JPS61241255A - Transporter for multi-joint arm - 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] [Field of Application of the Invention] The present invention relates to a space traveling inspection device equipped with an inspection vehicle, and in particular, the present invention relates to a space traveling inspection device equipped with an inspection vehicle, and in particular, the present invention relates to a space traveling inspection device equipped with an inspection vehicle, and in particular a vehicle equipped with an articulated arm that is used to move an inspection vehicle in a narrow space such as a nuclear reactor containment vessel. The present invention relates to a multi-joint arm transfer device suitable for transporting.

[Background of the invention]

Conventionally, some inspection devices equipped with this type of multi-joint arm either fold the multi-joint arm into a small size or adjust the multi-joint arm to the shape of the object to be inspected while controlling the joint angle to avoid contact with obstacles. A method of following the trajectory is known (Japanese Patent Application Laid-Open No. 59-76i789, Japanese Patent Application Laid-open No. 59-1
11079, JP 59-81081, JP 59-81091, JP 59-81092
Publication No.).

However, a multi-jointed arm has a structure in which a large number of left-right rotation joints that rotate in the left-right direction and a large number of vertical rotation joints that rotate in the vertical direction are connected alternately, and a visual detector is provided at the tip, that is, the free end. When folded, it becomes bulkier in terms of external dimensions.

In addition, in the case of a method that follows the trajectory while controlling the joint angle to avoid contact with obstacles, the speed is extremely reduced compared to the method in which the inspection vehicle patrols at a speed close to that of a human walking. The problem was that the control was too complicated.

[Purpose of the invention]

The purpose of the present invention is to provide a space traveling inspection device equipped with a multi-joint arm, which stores a 1M sub-reactor by towing and guiding the multi-joint arm of one inspection vehicle along a travel route with three-dimensionally flexible bends. An object of the present invention is to provide a multi-joint arm transfer device that can be moved in a narrow space such as inside a container, but in a wide area.

[Summary of the invention]

The center of the reactor containment vessel, where the space-borne inspection equipment is installed, is almost cylindrical, and inside it there are many main reactor facilities.
densely arranged.

In the case of a boiling water reactor with an electrical output of 1.1 million kilowatts, the area is so wide that if you drive an inspection vehicle around the reactor containment vessel, it will cover a distance of about 80 meters.

Humans are not allowed to enter the reactor while it is operating.

The space traveling inspection device is an inspection vehicle equipped with a visual detector that performs patrols by remote control in place of a human.

The inspection vehicle's multi-jointed arm is long, so in order to move it through the narrow reactor containment vessel while suspended from a running rail that has curved sections that can be bent horizontally and vertically, it requires a lot of equipment and equipment. It is necessary to change the shape of the multi-jointed arm at various points to avoid interference.

If the running rail is mostly straight, you can run with the multi-jointed arm extended, but if it is curved, you can move along the running rail as a way to automatically pass through the obstacles without having to detect each obstacle one by one. A guide device is provided to pull the free end of the multi-jointed arm so as to bend it.

In addition, since the inspection vehicle and the guidance device are each connected to the trolley chain of the trolley conveyor, at the bend in the traveling rail, the trolley chain draws an arc, and the multi-jointed arm is simply pulled to draw a chord. The relative distance between the articulated arm and the guiding device changes.

For this purpose, the tension of the traction wire rope connecting the guide device and the free end of the multi-jointed arm is always constant and only its length is changed.

On the other hand, when operating the multi-joint arm for inspection, the tension on the wire rope is eliminated.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to FIGS. 1 to 13.

As shown in Fig. 2, the space traveling type inspection device has an operation panel 1, a control panel 2. Control vehicle 31 Inspection vehicle 4. Trolley chain 5. The main part is composed of the traveling rail 6 and the trolleybus duct 7.

As shown in FIGS. 3 and 4, the trolley chain has vertical wheels 11. Horizontal wheel 12. Link plate 13
．． It consists of an attachment 14 and a chain duct 15.

This trolley chain is bendable both horizontally and vertically, connects the control vehicle 39, inspection vehicle 4, and guide device 9 suspended from the traveling rail 6 to the attachment 14, and tows the trolley chain along the traveling rail.

The length of the trolley chain can be extended indefinitely by increasing the number of drive devices.

The drive device is a caterpillar type drive device installed in the straight section to ensure stable running, and the trolley chain forming a closed loop is driven in one direction or in a reciprocating manner.

The trolleybus duct 7 is as shown in FIGS. 5 and 6,
Duct 16. Conductor 17. Electronic collector 18. It consists of a trolley 19 and a cable 20.

This trolleybus duct travels while being towed by a control vehicle, 9 inspection vehicles, and a vehicle.

The cable 20 is connected to the control car 3 and receives power from the control panel 2 via the other current collector and conductor.

In addition, 1 communication connects the control panel and the control vehicle by multiplex communication,
Used for round-trip communication.

FIG. 7 shows a cross-sectional shape of a running track in which a groove-shaped running rail 6, a trolley chain 5, and a trolley bus duct 7 are integrated at a flange 21.

Plunge 21 is also used to connect a length of running track 22.

An inspection vehicle equipped with an articulated arm is shown in FIGS. 8 and 9.

The multi-joint arm 8 has a left-right pivot joint 2 that pivots in the left-right direction.
3a, 23b, 23o, 23d and vertically rotating joints 24a, 24b, 24c, 24d that rotate vertically are connected alternately.

Also, the first OI is shown in the robot symbol! It is shown as l.

The method for driving the joints will be explained using a typical example of the joints shown in FIG.

The inner wire 26 connected to the upper part of the joint 24b passes through an outer guide 28 whose ends are fixed to the joint 23G and the frame 27 of the arm drive device 25, respectively, and is connected to a pulse motor 29 by a clutch 30 to drive a pulley. 31, and returns to the lower part of the joint 24b through the other outer guide.

The pulse motor 29 connects the pulley 3 via the clutch 30.
If it is rotated 1&1ffl, the inner wire 26 will be pulled in that direction.

At this time, since the outer guide 28 is incompressible, the joint 24b
rotates in the direction of the pull.

Further, when the pulse motor and the pulley are disconnected by the clutch, the joint 24b becomes free.

In addition, potentiometers 32 and their lead wires 33 for detecting the turning angle are similarly provided at all the joints.

Furthermore, an image guide 34 that guides the image of the control vehicle 3 is passed through this multi-joint arm, and is converted into a video signal by a television camera inside the control vehicle and sent to a receiver in the operation panel.

Next, a towing guidance method for moving this multi-joint arm will be explained.

Figures 12 and 131! 1, the induction device 9 is connected to the motor 35.l. Reducer 37. It is composed of a constant tension clutch 38, a wire rope 48, a winding drum 47, and the like.

One end of the wire rope 48 is connected to the free end of the articulated arm, and the other end is wound around the winding drum 47 of the guiding device.

Volume IfI47 is sprocket 43. roller chain 41
, sprocket 39. It is rotated by a motor 35 via a constant tension clutch 38 and a speed reducer 37.

At this time, the constant tension clutch 38 has a function of not applying any more tension when the tension of the wire rope that pulls the multi-joint arm reaches a predetermined value.

A wire guide 45 is provided to prevent the wire rope 48 from being randomly wound around the winding drum 47 when the wire rope 48 is wound.

The wire guide 45 has a wire guide feed shaft 46° sprocket 44. Roller chain 42. Sprocket 40. Constant tension clutch 38. and the motor 3 via the reducer 37
5 and is connected to the wire guide 45 in synchronization with the rotation of the first winding drum.
moves in the axial direction of the winding drum.

The top of the frame 36 is provided with wheels 49 for running, and is connected to the trolley chain 5 at the center of the top so that the frame 36 runs together with the control vehicle 3 and the inspection vehicle 4.

While traveling along the travel route, the clutch 30 of the inspection vehicle is released to allow the joints to freely bend, while the constant tension clutch 38 of the guidance device is connected.

Thereby, the multi-joint arm can be moved to the state shown in FIG. 1 without interfering with the obstacle 10.

Further, when inspecting using the image guide 34, the constant tension clutch 38 is released to eliminate tension in the wire rope 48.

In this state, if the clutch 30 of the inspection vehicle is connected, the pulse motor 29 can freely operate the multi-jointed arm.

According to this embodiment, the towing guidance of the multi-joint arm is easy.
Since this is possible with N/OFF control, it is possible to enter into narrower areas within the storage capacity for inspection, which has the effect of improving maneuverability and improving reliability.

〔Effect of the invention〕

According to the present invention, in a space traveling inspection device, an inspection vehicle equipped with a multi-joint arm can be moved along a traveling rail having a three-dimensionally flexible bending part in a narrow and wide area such as inside a nuclear reactor containment vessel. Since the location can be moved by constant value control, there is an effect of saving labor and improving operability of multi-joint arm control.

[Brief explanation of drawings]

Figure 1 is a front view of the inspection vehicle and guidance device, Figure 2 is an external view of the space traveling type inspection device, Figure 3 is a sectional view of the trolley chain, Figure 4 is a front view of the trolley chain, and Figure 5 is a front view of the trolley chain. Figure 6 is a cross-sectional view of the trolleybus duct, Figure 6 is a front view of the trolleybus duct, Figure 7 is a cross-sectional view of the running track, Figure 8 is a plan view of the inspection vehicle, Figure 9 is a front view of the inspection vehicle, and Figure 10 is FIG. 11 is a functional diagram of the multi-joint arm, FIG. 11 is a schematic diagram of the drive mechanism of the A-A joint in FIG. 9, FIG. 12 is a side view of the guiding device, and FIG. 13 is a front view of the guiding device. 1... Operation panel, 2... Control panel, 3... Control vehicle, 4
...Inspection/Car, 5...Trolley chain, 6...
Traveling rail, 7...Trollibus duct, 8...Multi-joint arm, 9...Guidance device, 10...Obstacle, 25
...Arm drive device, 35...Motor, 36...
Frame, 37... Reduction gear, 38... Constant tension clutch, 39... Sprocket, 40... Sprocket, 41... Roller chain, 42... Roller chain, 43... Sprocket, 44 ... Sprocket, 45 ... Wire guide, 46 ... Wire guide feed shaft, 47 ... Winding drum, 48 ... Wai broom 1 Kuchi Atsushi 30 Da 4 Kiki sri, i Broom 60 No. 8E21

Claims (1)

[Claims] 1. A space traveling inspection device consisting of an inspection vehicle equipped with an articulated arm that directs a visual detector in a desired direction, a traveling rail on which this inspection vehicle runs, and a trolley conveyor that pulls the inspection vehicle along the traveling rail, A multi-joint arm transfer device, characterized in that a multi-joint arm movement guide device is provided to enable an inspection vehicle to pass through a travel route with three-dimensionally flexible bends with a small passage cross-sectional area.