JPS63219490A - Self-control type piping maintenance robot - Google Patents

Abstract

PURPOSE:To realize a simple and a light weight structure by giving a form memory alloy springs to actuators to open and close the lefthand and the righthand arms, and making it possible to rotate the front and the rear parts of a main body and to displace them relatively. CONSTITUTION:This robot has arm units 31 and 32 with arms 33 and 34 to close and open, fastens a piping, and advances in an intermittent movement by the extension and contraction of th main body 30 and the changing of holding the arms. The movement in the peripheral direction is carried out by furnishing a sliding rail 35 responding to the center axis of the piping, which is twisted in the peripheral direction at the front and the rear parts of the main body 30, and moving in an intermittent movement. And between the arm units 31 and 32, and the main body 30, a rotary device is furnished to make it possible to rotate the front and the rear parts of the main body 30. Moreover, a sensor unit 41 is furnished at the front side to detect an obstacle or the like. Therefore, it is made possible to reduce the weight of the robot and to simplify the structure, and the closing and the opening of the arms are speeded up more by the form memory alloy springs.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an autonomous piping maintenance robot that inspects and maintains piping in nuclear power plants, oil and gas pipelines, chemical plants, etc.

(Conventional technology) Current inspection and maintenance of piping in nuclear power plants, oil and gas pipelines, chemical plants, etc.
This work is essential to prevent accidents caused by cracks, etc., but it is also extremely dangerous, so there is a strong desire to develop robots that can perform these tasks in place of humans.

This type of robot is required to have multifunctionality, such as inspecting piping from the outside, moving autonomously, and recognizing and avoiding obstacles such as flanges when they are discovered. In order to meet such demands, the inventor of this application has already developed the first maintenance robot,
In addition to performing flaw detection while moving on the piping surface, the robot is capable of running horizontally straight pipes and passing flanges, and the second robot is capable of running horizontal pipes, passing flanges, T-shaped pipes, and spiraling. As the third robot, we have developed an autonomous pipe maintenance robot that can move up vertical pipes and transfer to neighboring pipes.

The outline of the configuration of these robots will be explained below using figures.

First, the first machine will be explained with reference to FIGS. 37 and 38.

In the figure, 1 is a tightening control gear box, 2 is a left and right arm, 3 is a wheel drive gear box, 4 is a left and right drive wheel,
5 is a free transfer wheel, 6 is an obstacle sensor (infrared sensor)
, 7 is a flaw detection sensor (eddy current sensor), 8 is a joint, R1 is the first robot, R2 is the second robot,
R1 is the third robot and has a three-car formation.

This robot is controlled by a microcomputer.
A total of 9 wheels are opened and closed by 2 stamping motors, and the posture is maintained by tightening the piping surface, and a total of 6 wheels, including the left and right driving wheels 4 attached to the left and right arms 2, are driven. By doing this, the previous
The vehicle is configured to perform a backward motion.

Therefore, when an obstacle on the pipe is detected by the obstacle sensor 6 and it is recognized that the obstacle is a flange, the robo-nod performs an operation to get over the flange.

Hereinafter, this flange climbing operation will be explained with reference to FIG. 39.

When this robot reaches a certain distance from the flange 11 on the pipe 10, the obstacle sensor 6 mounted on the robot recognizes that the obstacle is the flange 11.
Figure 39(a)] and by Stenovingmoke,
The three wheels of the first robot R1 at the front open [the third
9(b) and (c)), it passes through the flange 11. At that time, the robot's posture maintenance, forward movement, etc. are 2.3
The two-eyed robot R2, R:l performs this.

After passing the flange [Fig. 39(d)], the stenobing motor
The three wheels of the first robot hR+ are closed and the piping is tightened to re-maintain its posture. 2,3
Both robots R2 and R3 move over the flange in the same way, but when the second robot Rz climbs over the flange, the first and third robots R1+L move over the flange, and when the third robot R1 climbs over the flange, the first and second robots move over the flange. Robots R+ and Rz are designed to maintain their posture and move forward, respectively.

Furthermore, as a second model, we developed a variable-position mobile robot with multi-joint functions. This robot has a 3-link, 2-joint structure in which joints are provided between each module to enable relative angular displacement between each module using a pulse motor in order to pass through a T-tube, which the first model was unable to do. .

The schematic configuration of the second machine will be described with reference to FIGS. 40 and 41.

The robot body includes a tightening gear box 12, left and right arms 13, wheel drive gear box 14, drive wheels 15,
It consists of a total of three modules, one module consisting of a free transfer wheel 16 and a flaw detection sensor 17, and has a joint part 18 between each module. Ml is the first module, M2 is the second module, and M3 is the third module, making it a three-car train. Furthermore, the free transfer wheels [6] can be steered and are configured to allow spiral travel.

This robot is controlled by a microcomputer, and three stepping motors are controlled by a microcomputer, and the wheels are opened and closed to tighten the piping and maintain its posture through feed bank control using strain gauge output so that the holding torque remains constant. The vehicle moves forward and backward by driving the two left and right drive wheels 15.

The T-tube passing operation by this robot will be explained below.

FIG. 42 is a diagram showing the T-tube passage movement mode by this robot 7).

Here, in order to pass through the T-shaped tube by the opening/closing operation of the robot legs and the rotational movement around the joint part 18 between the modules, in order to reduce the burden on the pulse motor of the joint part 18,
The robot is run with the robot body tilted 90 degrees to the side it is moving. Furthermore, each module is equipped with a flaw detection sensor 17.

A branched pipe 19 is detected by a non-contact sensor (not shown).
is identified and determined to be a T-shaped tube [Figure 42 (
a)], the arm of the first module gate is opened by the operation of the stepping motor, and the joint part 18 is driven to bend the first module gate [Fig. 42(b)].
It moves forward while controlling its attitude using other modules. Next, open the arm of the first module/L/M and hold the branched pipe 19 [Figure 42 (C)]
. Next, the arm of the second module M2 is opened, and the space between the first module (1) and the third module (3) is advanced.
Figure 42(d)]. Next, close the arm of the second module leaf and hold the branched tube 19 [FIG. 42(e)].

Then, open the arm of the third module l/M3 and use the first module leaf and the second module leaf 2 to
It moves forward while controlling its posture [Fig. 42(r)].

Next, the joint 18 of the third module gate is actuated to bend the arm, thereby closing the arm and holding the branched tube 19 [FIG. 42(g)].

Next, this third machine will be explained with reference to FIG. 43.

FIG. 43 is a perspective view showing the schematic structure of this No. 3 machine.

This robot has a moving form of a straight-cutting type, and is composed of a main body 20, a left and right arm 22 (2), an arm unit 21, and a sensor unit 23.

The structure of the main body serves as a mechanism for moving the pipe in the longitudinal direction.
As a mechanism for expanding and contracting the distance between the arm units and moving the pipe in the circumferential direction, it has a rotation axis that is the same as the central axis of the pipe, and has two operating functions: a horizontal twisting (sliding) action. Further, the main body and the arm unit are connected by a rotary joint, and the rotation is controlled by a motor. Rotation range is 1
It is 80 degrees. The sensor unit 23 is connected to the guide rail 24
The running unit consists of a motor and a sensor 25, and the running unit runs on a guide rail like a mole rail. The actuators that perform the above operations are all stepping motors, and a total of nine actuators are used. In addition, 2
6 is a side slide rail.

The basic operation of this robot is similar to the operation of the robot of the present invention, which will be described later, and the explanation will be omitted here.

(Problems to be Solved by the Invention) However, in the above-mentioned robot, the holding mechanism of the robot and its drive circuit are complicated when traveling along the pipe, and moreover, it is equipped with many stamping motors. However, the weight of the robot itself increased, causing problems in smooth running.

In particular, for autonomous pipe maintenance robots that have advanced functions such as climbing vertical pipes and transferring to adjacent pipes, simplifying the holding mechanism and drive circuit and reducing the weight of the robot itself improves reliability. This has a great influence on the situation, and improvement in this has been strongly desired.

The present invention eliminates the above-mentioned problems, improves the holding mechanism of the robot and its drive circuit, and provides an autonomous robot that can move reliably even through a complex group of pipes, has low noise, and has advanced functions. The purpose is to provide a piping maintenance robot.

(Means for Solving the Problems) In order to solve the above problems, the present invention provides an autonomous piping maintenance robot that includes a main body and two sets of arms having left and right arms disposed before and after the main body. a unit, an actuator having a shape memory alloy spring for opening and closing the left and right arms, a locking means for tightening and holding the left and right arms after the left and right arms are closed, a means for expanding and contracting the main body, and a front part of the main body. a sliding means for relative displacement of the rear part in the circumferential direction; a rotating means for rotating the main body using the front arm unit as a base; a rotating means for rotating the main body using the rear arm unit as a base; and the arm unit. A sensor unit is provided that is fixed on the front surface of the vehicle.

(Operation) According to the present invention, as shown in FIGS. 1 to 3,
This robot has two sets of arm units 31 and 32 with arms 33 and 34 that can be opened and closed.
Tighten the piping alternately with 3 and 34 to support the whole,
It moves forward by intermittent movement by expanding and contracting the main body 30 and changing the grip of the arm. Further, for movement in the circumferential direction, a slide rail 35 having the same center of curvature as the central axis of the piping is provided, and the main body 30 is moved in the circumferential direction.
It has a structure that twists in the circumferential direction at the front or rear part, and moves in an intermittent motion similar to forward motion. Furthermore, arm unit 31.
A rotating means is provided between the main body 32 and the main body 30, and the front or rear part of the main body can be rotated. Further, as shown by the dotted line, a sensor unit 41 (details will be described later) is provided on the front of the robot, and the obstacle sensor can detect obstacles and the piping diagnosis sensor can diagnose piping.

In particular, in the present invention, this robot arm 33.
34 is opened and closed using a coil spring made of a shape memory alloy (described later), and uses the shape memory effect that occurs when the low temperature phase produced by thermoelastic martensitic transformation is deformed and then reverse transformed into a high temperature phase by heating. Take advantage of. That is, the arms 33 and 34 are opened and closed by heating and cooling the shape memory alloy coil springs by supplying and cutting off power.

Further, after the arms 33 and 34 are closed, the piping is further tightened and strengthened by a locking mechanism (described later) that tightens and holds the arms, and stable holding is performed.

(Example) Hereinafter, an example of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a schematic perspective view of an autonomous piping maintenance robot showing an embodiment of the present invention, FIG. 2 is a front view showing the main parts of the autonomous piping maintenance robot, and FIG. 3 is a diagram of the arm opening/closing actuator. FIG. 3 is a circuit configuration diagram.

As shown in these figures, the robot of the present invention basically employs the configuration of the third robot described above.

The structure of each part of this robot will be explained below.

(A) Structure of the main body The main body has a telescopic mechanism for advancing and a lateral sliding mechanism for moving in the opening direction. Therefore, the main body is divided into three parts B and C, as shown in FIG.

It is divided into D.

The main body 30 has (1) a mechanism for moving in the longitudinal direction, that is, a mechanism for expanding and contracting the distance between the arms 31 and 32, which has a cantilevered structure using a combination of a stainless steel rod and a linear ball hair ring, as shown in FIG. The telescoping motor MC70 is fixed to part B of the main body (see Fig. 4) so that
A rack 72 fixed to part C of the main body (see FIG. 4) is driven via a gear 71. (2) The lateral slide mechanism, that is, the mechanism for moving the pipe in the circumferential direction, rotates the sprocket wheel 75 by a lateral slide motor MD74 fixed to the base 73, as shown in FIG. The power is transmitted to a ladder chain 76 fixed to the ladder chain 76. That is, the lateral slide motor M [
174, slide rail 35 with two-stage reduction of spur gear
make it work. That is, it has a rotation axis that coincides with the central axis of the pipe 42, and performs a horizontal twisting (sliding) action.

77 is a roller supported by the base 73 and guides the movement of the slide rail 35. Furthermore, (3) the main body 30 and the arm units 31 and 32 are connected by a rotary joint using a worm gear, and as shown in FIG.
Rotation (lifting, lifting) is controlled by -1. The rotation range is 180 degrees.

Further, the main body lifting motor (MA-1) 68 and the arm tightening motor (MA-2) 69 are housed in the arm unit, and the above-mentioned telescopic motor MC70 and lateral sliding motor 69 are housed in the arm unit. 1D74, and in FIG. 7, the arm 34 is extended horizontally, and the maximum load is applied to the main body lifting motor (?1A-1) 68. In this way, one arm 3
When the robot is fixed to the pipe 42 in step 3, the arm 33
Rotate the main body using . Also, rotate the arm relative to the main body. Furthermore, the arm tightening motor (M
A-2) 69, as shown in FIG.
34a and 34b) and temporarily tighten the piping, in order to obtain a reliable holding torque,
Tighten the piping using a wire mechanism. That is, as shown in FIGS. 8 and 9, a pivot shaft 82 with a hook 81 fixed to a support part 83 is attached to the tip of one arm 33a.
When the arms 33a and 33b are closed (see FIGS. 10(a) and 10(b)), the tip of the arm 33b hits the cam portion 81a of the hook 81, and the hook 81 is attached to the pivot shaft 82. The tip 81b of the hook 81 rotates around , and the tip 81b engages a locking piece 86 on the arm 33b. This locking work 86 is connected to an arm tightening motor (MA-2) via a wire 87 and a female screw.
69, and this motor (to PI-2) 69
The pipe is tightened by pulling the hook 81 via the wire 87 (see FIG. 10(c)), and the posture is maintained by the frictional force between the rubber plate 33f inside the arm and the pipe 42. Although not shown in FIG. 7, a lifting motor and an arm tightening motor are also provided on the arm 33 side in the same manner as described above.

CB) Arm structure Left and right arms 33a, 33b (34a,
34b) has a gripper shape corresponding to the diameter of the pipe 42, and an actuator for opening and closing the arm using the coil spring made of the above-mentioned shape memory alloy is provided at the upper part of this arm. An opening/closing mechanism is configured that is supported by a pivot shaft at two points.

(C) Arm opening/closing actuator When the robot attaches to the piping 42, the arm is temporarily opened and closed to tighten the piping 42. For this purpose, a coil spring 37.3B made of shape memory alloy (SMC) is used. An opening/closing mechanism having a pair of levers pivoted at two points by a pivot shaft is constructed.

That is, as shown in FIGS. 1 and 2, the arm 33
a, 33b (also 34a, 34b) have a pivot shaft 36, and are provided with integrated receiving pieces 33c, 33d extending on the opposite side from the arms 33a, 33b, and these receiving pieces 33c.

Coil springs 37 and 38 made of shape memory alloy and a normal spring 39 for bias are stretched in parallel between 33d and 33d. 40 is a fixed part to which the pivot shaft 36 is fixed.

Furthermore, as shown in FIG.
e, and each terminal thereof is connected to a shape memory alloy drive circuit (described below).

CD) Structure of sensor unit As shown by the dotted line in FIG. 1, the sensor unit 41 consists of an annular sensor guide rail 41a, a sensor 41b, and a motor 41c for rotating the sensor unit. The sensor 42 runs along the guide rail in the circumferential direction.

Note that detailed examples will be described later. Also, guide rail 4
1a performs opening and closing operations in synchronization with the left and right arms described above.

(E) System configuration Next, the system configuration of this robot will be explained.

FIG. 11 shows the system configuration of this robot.

In this figure, 43 is a CPU (central processing unit);
4 is D/A converter, 45 is Do, 46 is Ill
, 47 is a ^/D converter, and 48.49 is an isolation circuit including a photocoupler.
), 50 is an actuator drive circuit, 51 is a shape memory alloy, 52 is a stepping morph peripheral drive circuit, and 53 is a stepping motor, which includes the two main body lifting motors, two arm tightening motors, and an extension motor. (MC) 70, lateral slide motor (MO) c, sensor unit motor corresponds to this. 54 is an infrared LED drive circuit, 55 is an infrared LED, 56 is an infrared sensor amplifier circuit, 57 is an infrared phototransistor, 58 is an ultrasonic sensor amplifier circuit, 59 is an ultrasonic sensor, 60 is an audible sensor amplifier circuit, 61 is an audible sound sensor, 62 is an eddy current sensor amplifier circuit, 63 is an eddy current sensor, 64 is an emergency sensor, 65 is a plant map, and 66 is a database.

As shown in this figure, an ultrasonic sensor 59 and an infrared sensor having an infrared phototransistor 57 are provided as sensors for recognizing obstacles such as flanges and T-tubes.

It also has an emergency sensor 64 consisting of a limit switch that operates if these sensors do not operate normally. Additionally, the overcurrent sensor 63 is used to diagnose and detect abnormalities such as damage to the piping and insufficient wall thickness. That is, a change in eddy current caused by a flaw generated on the pipe is extracted as a change in impedance, converted to a change in voltage, and input to the CPU 43 via the A/D converter 47 for abnormality diagnosis and detection.

Further, an audible sound sensor (microphone) 61 is provided for performing an abnormality diagnosis using audible sounds. That is, the audible sound sensor (microphone) 61 picks up a unique audible sound caused by an abnormal state of the piping, and diagnoses the abnormality.

Furthermore, a database 6 for dealing with various diagnostic cases
6. Equipped with a plant map 65 that is effective for displaying robot positions and determining routes.

In addition, DO45 and D, which are input/output units connected to the CPU,
I46 is PPI (Programmable Perip
hral Interface).

Furthermore, the method of controlling the moving mechanism is open control in which the number of pulses corresponding to the amount of movement is sent to the stepping motor. Note that closed loop control may be performed in which movement takes in information from the outside world and about itself.

The operation of this robot will be explained below.

CF) Basic movements Since this robot has a structure that can cope with many obstacles, it is necessary to routine the basic movements in order to control the form according to the obstacles.

(1) Normal running mode FIG. 12 is a diagram of the normal running mode, and FIG. 13 is a time chart thereof.

As shown in these figures, the shape memory alloy (SM^) coil springs 37, 38 (see Figures 1 to 3) of the arms 33, 34 are not energized, and the front wire A and the rear wire B is in a stretched state, and two sets of arms 33 and 34 are connected by arm units 31 and 32.
The state in which the pipe 42 is held [Fig. 12 (
a)], the wire A is relaxed, power is supplied to the shape memory alloy coil springs 37 and 38, and when the coil springs 37 and 38 are contracted, the front arm 33 is opened [Fig. 12 (b)] and expands and contracts in that state. The main body 30 is extended by driving the motor MC70 [FIG. 12(C)]. Next, shape memory alloy (SM
When the power supply to the coil springs 37 and 38 manufactured by A) is cut off, the coil springs 37 and 38 extend and close the front arm 33,
Pull the wire A to hold the pipe 42 [FIG. 12(d)]. Next, loosen the wire B and use the shape memory alloy (S?IA) coil spring 37 of the rear arm.
38 and open the rear arm 34 [12th
Figure (e)), in this state, contract the main body 30 [12th
Figure (f)]. And the shape memory alloy (S) of the rear arm
When the power supply to the MA) coil springs 37 and 38 is cut off, the rear arm 34 closes and by pulling the wire B,
It will take one cycle.

Figure 14 is a flowchart of the normal running operation.As shown in this figure, 1) setting parameters, 2) determining whether to move forward or backward, and 3) searching to see if there is an obstacle; If there is, bus this routine. If there are no obstacles, open the arm 33, extend the main body 30, close the arm 33, open the arm 34, and
Retract the main body 30, close the arm 34, and repeat this process until the desired length is reached. When the robot moves backward (step (2) above), the arms 33 and 34 operate in the same manner, except that the operations are reversed.

(2) Movement in the circumferential direction Next, FIG. 15 is a flowchart of movement in the circumferential direction.

In this figure, first, ■ set the parameters, ■ determine whether the sliding direction is right or left, and if the sliding direction is right, ■ perform a search to see if there is an obstacle, and check if there is an obstacle. In this case, bus this routine. If there are no obstacles, open the iti arm, extend the main body, and
] Slide the main body to the right and close the front arm. Next, open the 0 rear arm, slide the 0 main body to the left, (1) close the rear arm 34, (2) open the front arm, (2) retract the main body, and close the 0 front arm. [Phase] Do this until you arrive. Also, when sliding the main body to the left (step 0 above), the sliding direction is simply reversed.
Perform the same action. Here, too, the opening and closing operations of the front and rear arms are performed using shape memory alloy (SMA) coil springs.

(3) Flange passing operation Next, the flange passing operation will be explained.

FIG. 16 is a flange passage mode diagram, and FIG. 17 is a time chart thereof.

As shown in this figure, when passing through the flange, first,
When the robot discovers the flange 90 in front of it using an infrared sensor and comes to a predetermined position, it begins the flange passing operation [FIG. 16(a)]. Therefore, the wire B is relaxed, the rear arm 34 is opened, and the main body is rotated (lifted) using the front arm 33 as a base [Fig. 16(b)].
When the rotation angle becomes 90 degrees [Fig. 16(c)],
Rotate the unit of arm 34 by 180 degrees [Fig. 16 (
d)) Furthermore, the main body is rotated 90 degrees using the front arm 33 as a base [Fig. 16(e)], and the rear arm 34 is rotated by 90 degrees.
, and pull the wire B to hold the pipe [Fig. 16(f)]. In this state, it looks like it is straddling the flange. This time, loosen the wire A and connect the front arm 33.
[Fig. 16 (g)], perform the same operation using the rear arm 34 as a base, and pass through the flange (Fig. 16 (g)).
Figure (h) to Figure 16 (1)].

Here again, the opening and closing operations of the arms 33 and 34 are performed by shape memory alloy (SMA) coil springs 37. ．． This is done using 38.

FIG. 18 is a flowchart of the flange passing operation.

First, open the [phase] arm 34, rotate (lift) the main body using the front arm as a base, and when the rotation angle reaches 90 degrees, rotate the unit 7 of the [phase] arm 34. , ■ When the rotation angle becomes 180 degrees, [phase]
It rotates using the front body as a base, and the rotation angle is 9.
When the rotation angle reaches 0 degrees, ■ Close the arm 34, ■ Open the arm 33, ■ Rotate using the rear main body as a base, and ■ When the rotation angle reaches 90 degrees, ■ Rotate the unit 7 of the arm 33. 0 When the rotation angle reaches 180 degrees, it further rotates using the rear main body as a base, and ■ when the rotation angle reaches 90 degrees, the O-arm 33 is closed.

(4) T-tube passing operation (Part 1) Fig. 19 is a mode diagram of T-tube passage (Part 1), and Fig. 20 is a time chart thereof.

First, when a T-shaped tube (or L-shaped tube) is recognized by an infrared sensor, it slides sideways and directly faces the T-shaped tube or L-shaped tube to be moved (FIG. 19(a)).

Next, loosen the wire B and open the rear arm 34 [19th
(b) ), lift the main body using the front arm 33 as a base (FIG. 19(c)), close the rear arm 34 and grasp the branched piping 91 (FIG. 19(d)),
Pull and hold wire B [Fig. 19 (
e)].

Next, loosen the wire A, open the front arm 33, and open the [first
(Fig. 9(f)), now use the arm 34 as a base, lift the forearm [Fig. 19(g)), and transfer to the branched tube 91 that rotates 180 degrees [Fig. 19(h)]
).

(5) T-tube passing operation (Part 2) Fig. 21 is a mode diagram of T-tube passage (Part 2), and Fig. 22 is a time chart thereof.

First, when the T-shaped tube (or L-shaped tube) is recognized by the infrared sensor, it slides sideways and directly faces the T-shaped tube or L-shaped tube to be moved [FIG. 21(a)].

Next, the wire A is relaxed, the arm 33 is opened, the main body is rotated (lifted) using the rear arm 34 as a base, the main body is extended, and the front main body is further rotated [FIG. 21(b)].

When the branched pipe is reached, the front arm 33 is closed [Fig. 21(c)], and the wire A is pulled to hold the branched pipe [Fig. 21(d)]. next,
Relax the wire B and open the rear arm 34 [Fig. 21 (
e)) Shrink the main body while rotating it. Furthermore, while rotating the main body, the main body is reduced [Fig. 21 (f)]
]. Next, close the rear arm 34, pull the wire A, and hold the pipe. Next, use the rear arm 34 as a base, open the front arm 33, extend the main body while rotating the main body, and extend the front arm 33. Proceed in the direction of the branched piping (Fig. 21 (g)). Next, close the front arm 33,
Hold the branched pipe by pulling the wire 8, pull the rear arm 34 using the front arm 33 as a base, and move to the branched pipe 91 [Fig. 21 (
h)].

(6) Piping transfer operation Figure 23 is a mode diagram of pipe transfer to adjacent pipes, Figure 24
The figure shows the time chart.

First, the position and distance of the adjacent pipe 92 to be transferred is detected by an ultrasonic sensor directed in the circumferential direction.
Figure 3 (a)].

Next, the wire A is relaxed, and the front arm 33 is opened [second
3(b)), rotate (lift) the main body using the rear arm 34 as a base [Fig. 23(c)), further rotate the front main body greatly [Fig. 23(d)), and lift the front main body. Align the arm 33 with the adjacent pipe 92 [Fig. 23(e)]
, close the front arm 33 and pull the wire 8 to connect the adjacent pipe 9.
2 [Figure 23(f)]. Next, using the front arm 33 as a base, loosen the wire B, open the rear arm 34 [Fig. 23 (g)], rotate the rear part of the main body, and lower the rear part of the main body [Fig. 23 (h)]. )]. Furthermore, by lowering the rear part of the main body, aligning the rear arm 34 with the adjacent pipe 92 (Fig. 23 (+)), closing the rear arm 34, and pulling the wire B, the rear arm 34
The adjacent pipe 92 is held by [Fig. 23 (j)].

FIG. 25 is a flowchart of a pipe transfer operation to an adjacent pipe.

The flow will be explained with reference to FIG. 30 and FIG. 31 showing the movement locus.

First, (1) Sensing of adjacent piping is performed using an ultrasonic sensor. ■Open the arm 33, ■Rotate the main body using the rear arm as a base, ■Judge whether the lifting angle of the main body is equal to θ, and if it becomes equal to the angle θ, ■Arm 33
Rotate the unit and (1) determine whether the rotation angle is equal to θ2. 0 Next, close the arm 33, and open the arm 34.
Open the , rotate the main body (forward), and determine whether the rotation angle is equal to θ2. If it is equal to 0, O
Rotate the arm 34 unit and adjust the lifting angle θ of the main unit.
.

If it is equal to the angle θ, then
■Close arm 34.

CG) Obstacle sensor The obstacle sensor reacts when it finds an obstacle such as a flange or T-shaped pipe when the robot moves on the pipe, and sends a signal to the robot control unit to recognize the state of the progress course. Because it corresponds to the eye.

FIG. 26 is a configuration diagram showing one embodiment of the obstacle sensor, with FIG. 26(a) being a front view and FIG. 26(b) being a side view.

This robot has an infrared LIED diode 55 (11th
The infrared sensor 93 has a photo ink club configuration combining an infrared phototransistor 57 (see FIG. 11) and an infrared phototransistor 57 (see FIG. 11), and this infrared sensor 93 mainly detects nearby obstacles. Further, the ultrasonic sensor 59 is used to detect objects located at a distance, such as adjacent pipes, which are difficult to detect with the infrared sensor 93. Furthermore, an emergency sensor 64 (see FIG. 11) having a rim switch 94 that operates in an emergency is mounted. Further, an eddy current sensor 63 (see FIG. 11) is provided as a sensor for diagnosing piping. Further, in the present invention, an audible sound sensor 61 (microphone) is installed as a sensor for diagnosing the piping, so that it is possible to auscultate the connection state of the piping, abnormal vibration sounds of the piping, etc. caused by gas flow, etc. In this figure, 95 is a wheel driven by the motor 41C, 96 is a roller, and 97 is a support portion. Moreover, the ultrasonic sensor 59 is shown in FIG. 26(c).
As shown in , when detecting adjacent piping, attach it facing upward.

Further, as shown in FIG. 27, the guide rail 41a is pivotally supported at one point by a coffin support shaft 97, and drives a shape memory alloy spring 98 in synchronization with the opening and closing of the left and right arms 33a and 33b. It is opened and closed by

(H) Motion control method This robot consists of 4 joints and 5 links, and since it can change into various forms and overcome obstacles, it is necessary to control the joints according to the purpose.

Here, we will consider the entire robot as a manipulator with piping as its foundation, and describe a motion control method using transformation matrices and Jacobian matrices.

This robot moves while changing the piping with the arms at both ends, but it differs from the standard when gripping the piping with the front arm A and moving the rear arm B, and when gripping the piping with the rear arm B and moving the front arm A. Since the order of the joints in is different, the transformation matrix is also different. Therefore, the mode for moving the front arm A will be referred to as control mode A1, and the mode for moving the rear arm B will be referred to as control mode B. 0 When moving like an inchworm, control mode 1' is A, B, A.

This will be called a dual mode control method.

Next, FIG. 28 shows the coordinate system of control mode A, and FIG. 29 shows the coordinate system of control mode B.
Jacobian matrices Ja and Js are shown.

Mountain (2) Tatapashi, CL cos (θL) St -5iyt (θi)
”(Rinao, joint d0.θ1 does not actually exist, but
These are virtual joints provided to represent the position and posture of the robot with respect to the base point, which is the starting point of movement common to control modes A and B.

By calculating the transformation matrix and the Jacobian matrix, it is possible to know minute changes in the position and posture of the arm relative to minute changes in the position and posture of the robot tip (center of the arm) and each joint.

Next, the Jacobian matrix for transferring adjacent pipes will be explained.

FIG. 30 is an explanatory diagram of the trajectory of arm A in control mode A, and FIG. 31 is an explanatory diagram of the trajectory of arm B in control mode B.

The Jacobian matrix during pipe transfer is a two-dimensional problem when considered from the perspective of a robot moving between pipes using a lateral slide mechanism. Therefore, the Jacobian matrix can be simplified as follows.

In control mode A, in control mode B. Let us now consider the case of transferring to a pipe located a distance L = 300 mm away. Joint θ2. The trajectory of the arm center when θ is rotated by the required angle at a constant speed is expressed by equation (6), (
7), the results are shown in FIGS. 30 and 31.

In this way, the trajectory of the arm when the joint is controlled using the Jacobian matrix can be determined. Conversely, it is also possible to calculate minute changes in the joint from this trajectory using the inverse Jacobian matrix. This analysis covers the whole robot, and at the design stage, it is possible to investigate the operating range and movement of the robot by simulating the number and types of joints, the length of links, etc., and at the control stage, By providing this trajectory, it is possible to determine the control of each joint from the inverse Jacobian matrix, which is considered to be effective in terms of design and control. The inverse Jacobian matrix is used in control mode A and in control mode B. Transferring to adjacent pipes like this is very effective for inspecting a group of pipes lined up side by side or for moving to a different system of pipes. It is.

Next, arm tightening means showing a second embodiment of the present invention will be described. That is, in this embodiment, electromagnetic tightening means is used instead of the mechanical tightening means described above.

FIG. 32 is a perspective view of a robot equipped with an electromagnetic locking mechanism, FIG. 33 is a side sectional view of the main part of the locking mechanism, and FIG.
Figure 4 is its bottom view.

In these figures, 100 is a locking mechanism, 101 is an iron core attached to the tip of the left arm 33b, and 10
Reference numeral 2 denotes an iron core attached to the tip of the right arm 33a, and these iron cores have the left and right arms closed, and the iron core 101
When the coil wound around is excited, a closed magnetic path is formed and both arms 33a and 33b are strongly attracted. As shown in FIG. 11, this coil 103 is controlled to turn on and off by the robot controller via an actuator drive circuit 50.

FIG. 35 shows a time chart of a robot using this locking means. As is clear from this time chart, the robot's work time can be significantly reduced.

FIG. 36 is a configuration diagram of an autonomous piping maintenance robot showing a second embodiment of the present invention.

In the figure, 105 is a pipe, 106 is a left arm, 107 is a right arm, 108 is a receiving part that extends integrally with the right arm 107, 109 is a receiving part that is integrally extended with the left arm, and 110 is both arms. 111 is a shape memory alloy coil spring stretched between the receiving parts 108 and 109, 112° 113
is a driving wheel, and 114 and 115 are driven wheels, and the driving form of this robot is the same as that of the first and second conventional robots described above.

In this embodiment, the opening/closing mechanism includes a pair of levers having a pivot shaft 110 pivoted at one point.
The pipe is gripped by four wheels with 0 as the center of the lever, and further locked by an electromagnetic locking mechanism (see Fig. 34). In this state, by driving the drive wheels 112 and 113,
Make the robot move forward.

Note that the present invention is not limited to the above embodiments,
Various modifications are possible based on the spirit of the present invention, and these are not excluded from the scope of the present invention.

(Effects of the Invention) As described above in detail, according to the present invention, the following effects can be achieved.

(1) Compared to conventional robots of this type, the number of motors can be reduced and the weight of the robot itself can be reduced. Moreover, it can be configured compactly and the mechanism can be significantly simplified.

(2) By using a shape memory alloy spring instead of a stepping motor for opening and closing the arm, the opening and closing operation of the arm becomes faster and the amount of work per unit time of the robot can be improved.

(3) Noise can be reduced by using a shape memory alloy spring instead of a stepping motor to open and close the arm. In particular, when an audible sound sensor is installed, the noise and vibration caused by the stepping motor are eliminated, allowing highly accurate piping diagnosis.

(4) The shape memory alloy spring only performs the function of opening and closing the arm, and after that, a separate locking means is provided for the arm, so there is no stress on the shape memory alloy spring, and the function is smooth. can perform actions.

(5) When an electromagnet is used as the locking means, it is possible to further reduce the weight of the robot body.

[Brief explanation of the drawing]

FIG. 1 is a schematic perspective view of an autonomous piping maintenance robot showing an embodiment of the present invention, FIG. 2 is a front view showing the main parts of the autonomous piping maintenance robot, and FIG. 3 is a diagram of the arm opening/closing actuator. 4 is a schematic diagram of the main body of the robot, FIG. 5 is a schematic illustration of the expansion and contraction mechanism of the main body, FIG. 6 is a schematic illustration of the sliding mechanism of the main body, and FIG. 7 is a schematic diagram of the robot drive device. 8 is a side view of the main part of the locking mechanism, FIG. 9 is a bottom view thereof, FIG. 10 is an explanatory diagram of the operation of the locking mechanism, FIG. 11 is a system configuration diagram of the robot of the present invention, and FIG. The figure is the normal driving mode diagram, No. 13
The figure is a time chart, Figure 14 is a flowchart of normal running operation, Figure 15 is a flowchart of circumferential movement operation, Figure 16 is a flange passage mode diagram, Figure 17 is a time chart, and Figure 18 is a flowchart of movement in the circumferential direction. A flowchart of the flange passing operation, Fig. 19 is a T-tube passage (part 1) mode diagram, Fig. 20 is its time chart, and Fig. 21 is a T-shaped pipe passage (part 1) mode diagram.
Figure 22 shows the mode diagram of pipe passage (part 2), Figure 22 shows its time chart, Figure 23 shows the mode diagram of pipe transfer to adjacent pipe, Figure 24 shows its time chart, and Figure 25 shows the operation of pipe transfer to adjacent pipe. 26 is a configuration diagram showing an example of the obstacle sensor, FIG. 27 is a configuration diagram of the sensor unit, FIG. 28 is a diagram showing the coordinate system of control mode A, and FIG. 29 is a diagram showing the coordinate system of control mode B. FIG. 30 is an explanatory diagram of the trajectory of arm A in control mode A, FIG. 31 is an explanatory diagram of the trajectory of arm B in control mode B, and FIG. 32 is a robot equipped with an electromagnetic locking mechanism. FIG. 33 is a side sectional view of the main part of the locking mechanism, FIG. 34 is a bottom view thereof, FIG. 35 is a normal running operation flowchart of the robot equipped with the electromagnetic locking mechanism of the present invention, and FIG. 36 is a perspective view of the locking mechanism. 37 is a front view of the first conventional autonomous piping maintenance robot, and FIG. 38 is a side view of the robot. Fig. 39 is a flange passing mode diagram of the robot, Fig. 40 is a front view of the second conventional autonomous piping maintenance robot, Fig. 41 is a side view of the robot, and Fig. 4
FIG. 2 is a T-tube passage mode diagram of the robot, and FIG. 43 is a perspective view of a third conventional autonomous piping maintenance robot. 30...Main body, 31.32...Arm unit, 3
3.34゜33a, 33b-・-Arm, 33
c, 33d-” receiving piece, 33e-insulator, 33f
...Rubber plate, 35...Slide rail, 36°82
, 110... Pivot shaft, 37.38... Coil spring, 39... Spring, 40... Fixed part, 41... Sensor unit, 41a... Annular sensor guide rail, 41b. ...Sensor, 41C...Motor, 42.9
1,105...Piping, 44...D/A converter,
45...DO146...DI, 47...A/D
Converter, 48, 49... Insulation circuit, 50... Actuator drive circuit, 51... Shape memory alloy, 52
... Stamping motor drive circuit, 53 ... Stamping motor, 54 ... Infrared LED drive circuit, 5
5... Infrared LED, 56... Infrared sensor amplifier circuit, 57... Infrared phototransistor, 5th...
... Amplification circuit for ultrasonic sensor, 59 ... Ultrasonic sensor, 60 ... Amplification circuit for audible sound sensor, 61 ... Audible sound sensor, 62 ... Amplification circuit for overcurrent sensor, 63.
...Overcurrent sensor, 64...Emergency sensor, 65...
・Plant map, 66... Database, 68...
・Main body lifting motor (MA-1), 69... Arm tightening motor (?IA-2), 70... Telescopic motor (MA), 71... Gear, 72... Rack,
T3...base, 74...lateral slide motor (MO
), 75... Sprocket wheel, 76... Ladder chain, 77, 96... Roller, 81... Hook, 81a... Cam part, 81... Tip part, 83.97
... Support part, 86 ... Locking work, 87 ... Wire, 88 ... Female screw, 90 ... Flange, 92 ...
Adjacent piping, 93... Infrared sensor, 94... Limit switch, 95... Wheel, 98... Shape memory alloy spring, 100... Lock mechanism, 101. 102...
・Iron core, 103...Coil, 106...Left arm,
107... Right arm, 10B, , 109... Receiving portion, 111... Shape memory alloy coil spring, 112.
113... Drive wheel, 114° 115... Driven wheel.

Claims (11)

[Claims] (1) (a) a main body; (b) two sets of arm units having left and right arms disposed before and after the main body; and (c) an actuator having a shape memory alloy spring that opens and closes the left and right arms. (d) locking means for tightening and holding the left and right arms after the left and right arms are closed; (e) means for expanding and contracting the main body; and (f) relative displacement in the circumferential direction of the front and rear parts of the main body. (g) rotating means for rotating the main body using the front arm unit as a base; (h) rotating means for rotating the main body using the rear arm unit as a base; (i) the arm unit. An autonomous piping maintenance robot characterized by being equipped with a sensor unit fixed to the front surface of the robot. (2) The autonomous piping maintenance robot according to claim 1, wherein the actuator includes an opening/closing mechanism having a pair of levers having two pivot points. (3) The autonomous piping maintenance robot according to claim 1, wherein the actuator includes an opening/closing mechanism having a pair of levers having a pivot shaft at one point. (4) The locking means has a hook at one end of the arm, an engaging member with which the hook engages at the other end, and a motor that pulls or loosens the hook via a wire. An autonomous piping maintenance robot according to claim 1, comprising: an autonomous piping maintenance robot according to claim 1; (5) The locking means has an electromagnet at one end of the arm, and a member attracted by the electromagnet is disposed at the other end. Autonomous piping maintenance robot described in section. (6) The autonomous piping maintenance robot according to claim 1, wherein the sensor unit includes a guide rail and a sensor that moves on the guide rail. (7) The autonomous piping maintenance robot according to claim 6, wherein the sensor unit includes an actuator made of a shape memory alloy that opens and closes the guide rail. (8) The autonomous piping maintenance robot according to claim 1, wherein the sensor unit includes a sensor for detecting obstacles. (9) The autonomous piping maintenance robot according to claim 1, wherein the sensor unit includes a sensor for diagnosing piping. (10) The autonomous piping maintenance robot according to claim 9, wherein the sensor is an eddy current sensor. (11) The autonomous piping maintenance robot according to claim 9, wherein the sensor is an audible sound sensor.