JPS61146484A - Active body - 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 is applicable not only to flat areas but also to stairs, vertical ladders, piping,
It relates to active objects that move stably and efficiently through narrow spaces, ceilings, etc.

[Technical background of the invention and its problems]

Generally, in nuclear power plants, patrols and periodic inspections of various II devices are carried out to ensure safe operation.

Inspection work during such patrol inspections and periodic inspections must be performed under high radiation doses.

Further, there is no means for dealing with abnormal events without stopping plant operation in the event of an abnormality that affects the safe operation of the plant.

Therefore, unmanned automatic inspection equipment has been proposed to reduce radiation exposure of workers and to deal with abnormal events.

This type of automatic inspection device is formed by mounting various devices for performing inspection work on a moving body that moves within a nuclear reactor building.

These moving objects include those that move along tracks, those that move using crawlers, those that move using wheels, those that move using multiple arm bodies or wheels, and those that move using multi-legged walking. There are things to do.

However, in the above-mentioned track method, since the movable body can only move along the track, the locations to be inspected are limited and cannot provide sufficient measures.

In addition, although the wheel system has a high movement speed, it has a low ability to overcome obstacles, and its usable range is extremely limited in nuclear power plants that have many stairs, vertical ladders, etc. (hereinafter referred to as ladders).

Arm-body or arm-wheel-type moving bodies have good ability to overcome obstacles, but they are heavy and occupy a relatively large space, so space efficiency is poor.Furthermore, the arm rotates when overcoming obstacles, making it difficult to move up and down. becomes large.

Multi-legged walking is complicated to control, the moving speed of obstacles and stairs (approximately 45 degrees or less) is slow, the structure is complex, and the center of gravity must be kept constant because the center of gravity moves a large amount due to the presence of multiple legs. There was a need.

In this way, conventional mobile units have their own problems, but each type of mobile unit also has steep stairs (45 degrees or more) and ladders on the access route for patrol inspections and inspection work. Because of this, there is nothing that can move along the route, which poses a major obstacle to replacing manual patrol inspections and inspection work, and it is not possible to automate replacements in some areas, resulting in high radiation doses for humans. There was an inconvenience in that it was not possible to completely release the work below.

[Purpose of the invention]

The present invention has been made in view of these points, and provides a multi-legged walking body capable of walking and running with functions such as grasping, adsorption, and handrails for stairs, making it easier to control and move. The purpose is to provide an active object that is fast, has a relatively simple structure, can move freely not only on flat ground, but also on stairs, ladders, walls, ceilings, piping, etc., and is equipped with various devices. .

[Summary of the invention]

The active body of the present invention includes a main body, two articulated legs having wheels at the tips protruding from the main body, one arm, and a manipulator provided on the upper surface of the main body.
It is characterized in that it is formed by a stabilizer provided on the lower surface of the main body.

(Embodiments of the Invention) Hereinafter, embodiments of the present invention will be described with reference to FIGS. 1 to 7.

FIG. 1 shows an active body in a walking or running state.

In the figure, reference numeral 1 denotes a main body, and the main body 1 has two legs 2 at one end and a single wooden arm 3 at the other end. Also, on one side of the main body 1, there is a hand 6 at the tip.
A manipulator 5 having a mount 4 is attached thereto. Legs 2 and arms 3 that protrude from the main body 1 and are formed to be freely bendable have a plurality of joints, and a wheel 7 or a grasping wheel 8 is attached to the tip of each of them so as to be rotatable or graspable. . Furthermore, an external sensor 9 for recognizing the external world is provided at each end of the main body 1, and a storage section 10 for storing the hand 6, wheels 7, grasping wheels 8, etc. is provided on the side of the mount 4. , and an antenna 11 is also provided.

Further, the mount 4 rotatably connects the main body 1, the manipulator 5, and the stereoscopic TV 12.

This manipulator 5 is formed so that its tip can be replaced with a hand 6, a wheel 7, and a grasping wheel 8 stored in a storage section 10. It is also possible to replace the tip of the leg 2 with a grasping wheel 8 instead of the wheel 7.

Figure 2 shows a state in which the wheels 7 attached to the multi-leg 2, the wheels 8 attached to the arm 3, and the wheels 7 attached to the stabilizer 13 installed on the bottom of the main body 1 are adsorbed to the wall surface 14. It shows.

This stabilizer 13 can also be equipped with a grasping wheel 8 instead of the wheel 7, and can be moved from a to b or from b to a.
It is formed to be expandable and contractible, and has joints that can be bent to match the wall 14 or the floor.

FIG. 3 is a sectional view showing the tip of the arm 3 and the grip wheel 8 in detail.

At the tip of the arm 3, a joint member 16 is connected to the joint member 15 so as to be rotatable around α. A joint member 17 is connected to the joint member 16 so as to be rotatable around zero.

The joint member 17 has a hollow shaft 18 with a grasping wheel 8 fixed to the tip thereof as a bearing 19a.

It is rotatably supported at 19b.

By operating the joint members 16 and 17 in combination at times and individually at other times, the grasping wheel 8 is displaced to a state suitable for running, walking, adsorption, and grasping. This grasping wheel 8 is formed integrally with a wheel frame 20 and is attached to a wheel 22 via a bolt 21.

That is, the grasping wheel 8 has an annular frame 23 that is curved and opened outward fixed to the wheel frame 20, and the outside of this frame 23 is covered by a covering body 24, and the surface of the covering body 24 is covered with a ring-shaped frame 23. The grasping sensor 25 is attached to the C part. Further, the foil 22 is hollow and the bearings 19a, 1
9b is attached to the outer end of the shaft 20 rotatably supported by the joint member 17. Also, foil 2
A suction plate 26 is attached to the outside of the cap 27 by tightening a bolt 28 from the outside of the cap 27. This suction plate 2
The outer peripheral portion 26a of the gripping wheel 8 is adhered to the covering body 24 of the gripping wheel 8. A suction device 29 provided on the outside of the foil 22 is configured to be able to suck out air within the suction plate 26 through a suction port 30 formed in the suction plate 26 . In addition, the foil portion 2 is used to propagate signals to the gripping sensor 25 and the frame 23.
2) connected by a cable (not shown)
(not shown) passes through the shaft 18 and is guided to the main body 1.

Further, this grasping wheel 8 moves the frame 23 from C to d by control commands from the grasping sensor 25 and the main body 1.
It is formed in such a structure that it can be operated in the force direction from 1c' to d' or from d to C1d' to C'. That is, the frame 23 may be formed of a shape memory alloy, a deformable material due to chemical change, or a combination of a membrane material and an actuator. Moreover, this frame 23 can maintain safety and airtightness when running, walking, and adsorbing by means of the clothing body 25.

Further, the grasping wheel 8 may be directly driven by providing an actuator or the like in the joint member 17.

Next, the operation of this embodiment will be explained.

FIG. 1 shows the state of the active body during running or walking.

(Running) When running, the wheels 7 and grasping wheels 8 are driven to rotate via the shaft 18 passing through the hollow portions of the arms 3 and legs 2.

It is also possible to use the wheels of the stabilizer 13.

(Walking) Walking is possible by walking on wheels as shown in FIG. 1 and walking on the wall surface 14 as shown in FIG. 2, even if the wall is replaced with the floor.

(Adsorption) Keep the main body 1 at three points in the state shown in Figure 2 and move it by moving the other points. It is also possible to maintain the main body 1 by the suction force of the stabilizer 13 on the lower surface of the main body 1, and to move while running as wheels with the wheels 7 and gripping heavy wheels 8 of the arms 3 and legs 2 upright.

(stairs) FIG. 4 is an example of stepwise walking.

First, after reaching the stage, handrails 33a, 3 on both sides
The arm 3 and the grasping wheel 8 of the manipulator 5 are placed on each point of the stairs 32a and 3b, and the two legs 2 are moved alternately.
32b and 32c are raised and lowered.

As a result, the two points attached to the handrails 33a and 33b only need to be controlled at the beginning and end, but when walking on stairs, it is possible to walk using the same two points as humans, that is, two wooden legs, compared to conventional robots. Since it is easy to control and does not require multiple legs, the structure and system are simple.

The gripping wheels 8 on the handholds 33a, 33b are designed to allow rotation only in the direction of travel when walking on stairs.

Furthermore, even if there is only one handrail on one side, or only one arm 3 or manipulator 5, the user can walk as long as the main body 1 can be held at two points.

(Move outside the jurisdiction) FIG. 5 is a front view of the state of movement outside the tube.

The pipe 34 is held by the wheels 7 of the two legs 2, and is in contact with the pipe 34 by the arm 3 and the stabilizer 13. In this state, each wheel 7, 8 is driven to rotate to move.

If there is an obstacle, the main body 1 is held at three points among the arm 3, leg 2, and stabilizer 13, and the other point is used to avoid the obstacle in order.

Movement of spirals, loops, etc. on the piping 34 is performed using the arm 3.
This is done by steering the wheels 7 and 8 of the foot 2 and the stabilizer 13, or by moving the joints.

(Transfer within the jurisdiction) FIG. 6 is a front view of the state of movement within the tube.

Stretch left and right with two legs 2, arm 3 and stabilizer 1
3, the main body 1 is stably held by resting on the bottom of the pipe 34, and is moved by rotationally driving each of the wheels 7 and 8. spiral,
Movement of the loop and the like is performed by operating steering and joints in the same way as extravascular movement.

(Ladder Lifting) As shown in FIG. 7, the wheels 7 of the legs 2 and the hands 6 of the manipulator 5 in FIG. 1 are replaced with grasping wheels 8. Then, two wheels 8 of the arm 3, legs 2, and manipulator 5 are pushed to the left and right with respect to the rudder, and the side frames of the rudder are gripped by the wheels, and the main body 1 is moved to the three wheels 8.
Move using. This makes it possible to reduce the amount of control required when raising and lowering the rudder, making it possible to downsize the control system and improve the moving speed.

In this way, the present embodiment can slightly reduce the amount of control of the arms and legs during stair walking and ladder walking compared to conventional multi-legged walking bodies. It is possible to simplify the movement mechanism of the legs, etc., downsize the system, and improve the movement speed.

Note that the active body of the present invention is not limited to the above embodiment, and does not need to have a stabilizer, an arm, or the like. Further, the grasping wheel 8 does not have to have the configuration as shown in FIG. 3 as long as its function is the same. Furthermore, a grasping sensor may be added to a part or the entire surface of the wheel, or to the lip.

〔Effect of the invention〕

In this way, the active body of the present invention can be used on floors, gratings, stairs, ladders, walls, ceilings, etc. by means of special wheels attached to the tips of bendable and telescoping hands and legs or a part of the main body, and external sensing devices. By accessing the outside world such as piping, etc., using stair rails, guides, back baskets, piping, etc., the main body can be made smaller and lighter, and the control can be made into cylindrical elements.
It is possible to improve the movement speed, and it is also possible to carry out inspection work unmanned and automatically. It is possible to improve the reliability of work and the plant operating rate by shortening inspection work time, and also to detect and deal with abnormalities at an early stage.

[Brief explanation of drawings]

The drawings show an embodiment of the active body of the present invention; FIG. 1 is a perspective view showing walking and running states, FIG. 2 is a side view showing the active body moving on a wall in an adsorbed state, and FIG. 3 shows grasping wheels. A vertical sectional view, FIG. 4 is a perspective view showing the state of going up and down stairs, FIG. 5 is a front view showing the state of movement outside the tube, and FIG. 6 is a front view showing the state of movement within the tube.
FIG. 7 is a perspective view of the grasping wheel fully attached. 1...Main body, 2...Legs, 3...Arm, 5...
Manipulator, 6...hand, 7...wheel, 8.
... Grasp wheel, 13... Stabilizer. Applicant's agent Seishu Inomata 2 books 3 illustrations 4 calculations, Roko #7rA

Claims (1)

[Scope of Claims] 1. A main body, two multi-jointed legs having wheels at the tips protruding from the main body, one arm, and a manipulator provided on the upper surface of the main body. , and a stabilizer provided on the lower surface of the main body. 2. The active body according to claim 1, wherein all or part of the wheel is formed by a grasping wheel having functions as a wheel, a grasping member, a stabilizer, and a suction plate. 3. The active body according to claim 1, wherein the manipulator is formed so that it can be attached by replacing the hand, grasping wheel, wheels, tools, etc.