JPS63312277A - Suction crawler type mobile device - Google Patents

Abstract

PURPOSE:To make it possible to run a mobile device on a wall surface and a floor surface by enabling the shape of a crawler main body to be deformed coping with a running surface, and by attaching suckers to the crawler. CONSTITUTION:When a mobile device runs on a floor surface a1, expandable rods 1 in the front arcuated section are retracted successively in the downward order in association with the remote control operation of a drive control mechanism 10 so as to control such that an arcuated arrangement is established, and then the rods are extended on the lower side, resulting in that they are transferred into the lower straight section. Further, expandable rods in the rear arcuated section are shortened successively in the upward order so as to control that an arcuated arrangement is established, and then they are extended upward, resulting in that they are transferred into the upper straight section. Suckers 7 are controlled so that they are allowed to successively confront the floor surface a1 in an sucking condition and then are successive released from the sucking condition rearward, thereby the mobile device can run on the floor surface. The crawler main body may be deformed by the extension rods, coping with the shape of the floor surface.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a suction crawler-type moving device that can freely travel on walls, stairs, etc. in addition to floors, and is applicable to various tasks such as inspections. It is.

(Prior Art) As shown in FIG. 7, the conventional suction type moving device has a crawler (C) between a driving roller (bl) and a driven roller (b2) provided at the front and rear of the main body (a). Attach it to the second drain, place a suction device (d) on the lower side of the main body (,), and create a vacuum with the suction hole provided on the surface side of the K and Shiflora (01) to circulate the crawler. It is a suction crawler type moving device that can move by driving and suction force and can be moved on walls etc. Also, as shown in Fig. 8, at least one pair of legs (e) is attached to the main body (-). The base side of the main body) is attached to the common shaft (f), and each leg (θ) (e) is individually swung by the actuator (-) disposed on the main body (a), and each leg (θ) Each suction cup (i) connected to the tip of (θ) via an appropriate joint mechanism (h) (h)
(i) are individually rotated (1), angle adjusted and adsorbed;
We have previously developed and proposed a suction chest-type moving device that can be moved on walls and other surfaces.

(Problems to be Solved by the Invention) The above-mentioned conventional suction chest type moving device is capable of controlling the individual swinging of each leg, the individual rotation of each suction cup, the angle adjustment, and the suction. Although it has the feature of being able to move steadily on stairs etc., the moving speed is slow and there is a limit to speed increase.

Further, the suction crawler type moving device can achieve a relatively high moving speed because it moves by circulating the crawler, but there is a limit to the deformation of the claw 2 corresponding to the running surface such as the floor. The suction holes are provided on the surface of the crawler itself, and the suction/action is limited to the part where the suction device is installed, so the suction force is not sufficiently secured. There are problems such as difficulty in crossing the line.

(Means for Solving Problems) The present invention is an adsorption crawler type moving device developed to solve the above-mentioned problems, in which each stroke and rear end of a large number of telescopic rods are sequentially pivoted. a crawler main body connected in an endless manner; support arm sets pivotally attached to the front and rear ends of the telescopic rods and protruding outward; each suction cup that is attached to each telescopic rod and whose angle is controlled; and a drive control that is connected to each telescoping device of each telescoping rod and each actuating device of each suction cup and individually controls the suction cup. By equipping the machine with this mechanism, the crawler-based circulation drive increases the moving speed, and the crawler-based deformation performance corresponding to the running surface such as the floor and the placement performance of each suction cup are improved.
Mobility performance and reliability have been improved.

(Function) By remote control using the drive control mechanism, each telescoping device mainly composed of the Siflora is actuated individually to individually control the telescoping rod, and each actuating device of each suction cup is actuated individually to at least perform suction individually. As a whole, the crawler main body has each telescoping rod in an extended state in the straight part, and in the front (travel direction side) arc part, each telescoping rod is shortened from the top to create an arc-shaped arrangement. After that, it is extended and moved to the lower straight part, and in the rear arc-shaped part, each telescopic rod is sequentially shortened from the bottom to the arc-shaped part [Kt, and then extended and moved to the upper straight part, and each When the suction cup is in contact with the running surface such as the floor on the front side, the suction is turned on sequentially, and when it leaves the running surface on the rear side, the suction is turned off sequentially. In addition to the circulation operation that sequentially transfers to and adsorbs onto the running surface (on the running direction side), the shape of the endless crawler is changed to the running surface by bending the pivot joints at the front and rear ends of each telescopic rod. The rod deforms in response to the movement of the telescopic rod, and travels in a circular manner while reliably suctioning the rod in sequence with each suction cup provided on the outside of each telescoping rod.

(Embodiment) Figures 1 to 5 show a first embodiment of the present invention, in which (1) is a telescopic rod, (2) is a telescopic device (for example, The crawler main body (1, 2,
3), and the front and rear ends of each telescopic rod (1) are pivoted (4).
) each support arm set (5) protrudes outward, and an angle control unit (6) pivotally attached to the tip of each support arm set (5) and provided for each telescoping rod (1). A drive control mechanism (10) connected to each actuator (not shown) of each suction cup (force) and each telescopic device (2) of each telescoping rod (1) and each suction cup (force (not shown)) to control them individually. It is configured with the following.

In detail, the telescopic rod (1) is essentially a cylinder of the telescopic device (2) (air cylinder) and a screw-in rod, which connects the front and rear ends of each telescopic rod (1). It is connected to the shaft (3a) by pivoting (3), and for example, a coil spring (not shown) is interposed between the connecting shaft (3a) and the front and rear ends of the telescopic rod (1). The restoring force of the coil spring adds a holding force to keep the connected telescopic rods in a straight line, and each pivot joint (3) bends outward and inward against the spring bias. It has an endless crawler main body (1, 2, 3) that can be connected. A stone/e for regulating the bending range may also be provided.

To explain the support arm set (5) in detail, it is attached to the front and rear ends of each telescopic rod (1) by a pivot joint (4) via a connecting shaft (3a). As shown in Figure 1 (B), there are four groups in total, two each on the front and rear sides. Arrived (6).

To explain the drive control mechanism (10) in detail, it consists of a drive control device for each telescoping device (2) of each telescoping rod (1) and a drive control device (described later) for each suction cup (7). 2) The drive control device includes an electromagnetic switching valve (11) provided for each expansion/contraction device (2) (air cylinder), a compressor (13), each electromagnetic switching valve (11), and each expansion/contraction device (2). Flexible air pipe (12) connected between boats
The compressor (13), the flexible control signal i (14) connected between the control box (15) and each electromagnetic switching valve (11), and the control box (14).
15), etc., and each electromagnetic switching valve (1
A control signal is individually output to 1), and each electromagnetic switching valve (11) of each telescoping device (2) is individually controlled by the control signal, and the individual operation of each telescoping device (2) causes Each expansion/contraction loft' (1) is individually controlled to expand/contract. On the other hand, the pressurized air supplied from the compressor (13) via the flexible air pipe (12) is supplied to one port of each telescopic device (2) by the individual electromagnetic switching valve (11) and then to the other port. The pressure of the hoard is discharged, and the switching activates each telescopic device (2) to extend and retract each telescopic rod, and the opening/closing and opening degree control of the electromagnetic switching valve (11) causes each telescopic device (2)
The expansion/contraction speed and stroke length are adjusted.

To explain in detail the operating device of each suction m (7), the suction surface (7) of the suction cup (7) corresponds to the running surface such as the floor.
a) an angle control device and a suction control device for bringing the sides into contact with each other; The actuators (16) connected together, the electromagnetic switching valve (11), the usable air pipe (12), and the compressor (
13), signal line (14) and control box (
Each actuator (16) is provided with a drive control means (not shown) having the same configuration as 15).
Like the telescopic device ff1(2), the suction surfaces of each suction cup (7) are brought into contact with a running surface such as a floor surface.

The suction control device (not shown) is provided on each suction cup (7) and has a configuration similar to that of the drive control means so as to individually suction and release the suction, that is, on/off control of each suction cup (7). The suction on/off control means and specific mechanism by remote control of the suction cup have already been put into practical use in various devices, and detailed explanation thereof will be omitted.

In addition, as shown in Fig. 1 (B) and Fig. 2, a suction cup (
At the end of the pivot shaft (6a) protruding from the side of 7),
For example, a camera (20) via a suitable articulation mechanism (21).
As shown in the figure, a plurality of cameras (20) are attached to desired positions to illuminate and detect the running surface such as the floor surface, and the image is further displayed at a remote location on a monitor television (not shown) or the like. In addition to cameras, various inspection equipment and work equipment are installed for inspection,
The first embodiment of the present invention, which is applied to work, has the above-described configuration, so that the floor surface (a
l) A plurality of suction cups (7) are brought into contact with the upper part for suction, and the upper and lower straight parts (1) are in an extended state, and the front and rear arc parts are each extended and contracted. When the rod (1) is in the shortened state, the crawler main body (1, 2, 3) and each suction # (force) are arranged as shown in FIG. 1(A).

When traveling on the floor surface (a□) in the state shown in FIG. ) That is, each telescopic rod straight 1) is sequentially shortened from the upper side to form an arc-shaped arrangement, and then extended downward to move to the lower straight part, and each telescopic rod ( 1
) is sequentially shortened from the bottom to form an arc-shaped arrangement, and then extended upward to move to the upper straight part, and each suction cup (force is sequentially applied to the floor surface (ao) from the front side). The suction is turned on facing the surface, and the suction is turned off sequentially on the rear side, and a new suction cup (force is placed At the same time, the suction cup (force) that is suctioning on the rear side sequentially moves upward, and the crawler main body (1
゜2.3) together with each suction cup (7) adsorbs onto the floor surface (a) and moves along with the movement of the circulating crawler.

During the traveling movement, each camera (20) at the tip of the suction cup (pivot shaft (6) protruding from the side of the force) illuminates the floor surface (a) as shown in Figure 2. The same floor surface that can be observed is detected and observed.If the joint (21) is controlled by a suitable remote control device to make it possible to change the angle of the camera (20), the detection performance can be further improved.

If the movement operation is reversed, it is also possible to travel to the rear, and when traveling, the control box (1
5) Signal fi! (14), each electromagnetic switching valve (11) is individually switched and controlled, and each telescoping device (2) individually controls each telescoping lobby (1). At the same time, each actuating device of each suction cup (7) is also individually controlled by a remote control means (not shown), and each actuating device is individually controlled by a remote control means (not shown). The above operations are automatically controlled by K, such as by correcting the control signal based on a detection signal from a suitable running surface detection sensor (not shown) K provided for each telescopic lot.

Figure 3 shows the case where the floor surface (a□) is transferred to the wall surface (a2), and each suction cup (7) of each telescopic rod (1) of the front arc-shaped part is in contact with the wall surface (a2). When in contact, the main body of Claw-2 is automatically deformed as shown in the figure in accordance with the running surface, and each suction cup that moves to the front side (the force is sequentially applied to the wall surface (a2) K as in the case of the floor surface (al)) Contact surface, adsorbed, floor surface (a□)
The running transition accompanied by the transition between the wall surface (a2) and the wall surface (a2) is smoothly performed.

Further, as shown in FIG. 4, the transition between the wall surface (a2) and the upper floor surface (a3) is smoothly carried out without any particular difficulty in transition as shown. Also,
As shown in Figure 4, the stairs (a4) are also moved in the arrangement shown in the figure, with the floor surface (a□), wall surface (a2), upper floor surface (a3), and stairs (a4). , slope,
Concerning the uneven running surface, etc., and also the transition between the above-mentioned surfaces, the movement is carried out by steady suction by the two suction cups without any particular difficulties, and basically, the circulation movement is carried out by crawler sinking. Because of this function, the movement speed has been increased, and the movement performance and operational reliability have been significantly improved. Although the embodiment in which the force angle control device is provided with seven actuators (16) for each suction cup has been described, the pivot shaft (6a
) and each support arm (5), and a coil spring (not shown) is installed between the pivot shaft (6) and each support arm (5).
a) Apply a spring bias to the suction cup (7), and use the spring bias to hold the suction cup (7) against the telescopic rod (1) K while keeping the suction surface of the force parallel and resisting the spring bias. It is also possible to configure the suction cup (7) to be rotatable within a desired range. In this case, when the suction cup (7) hits a running surface such as a floor, the suction cup (7) The coil spring is rotated against the biasing force and is brought into contact with the running surface and sucked, and a similar suction effect is obtained, and the coil spring becomes an angle control device for the kana/board.

(Other Embodiments) FIG. 6 shows a second embodiment of the present invention. Compared to the fourth embodiment, there are support arms (25) ( 25) to yQ-(24)(24)
It pivots (26) and coil spring (
Each connecting rod (27) is connected to a pivot joint (28
) is characterized by an endlessly connected configuration, and although other configurations are not shown, the configuration is substantially the same as that of the first embodiment. For example, a large number of telescoping rods (1) and a telescoping device (2
) is provided on the outside of the crawler main body (1, 2, 3) via each support arm set (25) and pivoted (26") V
From C, there is a group of endless connecting rods (27), and the group of endless connecting rods (27) has a p-ra main body (1° 2.3).
Similarly, each pivot joint (26) can be bent to improve the retention of each suction cup (7) and to increase the angle control of each suction cup (force angle control) against the running surface such as the floor. Also,
The second embodiment also has basically the same structure as the first embodiment, and the same effects can be obtained.

(Effects of the Invention) The present invention has the above-described configuration, and each of the crawler-based telescoping devices is individually actuated by remote control using a drive control mechanism to individually control the telescoping rods. , each actuating device of each suction cup is operated individually and at least the suction is controlled on and off individually, so that each crawler-based telescopic rod and each suction cup sequentially move onto the front (running direction side) running surface. The shape of the endless claw 2 is deformed in accordance with the running surface by the bending of the pivot joints at the front and rear ends of each telescopic rod, and the shape of the endless claw 2 is deformed to correspond to the running surface.
Along with traveling movement on walls, stairs, etc., transitions between floors and walls, between walls and upper floors, etc. are performed smoothly, and the movement speed is significantly increased, basically by suction movement by circulation of each suction cup. As a result, movement performance and operational reliability have been significantly improved.

Although the present invention has been described above with reference to embodiments, it goes without saying that the present invention is not limited to such embodiments, and that various design modifications can be made without departing from the spirit of the present invention. .

[Brief explanation of the drawing]

Figures 1 (A) and (B) are a side view of the mechanism and a perspective view of the main parts showing the first embodiment of the present invention, Figure 2 is a side view of the arrangement of the camera showing the inspection state by the camera, and Figure 3 is a side view of the arrangement of the camera. FIG. 4 is a side view showing the transition state between the floor surface and the wall surface, FIG. 5 is a side view showing the transition state between the wall surface and the upper floor surface, FIG. 7 is a side view of the mechanism showing the second embodiment, FIG. 7 is a side view of the mechanism of the conventional example, and FIG. 8 is a side view of the mechanism of another conventional example. 1: Telescopic rod 2: Telescopic device 3, 4.6.24.26: Pivot 5.25: Support arm (set) 7: Suction cup 10: Drive control mechanism agent Patent attorney Shige Okamoto 2nd person Figure 2 Figure 8

Claims (1)

[Claims] A crawler main body is formed by sequentially pivoting the front and rear ends of a large number of telescoping rods and connecting them in an endless manner, and a crawler body is formed by pivoting the front and rear ends of each of the telescoping rods and protruding outward. each support arm group, each suction cup that is pivotally connected to the tip of each support arm group and whose angle is controlled and arranged for each of the telescoping rods, each telescoping device of each of the telescoping rods, and each of the suction cups. A suction crawler type moving device characterized by comprising a drive control mechanism that is connected to each actuating device of the panel and individually controlled.