WO2020240791A1 - 移動装置 - Google Patents

移動装置 Download PDF

Info

Publication number
WO2020240791A1
WO2020240791A1 PCT/JP2019/021602 JP2019021602W WO2020240791A1 WO 2020240791 A1 WO2020240791 A1 WO 2020240791A1 JP 2019021602 W JP2019021602 W JP 2019021602W WO 2020240791 A1 WO2020240791 A1 WO 2020240791A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicles
moving device
wheels
main body
wall surface
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2019/021602
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
菊地　亨
尊雄 村越
憲司 土屋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tokyo Keiki Inc
Original Assignee
Tokyo Keiki Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tokyo Keiki Inc filed Critical Tokyo Keiki Inc
Priority to PCT/JP2019/021602 priority Critical patent/WO2020240791A1/ja
Priority to KR1020217039739A priority patent/KR102614992B1/ko
Priority to EP19930210.0A priority patent/EP3936419B1/en
Priority to CN201980096056.2A priority patent/CN113993771B/zh
Priority to JP2021521704A priority patent/JP7248789B2/ja
Priority to US17/600,688 priority patent/US12122467B2/en
Publication of WO2020240791A1 publication Critical patent/WO2020240791A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B47/00—Suction cups for attaching purposes; Equivalent means using adhesives

Definitions

  • the present invention relates to a moving device traveling on a wall surface.
  • a robot traveling on a wall surface has been known as a moving device for inspecting a structure.
  • a robot that travels while being adsorbed on the wall surface has been proposed, and the adsorption method includes pressing against the wall surface by a propeller, decompression adsorption by a vacuum pump or fan, adsorption by magnetic force, and electrostatic force. And adsorption to the wall surface using intermolecular force.
  • a vacuum pump or a fan is used among the above adsorption methods.
  • Decompression adsorption by is effective. This decompression adsorption decompresses the space by discharging the air in the space defined between the robot and the wall surface to be adsorbed to the outside, and by the differential pressure between the atmospheric pressure and the atmospheric pressure in this space. The robot is attracted to the wall surface.
  • a structure inspection robot that has a front wheel and a pair of rear wheels and that travels along the steel member by adsorbing the front wheel and the rear wheel to the steel member of the bridge and driving the rotation is known ( See Patent Document 1).
  • An embodiment of the present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a moving device that moves on a wall surface more stably than before.
  • the moving device is a moving device that travels on a wall surface, and is provided on the main body portion and the main body portion so as to rotate around a rotation axis and travel on the wall surface.
  • At least two or more vehicles including two wheels, a traveling drive unit for driving the two wheels, and a suction mechanism provided on the main body and adsorbed to the wall surface, and at least two or more vehicles.
  • a connecting portion for connecting vehicles adjacent to each other in the straight-ahead direction of the vehicle is provided.
  • the wall surface can be moved more stably than before.
  • FIG. 1 is a plan view showing a configuration of a mobile device according to the first embodiment.
  • FIG. 2 is a side view showing the configuration of the mobile device according to the first embodiment.
  • the moving device 1 includes 10 vehicles 10 (10a, 10b, 10b1, 10c) each having two wheels 12a and 12b.
  • Each of these vehicles 10 can travel straight in at least one direction by the two wheels 12a and 12b, and vehicles adjacent to each other in the straight direction are connected to each other. It is sufficient that there are at least two vehicles 10 provided in the moving device 1.
  • the vehicle 10a the one located at one end in the straight-ahead direction
  • the vehicle 10c the one located at the other end
  • the vehicle 10a and the vehicle 10c the vehicle 10a and the vehicle 10c.
  • the vehicle 10b be located, and let one of the vehicles 10b be the vehicle 10b1.
  • Vehicles 10a, 10b, 10b1, and 10c have partially different configurations from each other, but basically have a common configuration. Therefore, if it is not necessary to distinguish between these vehicles for explanation, simply vehicles. It is called 10. Further, when it is not necessary to distinguish a plurality of members having the same configuration but different from each other by the alphabet because their arrangement positions are different, only the numbers are attached to the members.
  • the direction orthogonal to the straight direction of the moving device 1 and parallel to the plane is the lateral direction
  • the direction orthogonal to the straight direction and the lateral direction is the vertical direction.
  • the vehicle 10a side in the straight-ahead direction is the front
  • the vehicle 10c side is the rear
  • the installation surface side in the vertical direction is the lower side
  • the other side is the upper side.
  • Each of the vehicles 10 has a main body 11 and wheels 12a and 12b arranged on both sides of the main body 11 in the lateral direction and whose rotation axes face sideways, and a partition 15 provided below the main body 11.
  • the vehicle 10a has a first link portion 13a which is a C-shaped member which is rotatably provided around the rotation axis of the wheel 12 and has an opening on one side, and a camera 919 and a shape provided above the main body portion 11.
  • a measuring instrument 920 is provided.
  • the vehicle 10b is a member having the same shape as the first link portion 13a and the first link portion 13a, and is similarly rotatably provided around the rotation shaft 121 (see FIGS. 3 and 4) of the wheel 12.
  • a second link portion 13b and a measuring instrument 918 are provided.
  • the vehicle 10b1 includes a first link portion 13a, a second link portion 13b, a measuring instrument 918, and a transmitter / receiver 921.
  • the vehicle 10c includes a second link portion 13b, a camera 919, and a shape measuring instrument 920.
  • Each of the vehicles 10 is connected to another vehicle 10 adjacent in the straight-ahead direction by the connecting portion 14.
  • the mobile device 1 is remotely controlled by a control device (not shown) via a transmitter / receiver 921 provided in the vehicle 10b1, and at this time, the operator of the mobile device 1 is an image taken by a camera 919 provided in each of the vehicles 10a and 10c.
  • the moving device 1 is moved on the structure to be inspected based on the surrounding shape information by the shape measuring device 920.
  • Each of the measuring devices 918 provided in the vehicles 10b and 10b1 performs various measurements related to the inspection of the structure at the moving path of the moving device 1 or the target point which is the moving destination. Since the difference between the vehicle 10b and the vehicle 10b1 is only the transmitter / receiver 921, in the following description, the vehicle 10b and the vehicle 10b1 are not distinguished and are simply referred to as the vehicle 10b.
  • FIG. 3 is a plan view showing the configuration of the vehicle.
  • FIG. 4 is a side view showing the configuration of the vehicle.
  • FIG. 5 is a bottom view showing the configuration of the vehicle.
  • the main body of the vehicle is shown as a cross section cut by a plane parallel to the straight-ahead direction and the lateral direction in order to show the inside thereof, and the control unit described later is shown through the cross section.
  • the main body portion, the partition portion, and the connecting portion of some vehicles are shown as cross sections cut by planes parallel to the straight-ahead direction and the vertical direction.
  • a storage space for accommodating various members is defined in the main body portion 11 of each vehicle 10, and at least the partition portion 15 is adsorbed in this accommodation space.
  • a fan 110 constituting the mechanism, two traveling drive units 122a and 122b, and a control unit 99 for controlling these operations are provided as a basic configuration of the vehicle.
  • the vehicle 10a provided with only the first link portion 13a is provided with the first pitch drive portion 131a in the accommodation space.
  • the vehicles 10b and 10b1 provided with the first link portion 13a and the second link portion 13b are provided with the first pitch drive unit 131a and the second pitch drive unit 131b in the accommodation space in addition to the basic configuration.
  • the vehicle 10c provided with only the second link portion 13b is provided with only the second pitch drive portion 131b in the accommodation section (not shown in FIGS. 3 and 4).
  • the wheels 12a and 12b provided on both ends in the lateral direction with respect to the main body 11 of each vehicle 10 have rotating shafts 121a and 121b facing inward in the lateral direction, respectively, and these rotating shafts 121a and 121b They are rotatably connected to the traveling drive units 122a and 122b around the rotation axis A, respectively.
  • the axial direction of the rotation axis A faces the lateral direction, and the rotation axes 121a and 121b rotate around the same rotation axis A.
  • the main body 11 is formed smaller than the wheel 12 in the lateral direction, that is, in all directions orthogonal to the rotation axis A direction, that is, in the radial direction of the wheel 12.
  • the wheel 12 is formed to have a diameter larger than that of the main body 11 when viewed from the rotation axis A direction.
  • the first link portions 13a provided on each of the vehicles 10a and 10b are substantially orthogonal to the rotation axis A of the rotation shaft 121 on both sides of the main body portion 11 in the lateral direction, and the wheels 12 are at least a distance equal to or greater than the radius of the wheels 121. It has two extending portions extending in the radial direction of the above and a connecting portion connecting one ends of these two extending portions, and is formed in a substantially C shape. The other ends of the two extending portions are rotatably connected to the rotating shaft 121, and are rotated around the rotation axis A by the first pitch driving unit 131a.
  • a transmission unit 133a composed of two gears is provided on one side of the main body 11 in the lateral direction, and the first pitch drive unit 131a has a rotation shaft 132a whose axial direction is directed to the side.
  • a rotating shaft 132a is connected to one gear of the transmission unit 133a so as to be relatively non-rotatable, meshes with this gear, is provided on the rotating shaft 121a so as to be relatively rotatable, and is connected to the main body portion 11 so as not to be relatively rotatable. Is connected to the other end of one extending portion of the first link portion 13a so as not to rotate relative to each other. As a result, the first link portion 13a is driven around the rotation axis A so as to be rotatable relative to the rotation shaft 121a.
  • the second link portions 13b provided on the vehicles 10b and 10c respectively extend substantially orthogonal to the rotation axis A of the rotation shaft 121 on both sides in the lateral direction of the main body portion 11 by a distance equal to or greater than the radius of the wheels 121. It has two extending portions and a connecting portion that connects one ends of these two extending portions, and is formed in a substantially C shape like the first link portion 13a. The other ends of the two extending portions are rotatably connected to the rotating shaft 121, and are rotated around the rotation axis A by the second pitch driving unit 131b.
  • a transmission unit 133b composed of two gears is provided on the other side of the main body 11 in the lateral direction, and the second pitch drive unit 131b has a rotation shaft 132b whose axial direction is directed to the side.
  • a rotating shaft 132b is connected to one gear of the transmission unit 133b so as to be relatively non-rotatable, meshes with this gear, is provided on the rotating shaft 121b so as to be relatively rotatable, and is connected to the main body portion 11 so as not to be relatively rotatable. Is non-rotatably connected to the other end of one extending portion of the second link portion 13b.
  • the second link portion 13a is driven around the rotation axis A so as to be rotatable relative to the rotation shaft 121.
  • the first link unit 13a and the second link unit 13b have the same configuration except that they are driven by either the first pitch drive unit 131a or the second pitch drive unit 131b.
  • the same operation can be performed by driving the first link unit 13a by the second pitch drive unit 131b and driving the second link unit 13b by the first pitch drive unit 131a.
  • the essential difference between the first link portion 13a and the second link portion 13b is that the first link portion 13a is connected to the vehicle 10 adjacent to the rear, whereas the second link portion 13b is connected to the vehicle adjacent to the front. It is at the point connected to 10.
  • the first link portion 13a and the second link portion 13b are connected by the connecting portion 14 at each connecting portion.
  • the first pitch drive unit 131a and the second pitch drive unit 131b are driven, the extension directions of the extension portions of the first link portion 13a and the second link portion 13b are directed to the straight-ahead direction. It has become.
  • the posture of the main body portion 11 with respect to the ground plane can be rotated in the pitch direction, and the main body portion 11 with respect to the installation surface can be rotated.
  • the vertical position of can be displaced.
  • the connecting portion 14 is a yaw drive having a first connecting portion 141 connected to the connecting portion of the first link portion 13a, a second connecting portion 142 connected to the connecting portion of the second link portion 13b, and a rotating shaft 144.
  • a unit 143 is provided.
  • the yaw drive unit 143 is fixed to the first connecting portion 141 so that the rotation axis B of the rotating shaft 144 faces in the vertical direction so as not to rotate relative to the first connecting portion 141, and the rotating shaft 144 can rotate relative to the first connecting portion 141. It is pivotally supported and is connected to the second connecting portion 142 so as not to rotate relative to each other.
  • the first connecting portion 141 and the second connecting portion 142 are rotatably connected around the rotation axis B, and the second connecting portion is connected to the first connecting portion 141 around the rotation axis B. It can be rotationally driven and yaw one of the two vehicles 10 connected by the connecting portion 14, making it easy to change the traveling direction of the moving device. It is assumed that the operation of the yaw drive unit 143 is controlled by the control unit 99 of the vehicle 10 including the first link unit 13a to which the first connecting unit 141 is connected.
  • the main body 11 of the vehicle 10 is separated from the ground surface of the wheels 12 by a predetermined distance in the vertical direction in a state where the posture is not rotated in the pitch direction, and the main body 11 and the ground surface are separated from each other.
  • the space between them is defined as a suction space surrounded by a partition 15 so as to block all directions orthogonal to the vertical direction.
  • a discharge hole (not shown) is formed in the main body 11, whereby the air in the suction space is discharged to the outside of the vehicle 10.
  • the partition portion 15 may be configured to have flexibility.
  • the control unit 99 can detect the relative relationship between the main body 11 and the ground plane, such as the posture and vertical position of the main body 11, based on the difference in the measured values of each of the six short-distance sensors. , The state of suction to the ground surface can be monitored by the value measured by the pressure sensor 92.
  • a plurality of short-distance sensors 91 may be provided, and a three-dimensional distance sensor may be provided instead of the plurality of short-distance sensors 91.
  • FIG. 6 is a side view showing a moving device that rotates the main body.
  • FIG. 7 is a side view showing a moving device that performs a pitch operation.
  • FIG. 8 is a side view showing a moving device that moves between two wall surfaces having a convex angle.
  • FIG. 9 is a side view showing a moving device that gets over the protrusion.
  • FIG. 10 is a side view showing a moving device that gets over the groove.
  • the moving device 1 moves the concave angle portion W1 in which the angle formed by one wall surface W11 and the other wall surface W11 is smaller than 180 ° in the structure to be inspected
  • the moving device 1 moves.
  • the posture of the main body 11 is sequentially rotated in the pitch direction according to the angle formed by the wall surface W11 and the other wall surface W11 from the leading side in the traveling direction. , Can pass through the concave angle portion W1.
  • the moving device 1 moves through the concave angle portion W1
  • the moving device 1 advances the vehicle 10 moving from one wall surface W11 to the other wall surface W12 in order from the leading side in the traveling direction.
  • the vehicle 10 connected to the front in the direction is separated from one wall surface W11 by the first link portion 13a or the second link portion 13b of the vehicle 10 behind it, and then the separated vehicle 10 is attracted to the other wall surface W12.
  • the moving device 1 moves the convex angle portion W2 in which the angle formed by one wall surface W21 and the other wall surface W22 is larger than 180 °
  • the moving device 1 moves.
  • the device 1 moves the vehicle 10 passing through the corner portion in order from the front side in the traveling direction to the first link portion 13a or the second link portion 13a of the vehicle 10 rearward in the traveling direction.
  • the convex angle portion W2 can be passed by being supported by the link portion 13b and by rotating the main body portion 11 of the supported vehicle 10 and attracting the main body portion 11 to the other wall surface W12. It is preferable that the control unit 99 determines whether or not a certain vehicle 10 has reached the corner portion based on the difference in the measured values of the plurality of proximity sensors 91.
  • one plane P1 and the other plane P2 are formed so as to project from the wall surface, and the distance between the plane P1 and the plane P2 is formed to a predetermined thickness.
  • the moving device 1 supports the vehicle 10 to be moved from the plane P1 to the plane P2 by the vehicle 10 rearward in the traveling direction by the first link portion 13a or the second link portion 13b. Then, by rotating the main body 11 of the supported vehicle 10, the projecting portion P can be passed.
  • the distance between the wheels 12 of the two adjacent vehicles 10 in the moving device 1 be smaller than the thickness of the protruding portion P, whereby the adjacent 2 It is possible to prevent the protruding portion P from being pinched by the wheels 12 of one vehicle 10.
  • the moving device 1 moves the vehicle 10 passing through the groove G to the first vehicle 10 behind the groove G.
  • the link portion 13a or the second link portion 13b By supporting the groove G by the link portion 13a or the second link portion 13b and allowing the groove G to be overcome, the wall surface on which the groove G is formed can be passed.
  • the groove G may also be detected by the control unit 99 based on the difference in the measured values of the plurality of proximity sensors 91.
  • FIG. 11 is a diagram showing a moving device in which the connection positions of the connecting portions are different.
  • the main body portion 11 and the first link portion 13a may be connected.
  • the vehicle 10d corresponding to the vehicle 10b described above is not provided with the second link portion 13b, and the second connecting portion 142 in the connecting portion 14 is directly connected to the main body portion 11 of the vehicle 10d.
  • the second link portion 13b can be omitted from each vehicle 10 in the mobile device 1, and the mobile device 1 can be manufactured at a lower cost.
  • the moving device by connecting a plurality of vehicles that can be attracted to the ground contact surface, one of the vehicles can be attracted to the ground contact surface and travel on the wall surface.
  • one of the vehicles can be attracted to the ground contact surface and travel on the wall surface.
  • FIG. 12 is a side view showing the moving device in the shortened state according to the second embodiment.
  • FIG. 13 is a side view showing the moving device in the extended state according to the second embodiment.
  • FIG. 14 is a side view showing the configuration of the connecting portion in the shortened state.
  • FIG. 15 is a plan view showing the configuration of the connecting portion in the shortened state.
  • FIG. 16 is a side view showing the configuration of the connecting portion in the extended state.
  • FIG. 17 is a plan view showing the configuration of the connecting portion in the extended state.
  • the mobile device 2 according to the present embodiment is different from the mobile device 1 according to the first embodiment in that the connecting portion 16 is provided instead of the connecting portion 14.
  • the connecting portion 16 differs from the connecting portion 14 in that it has an expansion / contraction mechanism for expanding / contracting the distance between two adjacent vehicles 10, whereby the moving device 2 is in the shortened state shown in FIG. 12 and the shortened state shown in FIG. It is possible to switch from the extended state shown in (1) and change the distance between the two vehicles 10.
  • the connecting portion 16 includes a first connecting portion 141', a second connecting portion 142', a yaw drive portion 143 having a rotating shaft 144, a first base portion 160a, and a second.
  • the four telescopic links 171a, 171c, 172a, 172c that flexibly connect the base 160b, the first connecting portion 141'and the first base 160a, and the second connecting portion 142'and the second base 160b are stretchable. It is provided with four telescopic links 171b, 171d, 172b, 172d connected to the above.
  • first connecting portion 141'and the second connecting portion 142' are members corresponding to the first connecting portion 141 and the second connecting portion 142 in the first embodiment, and the yaw drive portion 143 is a member. It is a member similar to the first embodiment.
  • the first connecting portion 141' contains a telescopic drive portion 173a having a rotating shaft 174 and a locking device 18a configured as a linear solenoid having a push bar 181, and the bottom of the first connecting portion 141 has a built-in.
  • a locking device 19 configured as a linear solenoid with a push bar 191 is provided.
  • the first base 160a is connected to the connection portion of the first link portion 13a of one vehicle 10b among the two vehicles 10b adjacent to each other in the straight-ahead direction, and the second base portion 160b is the second link portion of the other vehicle 10b. It is connected to the connection portion in 13b. Further, the first base portion 160a is formed with a locked portion 161a that protrudes toward the other vehicle 10b and has a hole that penetrates in the vertical direction, and the second base portion 160b protrudes toward the one vehicle 10b side. A locked portion 161b having a hole penetrating in the vertical direction is formed.
  • each of the telescopic links 171a, 172c, 172a, and 172c is connected to the first connecting portion 141', and the other end is connected to the first base portion 160a. Further, one end of each of the telescopic links 171b, 171d, 172b, and 172d is connected to the second connecting portion 142', and the other end is connected to the second base portion 160b.
  • the telescopic links 171a, 172a, 171c, 172c, 171b, 172b, 171d, 172d are arranged on one side in the lateral direction, and the telescopic links 171c, 172c, 171d, 172d are , Arranged on the other side in the lateral direction.
  • the telescopic links 171a, 172a, 171b, 172b and the telescopic links 171c, 172c, 171d, 172d pass through the rotation axis B of the rotation axis 144 of the yaw drive unit 143 and are symmetrical planes parallel to the straight direction and the vertical direction. Are constructed symmetrically with each other. Therefore, in the following description, the telescopic links 171a, 172a, 171b, 172b shown in FIGS. 14 and 16 will be described, and the telescopic links 171c, 172c, 171d, and 172d will be omitted.
  • the telescopic link 171a is a member extending in one direction, and one end thereof is made non-rotatable relative to the rotation axis of the telescopic drive unit 173a whose axial direction is directed to the side while rotating around the rotation axis C0a. , The other end is rotatably connected to the first base 160a around the rotation axis C2a parallel to the rotation axis C0a. Further, the telescopic link 171a extends in a direction orthogonal to the extending direction on one end side thereof, and a locked portion 1711 having a hole penetrating in the lateral direction is formed.
  • the telescopic link 172a is a member extending in one direction, and one end thereof is parallel to the rotation axis C0a and is offset to the ground contact surface side in the vertical direction and to the other vehicle 10b side in the straight direction direction.
  • a rotation axis that is rotatably connected to the first connecting portion 141'and whose other ends are parallel to the rotation axis C2a and offset to the ground contact surface side in the vertical direction and to the other vehicle 10b side in the straight direction. It is rotatably connected to the first base 160a around C3a.
  • the telescopic link 171b is a member extending in one direction, and one end thereof is made non-rotatable relative to the rotation axis of the telescopic drive unit 173b whose axial direction is directed to the side while rotating around the rotation axis C0b. , The other end is rotatably connected to the second base 160b around the rotation axis C2b parallel to the rotation axis C0b. Further, the telescopic link 171b extends in a direction orthogonal to the extending direction on one end side thereof, and a locked portion 1711 having a hole penetrating in the lateral direction is formed.
  • the telescopic link 172b is a member extending in one direction, and one end thereof is parallel to the rotation axis C0b and is offset to the ground contact surface side in the vertical direction and to one vehicle 10b side in the straight direction direction.
  • a rotation axis that is rotatably connected to the second connecting portion 142'and whose other end is parallel to the rotation axis C2b and offset to the ground contact surface side in the vertical direction and to one vehicle 10b side in the straight direction. It is rotatably connected to the second base 160b around C3b.
  • the telescopic link 171a and the telescopic link 171b are rotated by the telescopic drive units 173a and 173b to which they are connected, whereby the connecting portion 16 can be switched between the shortened state and the extended state.
  • the postures of the first connecting portion 141', the second connecting portion 142', the first base portion 160a, and the second base portion 160b are maintained by the telescopic link 172a and the telescopic link 172b whose rotation axes are offset. ..
  • the lock device 19 is configured to move the push bar 191 in the vertical direction, and the axis of the push bar 191 is at the same position as the rotation axis B of the rotation axis 144 of the yaw drive unit 143.
  • the locked portion 161a and the locked portion 161b are formed so that the holes formed therein overlap each other so that the push bar 191 of the locking device 19 can be inserted.
  • the push bar 191 of the lock device 19 is moved to the ground plane side, so that the connecting device 16 is maintained in the shortened state.
  • the axis of the push bar 191 and the axis of rotation B are at the same position, it is possible to yaw one of the two vehicles 10b even when the connecting device 16 is maintained in the shortened state. ..
  • the lock devices 18a and 18b are configured to move each push bar 181 in the lateral direction.
  • the push bars 181 of the locking devices 18a and 18b are inserted into the holes formed in the locked portions 1711 of the telescopic links 171a and 171b, respectively.
  • the connecting device 16 is maintained in the extended state.
  • the connecting portion 16 By making the connecting portion 16 switchable between the shortened state and the extended state in this way, the distance between the wheels 12 of the two adjacent vehicles 20 passes through the protruding portion P shown in FIG. 9 in the shortened state. In the extended state, the wheels 12 of the two adjacent vehicles 20 can be separated from each other to improve the degree of freedom of yawing.
  • the mobile device according to the third embodiment will be described.
  • the moving device according to the first embodiment is different from the moving device according to the first embodiment in that it includes lateral wheels that rotate around a rotation axis orthogonal to the rotation axis direction of the wheels.
  • FIG. 18 is a front view showing the configuration of the mobile device according to the third embodiment.
  • FIG. 19 is a plan view showing the configuration of the mobile device according to the third embodiment.
  • FIG. 20 is a side view showing the configuration of the mobile device according to the third embodiment.
  • each of the plurality of vehicles 30 in the moving device 3 includes lateral wheels 31a and lateral wheels 31b, respectively.
  • Both the side wheel 31a and the side wheel 31b are provided in the suction space defined by the partition portion 15, and the side wheel 31a and the side wheel 31b are offset from each other in the straight direction and the side direction. Will be placed.
  • Each of the side wheel 31a and the side wheel 31b includes a frame portion 310 and wheels 311 rotatably provided at the ends of the frame portion 310.
  • the frame portion 310 is a member extending in the vertical direction, and a wheel 311 is provided at one end on the installation surface side thereof, and the other end is fixed to the bottom surface of the main body portion 11.
  • the wheels 311 of the lateral wheels 31a and the lateral wheels 31b can rotate around the rotational axes D1 and D2 orthogonal to the axial direction and the vertical direction of the rotational axis A of the wheels 12. Further, the wheel 311 can be rotationally driven by a drive unit (not shown). Further, the lateral wheels 31a and the lateral wheels 31b are configured to be movable in the vertical direction, and it is possible to switch between a ground contact state in which the wheels 311 touch the ground contact surface and a separated state in which the wheels 311 are separated from the ground contact surface. In the ground contact state, the wheels 12 are separated from the ground contact surface. Therefore, the partition portion 15 may be configured to extend in the direction of the ground contact surface in the ground contact state.
  • the mobile device according to the fourth embodiment will be described.
  • the mobile device according to the present embodiment is different from the mobile device according to the first embodiment in that it includes a contact sensor.
  • FIG. 21 is a plan view showing the configuration of the mobile device according to the fourth embodiment.
  • FIG. 22 is a side view showing the configuration of the mobile device according to the fourth embodiment.
  • each of the plurality of vehicles 40 in the mobile device 4 includes four contact sensors 41a to 41d. All of these four contact sensors 41a to 41d are attached to the rotating shaft 121 of the wheel 12 so as not to rotate integrally with the rotating shaft 121, and are connected to the control unit 99.
  • the contact sensors 41a and 41b are attached to the rotating shaft 121a, and the contact sensors 41c and 41d are attached to the rotating shaft 121b.
  • Each contact sensor 41 has a sensor base 410 extending in the straight direction and one end of which is attached to the rotating shaft 121, and a switch sensor 411 provided at the other end of the sensor base 410.
  • each of the contact sensors 41a and 41c is attached to the rotating shaft 121 so that the switch sensor 411 faces one side in the straight-ahead direction, and each of the contact sensors 41b and 41d has its switch sensor 411 moving straight. It is attached to the rotating shaft 121 so as to face the other side in the direction.
  • the switch sensor 411 is a mechanical switch sensor, and has a switch function in which two contacts are conductive when a predetermined stroke is generated in contact with the wall surface.
  • the length of the sensor base 410 is such that the switch sensor 411 has wheels. It has a length that protrudes from 12 in the outer diameter direction of the wheel 12 by a predetermined distance. As a result, when the wheel 12 comes into contact with a wall surface different from the wall surface that is the ground contact surface, the switch sensor 411 becomes conductive, and the control unit 99 can detect the wall surface that is not the ground contact surface.
  • the control unit 99 attracts the vehicle 10 to the detected wall surface after rotating the main body 11 of the vehicle 10 that has detected the wall surface. It is possible to perform the operation as shown in 6. Further, the control unit 99 retracts the moving device 4 after detecting the wall surface, sequentially separates the moving device 4 from the wall surface serving as the ground contact surface from the leading vehicle 10, and attracts the moving device 4 to the detected wall surface, as shown in FIG. It becomes possible to perform an operation.
  • FIG. 23 is a plan view showing the configuration of the mobile device according to the fifth embodiment.
  • FIG. 24 is a side view showing the configuration of the mobile device according to the fifth embodiment.
  • the connecting portion 51 includes a roll drive portion 510 fixed to the connecting portion of the second link portion 13b of one vehicle 50 (vehicle 50b in FIGS. 23 and 24) so as not to rotate relative to the other vehicle 50 (vehicle 50b in FIG. 23). And a rotating portion 512 which is fixed to the connecting portion of the first link portion 13a in the vehicle 50a) in FIG. 24 so as to be relatively non-rotatable.
  • the roll drive unit 510 has a rotation shaft 511 that rotates around its rotation axis E and whose axial direction faces in a straight-ahead direction, and the rotation shaft 511 is connected to the rotation unit 512 so as to be relatively non-rotatable.
  • the roll drive unit 510 is controlled by a control unit 99 of any of the two vehicles 50 to be connected.
  • the moving device 5 can travel on a wall surface that is gradually inclined.
  • FIG. 25 is a side view showing the configuration of the main body portion in the sixth embodiment.
  • FIG. 26 is a bottom view showing the configuration of the main body in the sixth embodiment.
  • Each vehicle 60 in the moving device 6 includes a partition portion 61 instead of the partition portion 15.
  • the partition portion 61 is similar to the partition portion 15 in that it surrounds the main body portion 11 and the ground plane so as to block all directions orthogonal to the vertical direction to define a suction space, but the suction space
  • the partition portion 15 is different from the partition portion 15 in that the partition defining the above has a plurality of partition elements 611 juxtaposed in the straight-ahead direction and the lateral direction.
  • Each of these partition elements 611 may be flexible, which allows it to easily overcome protrusions such as rivets on the ground plane. Further, by defining the suction space with the plurality of partition elements 611, it is possible to reduce the gap generated when overcoming the convex portion, and thus prevent the increase in air pressure in the suction space.
  • FIG. 27 is a side view showing the configuration of the main body according to the seventh embodiment.
  • FIG. 28 is a bottom view showing the configuration of the main body according to the seventh embodiment.
  • Each vehicle 70 in the mobile device 7 according to the present embodiment includes a partition portion 71 instead of the partition portion 15.
  • the partition portion 71 is similar to the partition portion 15 in that it surrounds the main body portion 11 and the ground plane so as to block all directions orthogonal to the vertical direction to define a suction space, but the suction space
  • the partition portion 15 is different from the partition portion 15 in that the partition for defining the above is composed of the surrounding portion 710 and the fiber portion 711.
  • the surrounding portion 710 surrounds the wheel 12 so as to block all directions orthogonal to the vertical direction to a length that does not reach the ground contact surface when the wheel 12 touches the ground in the vertical direction.
  • the fiber portion 711 is composed of a plurality of fibrous members extending from the contact patch side end portion of the surrounding portion 710 to the ground contact surface side, and these plurality of fibrous members have flexibility and the surrounding portion 710. It is provided so as to fill the gap between the and the ground plane. Further, the plurality of fibrous members constituting the fiber portion 711 are arranged so as to form a plurality of layers in the straight-ahead direction and the lateral direction as shown in FIG. 28. According to such a partition portion 71, it is possible to reduce the gap generated when overcoming the convex portion and, by extension, prevent an increase in air pressure in the adsorption space.
  • FIG. 29 is a side view showing the configuration of the wheel according to the eighth embodiment.
  • the wheel 81 of each vehicle 80 in the moving device 8 includes a plurality of magnetic bodies 811 built in the wheel 81, and covers the outer peripheral portion thereof over the entire circumferential direction. It differs from the wheel 12 in the first embodiment in that it includes the elastic body 812 formed as described above.
  • the plurality of magnetic bodies 811 are arranged at predetermined intervals in the circumferential direction. Further, in each of the one wheel 81a and the other wheel 81b, the arrangement positions of the plurality of magnetic bodies 811 are offset in the circumferential direction.
  • FIG. 30 shows the configuration of the vehicle according to the ninth embodiment.
  • the main body of the vehicle is shown as a cross section cut by a plane parallel to the straight-ahead direction and the lateral direction in order to show the inside thereof, and the control unit is transparent. Is shown.
  • the traveling drive unit 122 is fixedly provided on the first link unit 13a.
  • the traveling drive unit 122a is provided on one extending portion of the first link portion 13a
  • the traveling driving unit 122b is provided on the other extending portion of the first link portion 13a.
  • the traveling drive unit 122 has a rotation shaft 123 whose axial direction is directed to the side direction.
  • the vehicle 78a further includes transmission units 124a and 124b corresponding to the traveling drive units 122a and 122b, respectively.
  • the transmission unit 124 has two gears that mesh with each other, one gear is connected to the rotating shaft 123 of the traveling drive unit 122 so as not to rotate relative to each other, and the other gear is connected to the rotating shaft 121 so as not to rotate relative to each other.
  • the driving force of the traveling drive unit 122 provided on the first link unit 13a is transmitted to the rotating shaft 121 of the wheel 12.
  • FIG. 31 shows the configuration of the vehicle according to the tenth embodiment.
  • the main body of the vehicle is shown as a cross section cut by a plane parallel to the straight-ahead direction and the lateral direction in order to show the inside thereof, and the control unit is transparent. Is shown.
  • the pitch drive unit 131a is fixedly provided on the first link unit 13a.
  • the pitch drive unit 131a is provided on one extending portion of the first link portion 13a.
  • the vehicle 79a includes a transmission unit 134a having two gears that mesh with each other in place of the transmission unit 133a, one gear is non-rotatably connected to the rotation shaft 132a of the pitch drive unit 131a, and the other gear rotates.
  • the shaft 121a is provided so as to be relatively rotatable and is connected to the main body 11 so as not to be relatively rotatable.
  • the first link portion 13a rotates relative to the rotation shaft 121 around the rotation axis A by the driving force of the pitch drive portion 131a provided on the first link portion 13a.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Bridges Or Land Bridges (AREA)
PCT/JP2019/021602 2019-05-30 2019-05-30 移動装置 Ceased WO2020240791A1 (ja)

Priority Applications (6)

Application Number Priority Date Filing Date Title
PCT/JP2019/021602 WO2020240791A1 (ja) 2019-05-30 2019-05-30 移動装置
KR1020217039739A KR102614992B1 (ko) 2019-05-30 2019-05-30 이동 장치
EP19930210.0A EP3936419B1 (en) 2019-05-30 2019-05-30 Movement device
CN201980096056.2A CN113993771B (zh) 2019-05-30 2019-05-30 移动装置
JP2021521704A JP7248789B2 (ja) 2019-05-30 2019-05-30 移動装置
US17/600,688 US12122467B2 (en) 2019-05-30 2019-05-30 Moving device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2019/021602 WO2020240791A1 (ja) 2019-05-30 2019-05-30 移動装置

Publications (1)

Publication Number Publication Date
WO2020240791A1 true WO2020240791A1 (ja) 2020-12-03

Family

ID=73552803

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/021602 Ceased WO2020240791A1 (ja) 2019-05-30 2019-05-30 移動装置

Country Status (6)

Country Link
US (1) US12122467B2 (https=)
EP (1) EP3936419B1 (https=)
JP (1) JP7248789B2 (https=)
KR (1) KR102614992B1 (https=)
CN (1) CN113993771B (https=)
WO (1) WO2020240791A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021011118A (ja) * 2019-07-03 2021-02-04 株式会社アトックス 移動体

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112110391B (zh) * 2019-06-20 2024-11-22 杭州孚亚科技有限公司 一种作业系统
US12072298B2 (en) * 2021-01-19 2024-08-27 Shandong University Wall-climbing robot system and method for rapid nondestructive inspection of hidden defects in culverts and sluices
US20240239426A1 (en) * 2021-04-28 2024-07-18 Bladeranger Ltd. System and method for moving on sloping surfaces
CN117144792A (zh) * 2023-08-31 2023-12-01 中交第二航务工程局有限公司 桥梁裂缝检测机器人及其工作方法

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5832690B2 (ja) 1975-08-06 1983-07-14 セイコ−コウキ カブシキガイシヤ カメラヨウシヤツタノカイヘイソウチ
JPH0117911B2 (https=) * 1983-03-31 1989-04-03 Jgc Corp
JPH04315586A (ja) * 1991-04-10 1992-11-06 Akihiro Fujimura 階段や垂直壁面の走行装置
JP2003062771A (ja) * 2001-08-24 2003-03-05 Hitachi Engineering & Services Co Ltd 点検ロボット装置
JP2005319973A (ja) * 2004-05-01 2005-11-17 Fukashi Uragami 物体表面に沿って移動可能な装置
CN103253314A (zh) * 2013-03-29 2013-08-21 华中科技大学 一种用于检测桥梁裂缝的负压吸附攀爬式机器人
CN103624765A (zh) * 2013-12-23 2014-03-12 哈尔滨工业大学 一种功能可重构的模块化搜救机器人
JP2015505763A (ja) * 2011-12-02 2015-02-26 ヘリカル ロボティクス，リミティド ライアビリティ カンパニー 移動ロボット
CN206218047U (zh) * 2016-08-30 2017-06-06 湖南千智机器人科技发展有限公司 一种负压型爬壁机器人的负压自适应调节装置
CN106945739A (zh) * 2017-02-13 2017-07-14 上海大学 一种具有壁面转换功能的越障爬壁机器人

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08198104A (ja) 1995-01-25 1996-08-06 Hitachi Ltd 管内走行装置
US7520356B2 (en) * 2006-04-07 2009-04-21 Research Foundation Of The City University Of New York Modular wall climbing robot with transition capability
CN102167102B (zh) * 2011-04-08 2013-05-29 上海电机学院 吸盘式气动爬壁机器人
ES2465790B1 (es) * 2012-11-06 2015-03-23 Universidade Da Coruña Sistema robótico para la limpieza de cascos de barcos y otras superficies sumergidas
JP5832690B1 (ja) 2015-08-11 2015-12-16 阪神高速技術株式会社 構造物点検ロボット
CN205034206U (zh) * 2015-10-25 2016-02-17 龚雷锋 一种新型组合式可转角爬壁机器人
CN205906090U (zh) 2016-07-23 2017-01-25 广东技术师范学院 智能转向六轮爬墙车
CN206384065U (zh) * 2016-12-02 2017-08-08 广东省智能制造研究所 一种轮式磁吸附爬壁机器人的转向装置
JPWO2018131329A1 (ja) * 2017-01-13 2019-11-07 パナソニックＩｐマネジメント株式会社 壁面吸着走行装置

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5832690B2 (ja) 1975-08-06 1983-07-14 セイコ−コウキ カブシキガイシヤ カメラヨウシヤツタノカイヘイソウチ
JPH0117911B2 (https=) * 1983-03-31 1989-04-03 Jgc Corp
JPH04315586A (ja) * 1991-04-10 1992-11-06 Akihiro Fujimura 階段や垂直壁面の走行装置
JP2003062771A (ja) * 2001-08-24 2003-03-05 Hitachi Engineering & Services Co Ltd 点検ロボット装置
JP2005319973A (ja) * 2004-05-01 2005-11-17 Fukashi Uragami 物体表面に沿って移動可能な装置
JP2015505763A (ja) * 2011-12-02 2015-02-26 ヘリカル ロボティクス，リミティド ライアビリティ カンパニー 移動ロボット
CN103253314A (zh) * 2013-03-29 2013-08-21 华中科技大学 一种用于检测桥梁裂缝的负压吸附攀爬式机器人
CN103624765A (zh) * 2013-12-23 2014-03-12 哈尔滨工业大学 一种功能可重构的模块化搜救机器人
CN206218047U (zh) * 2016-08-30 2017-06-06 湖南千智机器人科技发展有限公司 一种负压型爬壁机器人的负压自适应调节装置
CN106945739A (zh) * 2017-02-13 2017-07-14 上海大学 一种具有壁面转换功能的越障爬壁机器人

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021011118A (ja) * 2019-07-03 2021-02-04 株式会社アトックス 移動体
JP7288280B2 (ja) 2019-07-03 2023-06-07 株式会社アトックス 移動体

Also Published As

Publication number Publication date
EP3936419A1 (en) 2022-01-12
US20220177060A1 (en) 2022-06-09
CN113993771B (zh) 2023-11-07
KR102614992B1 (ko) 2023-12-19
US12122467B2 (en) 2024-10-22
EP3936419A4 (en) 2022-04-20
EP3936419B1 (en) 2024-12-11
JPWO2020240791A1 (https=) 2020-12-03
KR20220016093A (ko) 2022-02-08
CN113993771A (zh) 2022-01-28
JP7248789B2 (ja) 2023-03-29

Similar Documents

Publication Publication Date Title
WO2020240791A1 (ja) 移動装置
KR101283683B1 (ko) 수직축 방향 가속도계
US9487254B2 (en) Vehicle and method for the independent inspection of hard-to-reach inner spaces
CN101839718B (zh) 三轴角速率传感器
KR20100002764A (ko) 배관 탐사로봇
US20130125642A1 (en) Sensor device for a down hole surveying tool
CN112519920A (zh) 一种新型车辆
EP4251989B1 (en) Assembly and system for passive normalization of a probe
JP6528923B1 (ja) サスペンション操作システム及びサスペンション操作端末
KR20100002781A (ko) 듀얼 배관 탐사로봇
JP2009517707A5 (https=)
KR101461332B1 (ko) 센서용 검출모듈 및 이를 구비하는 각속도 센서
US20180045610A1 (en) Tire tester
JP7280700B2 (ja) 保持装置、制御システム、及び検査システム
JP2009069122A (ja) 走行試験装置の路面直進制御機構及び路面直進制御方法
KR20170081318A (ko) 배관검사장치 및 이를 구비하는 배관검사시스템
KR101282119B1 (ko) 관 탐사 로봇
KR20160017851A (ko) 조합군집로봇
KR101488646B1 (ko) 퀵 커플러 외부 변위 감지장치
US7296486B2 (en) Hydraulic motor drive sensor adapter
CN111251791B (zh) 轮胎降噪装置
US9732900B2 (en) Centering device for determining position of a vehicle
EP4353569A1 (en) Yawing regulation device
US20180362333A1 (en) Microelectromechanical device with at least one translationally guided moveable element
KR101516076B1 (ko) 각속도 센서

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19930210

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2021521704

Country of ref document: JP

Kind code of ref document: A

ENP Entry into the national phase

Ref document number: 2019930210

Country of ref document: EP

Effective date: 20211008

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 20217039739

Country of ref document: KR

Kind code of ref document: A