JPS61222879A - Traveling device - Google Patents

Abstract

PURPOSE:To step over a comparatively high obstacle or a recess such as water course easily by interposing a heaving device between the body of each traveling member and the supported object, and by enabling heave of either of the traveling members through a supported object. CONSTITUTION:The body 2 of each traveling member is composed of a frame 4, bearing members 5 fitted on both sides thereof to support each crawler 3 stretching horizontally, a shaft 10 and a revolving member 6. When motor 15 is operated, a pinion 14 rotates to rotate said revolving member 6 through a gear 13 meshing with pinion 14, to cause revolution of a traveling body 1b together with the supported object 18 fixed to the revolving member 6, that enables changing the locational correlation of the traveling bodies 1a, 1b. When the traveling body 1b is grounded, the robot body 33 is restituted to the central part of the supported object.

Description

DETAILED DESCRIPTION OF THE INVENTION "Field of Industrial Application" The present invention relates to a moving device used for moving various types of equipment, robots, devices, etc., or for transporting cargo.

``Prior Art'' As a moving device used for moving equipment or transporting cargo, a vehicle body equipped with crawlers or wheels is widely known. Further, Japanese Patent Application Laid-Open No. 59-57074 discloses a mobile machine having at least three movable legs at the front and rear of the machine body. This mobile machine walks by moving each leg alternately.

"Problems to be Solved by the Invention" In the conventional moving devices as described above, the former equipped with crawlers and wheels can walk on slopes and regular stairs, but it is difficult to walk on stairs with steps larger than the radius of the wheels. It is impossible to cross depressions such as walls, barriers or rather wide channels.

Even if an obstacle can be moved by NA, crawlers or wheels can be placed on top of it, so the obstacle may be destroyed.

In addition, the latter, which has legs, can go up and down stairs stably, but it is impossible to go over somewhat high barriers or recesses such as wide waterways.

For example, a work robot used at a fire or other disaster site needs to approach the site in order to treat equipment at the disaster site or perform effective fire extinguishing operations. However, oil refineries and petrochemical plants have oil tanks surrounded by numerous concrete oil barriers.
In addition, pipes for transporting raw material oil, transporting products, and pipes for disaster prevention equipment are placed near the road surface. Furthermore, structures such as distillation towers and reaction towers may collapse and become obstacles to traffic.

Therefore, when the conventional mobile device is used for a working robot, it is almost impossible to get close to an oil tank or the like due to the obstacles, and the former also destroys the obstacles and prevents disasters. There is also a risk of making it bigger.

``Object of the Invention'' The present invention was made to solve the above-mentioned problems, and it can be used even when there are relatively high barriers, obstacles near the road surface, or recesses such as slightly wide waterways. , the purpose is to obtain a mobile device that can move beyond them.

"Means for Solving the Problems" The main means employed by the present invention to achieve the above object essentially consists of a fuselage and a crawler, wheels, legs, etc. attached to the fuselage. a pair of movable bodies configured with a moving means; a support body attached to the upper part of each body so as to be vertically rotatable; a lifting device that lifts a local mobile object through the support by rotating it in the vertical direction about a connecting part; The present invention is characterized by comprising a weight adjusting body and a balance adjusting means for adjusting the amount of movement of the weight adjusting body according to the amount of operation of the lifting device.

Among the above components, the moving means is the crawler.

It includes all running bodies with one wheel, etc., and the lifting device is a hydraulic cylinder shown in the example below, a ball screw, a hydraulic row reactor, etc., which can withstand a relatively high load and move to one end. It includes all the actuators that can swing the support on which the body is suspended.

Also, the weight adjustment body may be a simple balance adjustment means, but
A robot, control panel, water spray device, telescopic ladder, or other equipment placed on a support may be substituted, or these may be used in combination.

"Operation" The moving device of the present invention advances by the operation of the moving means of the pair of moving bodies. When there is an obstacle higher than the road surface, such as an i-wall, the lifting device of one movable body lifts the other movable body via the support. At this time, the heavy Il1 segment moves to the lower side of the support body in accordance with the command from the balance adjustment means to balance the pair of moving bodies and the support body. and,
The lifted moving object is lowered to a position beyond the barrier, etc., and then the moving objects that have not passed the barrier are lifted as described above and moved over the barrier. The same applies when crossing a concave part such as a waterway. At this time, by providing a rotating function to the body to which the support is attached, the lifted moving body can be lowered in any direction, and the orientation of the support with respect to the traveling direction can be set arbitrarily.

``Example'' Hereinafter, examples embodying the present invention will be described with reference to the accompanying drawings to provide an understanding of the present invention.

Here, FIG. 1 shows a part of a moving device for a fire extinguishing robot according to an embodiment of the present invention in cross section, C is a front view, and FIG. 2 is a side sectional view as seen from the direction of arrow 1 in FIG. , Figure 3 is Figure 1A
-A cross-sectional view, Figure 4 is a front view of the moving device with one moving body lifted, Figure 5 is a front view showing the movement of the device over a barrier, and Figure 46 shows the height of the device. FIG. 7 is a front view showing the movement of crossing the barrier; FIG. 7 is a plan view showing the movement of the device in the lateral direction; FIG. 8F! 1J is a side view showing the operation of crossing the barrier in the lateral direction in the same device.

The following examples are merely specific examples of the present invention, and do not limit the technical scope of the present invention.

First, an embodiment of a moving device for a fire extinguishing robot used at an oil base shown in FIGS. 1 to 3 will be described.

In FIG. 1, la and lb are moving bodies that are examples of moving means, and these bodies are constructed by providing crawlers 3 on both sides of a machine body 2 corresponding to a vehicle body. As shown in the first diagram, each aircraft body 2 includes a frame 4, a shaft support 5 fixed to both sides of the frame 4 for supporting a horizontally long crawler 3, a support shaft 10 protruding from the frame 4, and an axis line. It is composed of a shaft-shaped rotating body 6 that is rotatably mounted on a support shaft 10 with the vertical direction.

Each crawler 3 has a drive shaft 7 provided at one end of the shaft support 5.
The crawler 3 is stretched around the outer periphery of a driven wheel 8 provided at the other end, and the intermediate portion of the crawler 3 is supported by a guide roller 9 attached to the shaft support 5.

Each of the rotary bodies 6 has a connecting portion 6 integrally provided at its lower end and having a concave longitudinal section. The support shaft 10 protruding from the frame 4 is inserted into the frame 4, and the upper part is inserted into the support hole 12 in the horizontal wall of the upside-down bracket 11 installed upright on the frame 4. Rotatably mounted.

13 is a gear formed on the lower end surface of the connecting part 61 of the rotary body 6; 14 is a pinion meshed with the gear 13; the axis thereof is set horizontally to the drive shaft of the motor 15 attached to the vertical wall of the bracket 11; Fixed. 16 is a bearing interposed between the rotating body 6 and the support shaft 10, and 17 is a bearing interposed between the rotating body 6 and the bracket 11.

18 is a moving body 11. The upper end of each rotary body 6 is rotated by a pin 20 on a support arm 19 that protrudes from the lower surface of the support arm 19 located inwardly from both ends of the plate-shaped support provided horizontally on the upper part of the lb. The support body 18 is supported rotatably in the vertical direction. Therefore, the support body 18 is the movable body 1
The direction of the straight line connecting the centers of M and li, that is, the moving body 1m+
1b are arranged along the direction in which they are lined up. 21
is a cylinder bracket protruding from each rotating body 6 on the side where the movable bodies 1a, II are opposed, and the piston rod 2 of the hydraulic cylinder 22 is swingably attached to this cylinder bracket.
3 are attached to rod brackets 24 provided on the lower surface of the support 18 via pins 25 and 26, respectively.

In FIG. 2, reference numeral 27 denotes a pair of rails provided along the entire length of the support 18 along the direction in which the movable bodies 1a and II are lined up, and a trolley 28 is attached to these via a bearing case 29. There is. Reference numeral 30 denotes a drive device consisting of a motor and a speed reducer provided on the underside of the truck 2, and a pinion 31 that drives this is engaged with a rack 32 fixed to the support 18 parallel to the rail 27 to move the truck 28. . 33 is a robot body mounted on a trolley 28, and a work arm 34 for performing fire extinguishing work and management work is rotatably attached to this robot body. Inside the robot body 33, batteries and control equipment are housed if the robot is electrically driven, and control equipment including the bombunillo valve if it is hydraulically driven are housed together with the motor, and the robot itself becomes quite heavy. It constitutes a regulatory body. The rail 27 has a slightly wider upper end so that the bearing case 29 does not separate.

In FIG. 3, 35 is a drive actuator for the drive wheels 7, which is mounted on the frame 4 and is composed of a motor and a speed reducer.

This moving device configured as described above, as shown in FIG.
When each drive actuator 35 shown in FIG. 3 is operated, each drive shaft 7 rotates the crawler 3, and the moving body ta
, tb are lined up, for example, the robot body 3
3 and the article held by its working arm 34, or the working arm 34 performs the required work at the stopped position.

When the hydraulic cylinder 22 of the moving body 1° is operated in the state shown in FIG. 1, the pin 2 connecting the rotating body 6 of the moving body 1
The support body 1 rotates upward with 0 as the fulcrum, and the moving body II
, lift up. At this time, the pinion 31 engaged with the rack 32 rotates due to the operation of the drive device 30 shown in FIG.
The robot body 33 is moved along the rail 27 by the moving body 1. 20 to balance the moment around the bottle 20 caused by the weight of the moving body 1. Therefore, it is possible to move the moving body 1a in this state.

Furthermore, when the motor 15 shown in FIG. 1 is operated in the state shown in FIG. Since the mobile body II is rotated together with 18,
It is also possible to change the positional relationship between the mobile bodies ■□ and lb. When the mobile body 1+ lands, the robot body 33 is returned to the center of the support body 18. A driving device 30 for advancing and stopping the movable bodies 1a and th, and for driving the hydraulic cylinders 221 and the truck 28. The operation of the motor 15 installed in the aircraft body 2 is controlled by remote control or based on information from a television camera installed at an appropriate location on the moving object 1m+1b, information from sensors based on reflections of light beams or radio waves, etc. Any means can be employed, such as computer control, in which conditions and driving routes are instructed to perform pre-stored work movements to arrive at a destination location.

FIG. 5 shows the order in which this mobile device crosses barriers when it is traveling straight. When the moving device advances as shown by the arrow in FIG. 5(A), a barrier 36
If there is a 1 and move the robot main body 33 toward the moving body 1a to maintain balance. In this state, Figure 5 (C
) The moving body 11 is made to advance close to the barrier 36 as shown by the arrow. Then, as shown in FIG. 5(D), the support 1
When the movable body 1 b is lowered through the support 8 , the movable body 1 b lands over the barrier 36 , and then returns the robot body 33 to the center of the support body 18 .

Next, as shown in FIG. 5(E), the robot main body 33 is moved to the end of the support body 18 with the movable body 1b upside down, and the movable body I
Activate the hydraulic cylinder 22 at t to lift the movable body 11, and in this state, move the movable body IL in the direction of the arrow in FIG. 5(F) to release the movable body 11 from the barrier. Then, as shown in FIG. 5(G), the moving body 1b is landed,
Then, the robot main body 33 that has been moved toward the movable body 1b is returned to the intermediate portion of the support body 18. In this way, the robot body 33 is moved over the barrier 36 to the desired position.

Recesses such as pipes and waterways on the ground surface can also be crossed in the order shown in Figure 5.

In the case of a moving device that only performs linear motion, the rotary body 6 and the support shaft 10 are constructed integrally and the bearing 16.1 is used.
It is also possible to omit 7.

However, in normal fire extinguishing operations, the moving device is often required to move in any direction, so it is desirable to separate the rotating body 6 from the support shaft 10.

For example, in this embodiment, the upper part of each body 2 is the rotating body 6, and the support body 18 is attached to this, so even if the barrier 36 is higher than the support body 18 as shown in FIG. It is possible to overcome this if there is sufficient strength and the mobile device is strong enough to overcome it.

In this case, the moving device stops in front of the barrier 36 as shown in FIG. 6(A), and lifts up the moving object and places it on the barrier 36 as shown in FIG. 6(B).

Next, as shown in FIG. 6(C), the movable body 18 is lifted up by the hydraulic cylinder 22 of the movable body 1, and the rotary body 6 of the movable body It on the barrier 36 is rotated so that the support body 18 and Mobile object 1. Change the position of and from a solid line to a chain line.

Then, as shown in FIG. 6(D), the moving body 18 is
First, as shown in FIG. 6(E), move the moving object 18 over the barrier 36 and move the moving object 18 in the direction of the arrow. By landing on the ground, it is possible to overcome the fairly high barrier 36.

FIG. 7 shows that when the moving body 11.1 & moves in the direction of the arrow m between the almost parallel barriers 36□ and 365, it moves laterally from the barrier 361 side to the barrier 36h side as shown by the arrow n. When moving, for example, first lift the moving body IL, and then rotate the rotating body 6 of the moving body 11 to move it to the barrier 36.
Next, by repeating lifting the moving body 18, the moving body in, tb is moved to the barrier 2.
It is also possible to move it to the 6th side, that is, to move it laterally.

FIG. 8 shows a case where moving body II is lifted up and then moving body 1. The purpose can be achieved by rotating the movable body It together with the support body 18 by the rotation of the rotating body 6.

In addition, the hydraulic cylinder 22 as a lifting means can be changed to a ball-squeezing actuator, and in this case, for example, a ball screw is attached to the support body 18 side, a nut is attached to the body 4 side, Forcibly drive the nut.

The robot main body 33 mounted on the support body 1 is the mobile body 1a.
, 1I, when one is lifted, any weight or other material can be used depending on the purpose of this moving device. As the gear 13 and pinion 14, any gear such as a bevel gear can be used. The cross-sectional shape of the rail 27 can be arbitrary, such as an L-shape, and any groove can be used, as long as the robot body 33 can be slid and not separated.

Further, the balance adjusting means for moving the weight adjusting body such as the robot main body 33 may utilize not only a combination of a pinion and a rack driven by a motor as described above, but also a conveying action of a chain or a screw.

The crawler 3 serving as a means of moving the body 4 can also be made of wheels or movable legs as disclosed in Japanese Patent Application Laid-Open No. 59-57074. The rotary body 6 of the moving body 1m, 1 is provided to enable the support body 18 to rotate when crossing a barrier, etc., and to increase the degree of freedom of movement. Since rotation of the support body 18 is not required when crossing the barrier only by direction, the rotating body 6 can be provided arbitrarily.

In the above embodiment, the present invention was applied to a robot for fire extinguishing work, but this is just an example, and for example, it can be applied to a robot for extreme work such as a transportation robot, a small reactor, a submarine, or a robot for extreme work that works in a fire building. It is also possible to apply it to etc.

"Effects of the Invention" As described above, the present invention connects a pair of movable bodies with a support body, and provides a lifting device between the body of each movable body and the support body. Since it is possible to lift one of the movable bodies, it is possible to easily cross relatively tall obstacles or recesses such as waterways by lifting the pair of movable bodies alternately. Since the pair of moving bodies is lifted alternately, it is possible to overcome obstacles without touching them, and it is also possible to move in places where obstacles cannot be destroyed.

[Brief explanation of drawings]

Fig. 1 is a front view showing a part of a moving device for a fire extinguishing robot according to an embodiment of the present invention in cross section, Fig. 2 is a side sectional view seen from the direction of arrow I in Fig. 1, and Fig. 3 VI! J is Figure 1 A-A
4 is a front view of the moving device with one moving body lifted, FIG. 5 is a front view showing the device moving over a barrier, and FIG. 6 is a front view showing the device moving over a high barrier. FIG. 7 is a plan view showing the movement of the device to move in the lateral direction, and FIG. 8 is a side view showing the movement of the device to cross the barrier in the lateral direction. (Explanation of symbols) 1m, 1k...Moving body 2...Aircraft 3...
・Crawler 6...Rotating body 18...
Support body 22...Hydraulic cylinder (lifting device) 33...Robot body (ia1i segment) 30...Motor 31...Pinion (balance adjustment means).

Claims (2)

[Claims] (1) A pair of moving bodies each having a body and a moving means having a crawler, wheels, legs, etc. attached to the body, and a pair of moving bodies that are installed above each body and extend in the vertical direction. a rotatably attached support; a lifting device that rotates the support in the vertical direction around a connecting portion with one of the movable bodies and lifts the other movable body via the support; A weight adjusting body mounted on a support body so as to be movable along the direction in which the movable bodies are lined up, and a balance adjusting means for adjusting the amount of movement of the weight adjusting body according to the amount of operation of the lifting device. A mobile device characterized by: (2) The moving device according to claim 1, wherein the body is attached to a moving means and includes a rotating body rotatable around a vertical axis.