. The semicircular magnetic suction tools 85A, B are configured similarly to the U-shaped magnetic suction devices 49A, B except for the shape. In other words, flexible magnetic poles 89 as suction parts are provided at both ends of the semicircular yoke 87, and a coil 9 is provided at the center.
1 is wrapped. The flexible LA pole 89 is formed from a flexible bag 93 and a magnetic powder 94 with good fluidity.

Therefore, as shown in FIG.
89 is magnetically attracted to the wall by energizing the 1p coil 91 that is in close contact with the wall.

As explained above, the wall surface moving part 9 is connected to the main body plate 4.
3 and the relative sliding movement of the slide plate 45,
5(A) to (D
), it is configured to be able to move freely even on the distorted magnetic wall surface 7. 5A shows a case where the magnetic wall surface is concave, FIG. 5B shows a convex surface, FIG. 5C shows a distorted curved surface, and FIG. 5D shows a curved surface with small protrusions 95.

By the way, the straight-travel and direction-changing motors 69°75 and the coils 55 of the magnetic suction devices 49A, B, 85A, and B.
Power to 91 is supplied by battery 20 via connecting cable 97 in FIG. In addition, the floor traveling motors 21A and 21B of the floor traveling section 5, the coupling motor 39 of the coupling mechanism 11, the linear movement and direction changing motors 69, 75 of the wall surface moving section 9, and the one-air intake ' ? J shellfish 49Δ,
+(Ting circular magnetic 1'Vuaa85A, B each 1i1
Is 1tiO equipped with floor transfer fJ+ part 5?
11 by t99 (Figure 2).

Next, the operation will be explained with reference to FIGS. 6 to 9.

FIG. 6 shows how the traveling device 1, which is a combination of the floor traveling section 5 and the wall moving section 9, moves from the floor surface 3 to the magnetic wall surface 7.

When moving from the floor surface 3 to the magnetic wall surface 7 1. L. First, rotate the wheels 13.A, 138.15A, and 15B of the floor traveling section 5 to bring the folded traveling device 1 close to the magnetic wall surface 7 to an appropriate position. Next, the connecting motor 39 of the connecting separate structure 11 is rotated to rotate the wall surface moving part 9 around the shaft 35, and as shown in FIG. Circular magnetic adsorption tool 85A,
B is placed on the magnetic wall 1Ilii7. Then, the coils 55.91 are energized, and the magnetic adsorption tools 49A, B, 85A,
8 is magnetically attracted to the magnetic wall surface 7. Thereafter, the connection is made by rotating the floor surface traveling section 5 to the back side of the wall surface moving section 9 in the same manner using the mechanism 11, and as shown in FIG. Ru.

7(A), (B), and (C) show how the wall moving section 9 moves on the magnetic wall surface 7. FIG.

(A) is a U-shaped and semicircular magnetic adsorption device 49A.

B, 85A, and 8 represent a state in which the wall surface moving portion 9 is magnetically attracted to the electric body wall surface 7. From this state
Turn off the power to the coils 55 of the letter-shaped magnetic attraction tools 49A and B, release their magnetic attraction, and create a semicircular magnetic attraction device 85A.
The wall surface moving part 9 is held at @tube only by B. Next, the straight motor 69 is driven to slide the main body plate 43 upward in the figure. After that, again U-shaped magnetic adsorption thread 4
9A, the coil 55 of 8 is energized, and the U-shaped gas adsorption tool 4
9△, B are magnetically attracted to the magnetic wall surface 7. This state is shown in (B).

Next, state (B)! From S, semicircular magnetic adsorption tool 85A,
Turn off the 3N power to the coil 91 of B to release the magnetic suction 6,
The wall moving part 9 is attracted and held using only the U-shaped magnetic attraction tools 49A and 49B. Thereafter, the straight motor 69 is driven to slide the slide plate 45 upward in the figure.

Then, electricity is again applied to the fills of the T-ensugi magnetic suction tools 85A and B, and the semicircular magnetic suction tools 85Δ and B are magnetically attracted to the magnetic surface. This state is shown in (C). Like this (△)
By sequentially repeating the operations from to (C), the wall moving section 9 moves forward on the magnetic wall surface 7. Conversely, from (C) to (
By repeating the operations from B) to (A>), the wall surface movement 8I19 moves the magnetic body 12 surface 7 backward Ia.

FIGS. 8(A) and 8(B) show how the wall moving part 9 changes direction on the magnetic y-plane 7. FIG. In (A), the wall surface moving part 9 is U-shaped and semicircular magnetic adsorption tools 49A, B, 85A, 8
represents the state of being magnetically attracted to the magnetic wall surface 7. From this state, turn off the power to the coils of U-shaped magnetic chutes 49A and 8, and
The magnetic adsorption of is released, and the semicircular magnetic adsorption tools 85A and 8 are used to adsorb and hold the object. Next, turn the direction conversion motor 75 to g4h.
Then rotate the main body plate 43 by the required angle. After that, the oil layer is added to the coil 55 again, and the hidden 11 shell 49A,
B is magnetically attracted to the magnetic wall surface 7. This state (B)
Shown below. In this way, the wall surface moving section 9 moves the magnetic material wall surface 7
Change direction at the top and change direction.

FIGS. 9A and 9B show how the running Vt position 1 moves from the magnetic wall surface 7 to the floor surface 3. FIG.

When moving from the magnetic wall surface 7 to the floor surface 3, the movement from the floor surface 3 to the magnetic wall surface 7 is the reverse of the movement, and the wall surface moving unit 9 is first moved (
From the state of A), approach the floor surface 3 to an appropriate distance n. Next, the connecting opening groove 11 is activated to rotate the floor traveling section 5, and the wheels 13A, B, 15A, and B are brought into contact with the floor surface 3.

Then, the power to the coils 55.91 is cut off, and the U-shaped magnetic chutes 49A, BJ5 and semicircular magnetic chutes 85A, B are turned off.
After releasing the magnetic adsorption, the operation unit 11011 is operated again to rotate the wall surface moving part fJ+Is 9 to the back surface of the floor surface traveling section 5. In this way, the traveling device 1 is moved from the magnetic wall surface 7 to the floor surface 3.

According to the above embodiment, the running device 1 has a floor running system 1 and 5.
and the wall surface moving section 9 are connected via a structure 11, and for the floor surface 3, a floor surface movement section 11 section 5...
Since the bamboo wall surface 7 can be moved by the wall moving section 9, it is possible to move between the floor surface 3 and the magnetic wall surface 7 using the blade without human intervention. Therefore, by applying this traveling device to the traveling device of a robot that performs inspection and inspection work while moving on the surface of steel structures in a nuclear power plant, it is possible to achieve complete remote control of various tasks. This makes it possible to further reduce the exposure of workers and save labor.

In addition, the wall surface moving section 9 of the traveling device 1 uses magnetic adsorption tools 49A, 13.85A, and B, each of which has a flexible magnetic pole 53.89 that can be freely deformed according to the shape of the magnetic wall surface 7 as an adsorption section. Therefore, even if the magnetic material wall surface 7 has a concave surface, a convex surface, a distorted curved surface, a curved curved surface, etc., close magnetic adsorption is possible along the curved surface. As a result, a sufficient magnetic attraction force is generated by 1q, and it is possible to move the magnetic wall surfaces 7 of various shapes.

〔Effect of the invention〕

As described above, according to the traveling device according to the present invention, the floor traveling section is equipped with wheels and is configured to be able to run on the floor with its own blade,
The wall surface moving section is configured such that two sets of magnetic adsorption tools capable of adhering to the wall surface are movable in two-dimensional directions, and are capable of self-travel on the wall surface. Because the blades are connected to each other at will, it is possible to move between floors and walls with its own blade without human intervention, and it can also move freely on floors and walls of any shape. The effect of Qin.

[Brief explanation of drawings]

] Figure 1 is a perspective view (not showing the overall configuration) of a one-length embodiment of the traveling device according to the present invention, FIG. 2 (A) is a perspective view of the traveling device seen from above, and FIG. 2 (B) is 3 is an exploded perspective view of the wall moving part of the traveling device shown in FIG. 1, FIG. 4 is a principle diagram of magnetic attraction using magnetic powder, and FIG. 5 is a perspective view of the traveling device seen from the side.
閤(A),(8),(C),(D) are r of shape respectively.
FIG. 6<A), (8) is an explanatory diagram when the traveling device of FIG. 1 transfers from the floor surface to the magnetic wall surface, Figure 7 (A>
, (B) and (C) are rear views showing how the wall 11 of the traveling device moves on the magnetic material, and Fig. 8 (A>, (8)
FIG. 9(A) is a rear view showing how the wall surface moving section A changes the direction C above the magnetic chamber surface. (B) is an explanatory diagram when the traveling device moves from the magnetic wall surface to the floor surface. DESCRIPTION OF SYMBOLS 1... Traveling device, 3... Floor surface, 5... Floor surface running part, 7... Magnetic material wall surface, 9... Wall surface moving part, 11...
・2! ! ! Structure, 13A, B, 15A, E3...Wheel, 43...Body plate, 45...Slide play 1-147...Rotating plate, 49A, B...U
Shape magnetic adsorption 1. ! , 53°89...Flexible magnetic pole, 57
．． 93...Bag, 59...Magnetic powder, 69...Motor for linear movement, 75...Direction conversion motor, 81...Shaft, 85A, 8...Semicircular magnetic suction tool. Figure 1 Figure 2 Figure 3 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9

Claims (1)

[Scope of Claims] 1. A floor running part equipped with wheels and configured to be able to run on the floor by itself, and two sets of magnetic adsorption devices that can be adsorbed to a wall surface are provided movably in two-dimensional directions. A traveling device comprising: a wall surface moving section configured to be able to self-travel on a wall surface; and a connecting device that connects the floor surface traveling section and the wall surface traveling section in a foldable manner. 2. One set of magnetic suction tools of the wall moving part is fixed to one side of the wall moving part, and the other set of magnetic adsorption tools is slidable relative to the side surface and rotates around an axis perpendicular to the side surface. A traveling device according to claim 1, which is freely provided. 3. A patent claim in which the two sets of magnetic adsorption devices of the wall surface moving part are electromagnetic magnetic adsorption devices, and the adsorption part is constructed by filling a deformable flexible container with highly fluid magnetic powder. The traveling device according to item 1.