JPS6279981A - Floor travelling type robot - 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 (→ Industrial Application Field) The present invention relates to a floor-moving robot whose manipulation section is separated from the trolley section and is capable of pivoting and swinging.

(1)) Conventional technology In recent years, various robots have come to be used for maintenance and inspection work of the equipment in plants that use complex equipment and work under adverse environmental conditions, such as atomic couplers and chemical plants. It's here. However, many of these facilities are designed and constructed to make it easier for people to work on them. On the other hand, although attempts have been made to design robots to mimic human movements as much as possible, they are subject to certain limitations due to the inherent characteristics of machines. In particular, for floor-moving robots, there are obstacles and difficult spots throughout the facility.

For example, in an atomic couplant, there are difficult places to navigate such as stairs, vertical walls, inverted landings, narrow passages, or obstacles such as grooves and piping.

In particular, as shown in Figure 2,
'rrLPi! If there is a traveling obstacle 1 such as a pipe at a high altitude, a human can easily pass through it, but the floor traveling robot 10 cannot handle it as it is.

In addition, since the instruments and operating handles attached to various equipment in a plant are generally set at a height that is easy for humans to work with, it is not possible to make the height of a floor-moving robot extremely low. In other cases, it may be necessary to work at a higher location than usual.

Conventional floor-traveling robots are not able to fully meet demands such as being able to maneuver around moving obstacles or adapting the height of the work position, and the robots' original excellent functions such as disassembly cannot be fully met. This is hindering the mechanization and automation of plant maintenance work.

Q9 Problems to be solved by the invention The problems to be solved by the present invention are to make it possible to pass through obstacles by simply making slight improvements to existing floor-travelling robots, and to make fIt. .

The purpose is to be able to adapt freely to the height and lowness of the position.

B) Means for Solving the Problems The floor-moving robot of the present invention includes a cart section, a manipulation section, and an artificial brain section. The above-mentioned problems are solved by connecting the two parts by a vertically swinging unit and by installing casters at the bottom of the two-way joint part (=J-digit structure).

(e) Implementation Example The third example is a general floor-moving robot to which the present invention is applied.
As shown in the figure. The floor-moving robot 10 is made up of a pan head 11, a manib/Lage 1 unit 12, and a trolley unit 13 (usually housing a robot brain, a battery, etc.). The robot 10 is of a wheel type (
^), crawler type (B), and multi-legged type (C).

The wheeled robot 10(A) is suitable for running on a flat floor, but it becomes difficult to run on a floor with steps. The crawler robot 10(B) can climb over some steps, but cannot descend 77 steep stairs. The multi-legged robot 10(C) can go up and down stairs with a gentle slope and step over low obstacles on the floor, but cannot go up and down stairs with a steep slope.

The floor-moving robot of the present invention utilizes an artificial brain that has the memory, judgment, and instruction functions that robots have.

The following explanation uses a wheeled floor-moving robot as an example.
The present invention can also be applied to crawler type or multi-legged types. In the floor traveling robot 1o of the present invention, as shown in FIG. 4, the truck section 13 and the manipulation section 12 are separated, and the two sections are connected by an elevating and swinging unit 14. Casters 15 are attached to the bottom of the manipulation section 12.

The ffi line of the electrical system connecting both parts is concentrated in one place and housed inside or outside the unit 14.

The lifting and swinging unit 14 raises and lowers the manipulation section 12 relative to the truck section 13 (FIG. 4) and swings it (FIG. 5). When the manipulation section 12 is swung and lowered onto the floor, the casters 15 support the manipulation section 12.

In addition to the hydraulic cylinder shown in FIG. 4, the lifting and swinging unit 14 includes a pull-binion mechanism (A), a screw shaft-nut machine IM (B), and a link-hydraulic cylinder as shown in FIG. Mechanism (C) and winding mechanism (B) can be used.

In order to always maintain the manipulator 12 in a horizontal position when swinging the manipulator 12,
As shown in FIG. 7, the unit 14 and the manufacturer shaft 12 are rotatably supported.

FIG. 8 shows a modification of the elevating and swinging unit 14 shown in FIG. 4. This modified example not only strengthens and makes the unit 14 safer, but also allows the manipulation section 12 to move in parallel.

FIG. 9 shows an elevating and swinging unit 14 equipped with a mechanism as shown in FIG. 6(C) or (D).

10 and 11 show the upper limit and lowering states of the unit 14 in FIG. 9, and FIG. 12 shows the swinging state of the unit 14.

It is preferable to attach a suitable counter weight (not shown) to the trolley part 13 to prevent the robot 10 from losing its balance and falling when the manipoo L range part 12 moves up and down or swings.

(Operation) The operation of the floor traveling robot 10 of the present invention will be explained. When the robot 10 performs normal maintenance and inspection work, it is placed in the solid line position in Fig. 4 or in the normal posture shown in Fig. 9. , and the lifting/lowering movement unit 14 is not activated.

When work at relatively high places is required, the robot 10 sends an instruction from the artificial brain to the unit 14 to move to the position shown in two-dot chain lines in FIGS. 4 and 8, or to the position shown in FIG.
1. Raise the manipulation section 12 to the position shown in FIG.

When the robot 10 needs to pass through a traveling obstacle 1 (FIG. 2) while moving, the robot 10 issues an instruction to the unit 14 and moves to the position indicated by the two-dot chain line in FIGS. As shown in FIG. 12, the manipulation section 12 is lowered 41 onto the floor. Next, the truck section 13 pulls the manipulation section 12 to pass through the traveling obstacle 1, as shown in FIG.

After that, the unit 14 returns the manipulation section 12 to its original position.

(l-) Effects According to the present invention, the posture of the robot can be freely changed by only slightly improving the existing robot, and the workability and running range of the robot can be expanded.

[Brief explanation of drawings]

Figure 1 shows the body of the present invention! 1J explanatory drawing showing the "V" work of passing through obstacles in the I-1 pot. Fig. 2 is a polygonal explanatory diagram of the conventional body-stopping movement f'l. Is Figure 3 the object of the present invention? Type 1 robot 1~
Here is an example. FIG. 4 is a side view of an embodiment of the bot of the present invention. FIG. 5 is a drawing similar to FIG. 4, showing a different operation. FIG. 6 is an explanatory diagram showing various mechanisms of the ascending/adjacent 1:i: moving unit. Figure 7 [Yomayu 1ru-
With 912 parts? FIG. 7 is a perspective view illustrating the connection between the 7-1 unit and the 1-unit unit. Fig. 8 is a side view of Fig. 4, and Fig. 9 is a side view of another bot. Figures 10 to 12 are shown in Figure 9.
Side view of each operating state. 10; Body stationary robot moon: cloud base 12: manibou L range part 13: platform width part 14: Fi/ 41
15: Giresta

Claims (1)

[Claims] In a floor-moving robot consisting of a truck section, a manipulation section, and an artificial brain section, the truck section and the manipulation section are separated, and the two sections are connected by an elevating and swinging unit. A floor-moving robot with casters attached to the bottom of the ration section.