JPH01257582A - Environmental measuring robot - Google Patents

Abstract

PURPOSE:To stably perform environmental measurement for distribution of cleanliness in a clean room or environmental measurement for temperature ii a large space such as an air dome or the like extending over a wide range in the direction of height by connecting frames where three or more rods and upper and lower support plates are framed in multistage in such a manner as to freely slide to form a tower device. CONSTITUTION:A screw shaft 14 is rotated normally or reversely by a motor to propel the second stage frame 82 first, and the frame is raised or lowered along a guide rod 111 of the first stage (lowermost stage) frame 81. With the above raising or lowering movement, the third stage frame 83 is pulled up or hung down with respect to the first stage frame 81 through a pulley and a timing belt 203 suppored on the second stage frame, and simultaneously raised or lowered with respect to the second stage frame 82. Thus, the whole of a tower device 4 is expanded and contracted vertically to adjust the height of an environmental measurement sensor 23 supported on the fourth-stage (uppermost stage) frame 84.

Description

Detailed Description of the Invention "Field of Industrial Application" The present invention is directed to cleanliness distribution, airflow distribution,
Environmental measurements such as temperature distribution, theaters, halls, gymnasiums, etc.
This invention relates to a robot used to measure the environment such as temperature, humidity, and airflow in a large tonneau space such as an atrium or an air dome, and in particular to an environmental measurement robot equipped with a lifting mechanism on a self-propelled cart.

"Prior art" Conventional robots of this type have a lifting mechanism as disclosed in, for example, Japanese Patent Laid-Open No. 60-159305 and Japanese Patent Application Laid-open No. 60-21072.
Antenna type like the one published in Publication No. 0,
For example, there are multi-joint arm type devices such as the one described in Japanese Utility Model Application Publication No. 159305/1983, and telescope type devices with a plurality of telescoping arms.

"Problem that the invention attempts to solve" However, these methods had the following problems.

■ The maximum lifting height (maximum extension height) of the lifting mechanism is about 3 m at most, and the measurement range in the height direction is narrow (and the environment cannot be measured in a large space).

■ In the case of the multi-joint arm type, not only is the structure mechanically complex, but the sensor positioning control is also complex and expensive.

■ Since the lifting mechanism is integrated with the self-propelled trolley, it is inconvenient to transport to the site and it takes time to assemble even if disassembled.

(2) Since the elevating mechanism exerts a swinging force, especially when measuring airflow distribution, the w-time mechanism and the sensor support arm supported by it disturb the airflow around the sensor, making it impossible to perform accurate measurements.

The present invention aims to eliminate such problems.

1-Means for Solving the Problems” The environmental measurement robot according to the present invention includes a tower device and a motor for driving the tower device mounted on a self-propelled cart. The tower device consists of upper and lower support plates, each consisting of at least three vertical guide rods and upper and lower support plates. ! It consists of several tiers of frames. These frames can be vertically expanded and contracted as a whole by slidably fitting the fitting portions of each support plate and the guide rod, and the lowermost frame is fixed on the self-propelled cart. The second stage frame body is directly raised and lowered by the rotation of the screw shaft by screwing the screw receiving part provided on the lower support plate to a vertical screw shaft rotated by the motor mentioned in -F. do. In addition, for the frames of the third stage and above, one end is fixed to the support plate on the lower side of the frame, and the end is fixed to the support plate on the upper side of the frame one stage below, via a pulley that is pivotally supported. The structure is such that the other end is moved up and down sequentially in conjunction with the second stage frame by means of a timing belt or the like fixed to the upper support plate of the frame two stages below. An environment measurement sensor is supported on at least one of the frames.

A height detection means for detecting the expansion/contraction height of the tower device from the rotation amount of the screw shaft, and a digital display for digitally displaying the detected height, on the self-propelled cart;
It can be equipped with a television camera that images the display screen and the surroundings of the self-propelled cart.

"Function" In the above configuration, when the screw shaft is rotated forward or reverse by the motor, the second stage frame is first propelled, and the guide rod of the first stage (lowest stage) frame is moved. rise or fall along.

When the second-stage frame body rises or descends, the pulley that is pivotally supported on it rises or descends together with it, so that the timing belt, etc. passing through the pulley moves the third-stage frame body into the third stage frame body. The frame will be lifted up or lowered from the first stage frame, and the third stage frame will simultaneously lift up or lower the second stage frame.
It rises or falls relative to the frame of the tier. Thereafter, in the same manner, the upper frame is simultaneously raised or lowered relative to the frame one below it, and the entire tower device expands and contracts up and down.

Along with this, the height of the environmental measurement sensor is adjusted.

The height of expansion and contraction of the tower device can be detected from the amount of rotation of the screw shaft, displayed digitally on a self-propelled trolley, and then viewed with a television camera along with the surrounding situation, allowing the height to be monitored on the monitor television screen. It can be controlled remotely.

"Example" Hereinafter, an example of the present invention will be described in detail based on the drawings.

FIG. 1 is a schematic perspective view of the entire environment measuring robot according to the present invention. In the figure, the self-propelled trolley 1 is equipped with rear left and right wheels 3 on the lower surface iii of its housing 2, and the rotation and operation of these wheels 3 are controlled by a running and steering device (not shown) installed in the housing 2. It runs on its own. This self-propelled trolley
includes a tower device 4 and a tower drive device 5 that drives it.
(Fig. 5), a television camera 6, and various communication/control equipment shown in the brochure diagram of Fig. 6 are installed.

The tower device f4 is a self-propelled trolley l as shown in FIGS.
It is a unit independent from the bottom plate 2 of the housing 2. It is vertically mounted on the flat gear box 7 fixed on the housing 2, and largely protrudes from the opening L1 on the upper surface of the housing 2. In the illustrated example, the tower device 4 has a four-stage frame 8+.

8□, 8. ．． 8. It consists of Each of these frames is constructed by connecting upper F support plates 9.10 with three equally spaced pipe-shaped guide rods ll, but the size (the spacing between the three guide rods 11) ) are different from each other, with the upper row becoming progressively smaller than the lower row. In addition, for convenience of explanation, the frames 8. ．． 8
．． ,L,8. When collectively referring to the upper and lower support plates and guide rods, the common reference numeral 9,
10°11, and each frame is designated by a separate reference numeral 9. as shown in the drawing. ．． 9□, 9. , 9. ．． 10. ．． 1
0□, 103.

10, , IL, 11! , 1iff , 11. Let us express it as

First stage frame 8. The lower support plate 101 is fixed on the gear box 7, and only this frame 8° does not move up and down, allowing the frame 8□ of the second and higher stages to move up and down.

8s, 8= is supported. First stage frame 8. Lower support plate 10. Because it is fixed in this way, it is rectangular, but all other support plates are triangular. The upper support plate 9 of the first stage, second stage, and third stage of the triangular support plates
．． ．． 9□, 9. And support play number 0 on the lower side of the second stage frame 8□! Sleeves 12, which serve as fitting portions, are penetrated and fixed at three locations, respectively. Also, support plays on the upper side of the first and second stages) 9. ．． On top of 9□, there is an auxiliary plate 131 fixed through the same sleeve 12 at six places,
13□ is fixed.

Then, the second stage frame 8. is the guide rod 11□
The first stage frame 8. and the auxiliary plate 131d sleeve 12, and the sleeve 1 of the lower support plate 10□
2 are slidably fitted to the guide rods F 11 and F 11 , respectively, thereby being mounted on the first stage frame 81 so as to be slidable up and down. Also, the third stage frame 8. connects its guide rod Its to the upper support plate 9 of the second stage.
□ sleeve 12 and auxiliary plate 13. sleeve 1
2, the second stage frame 8. It is mounted so that it can slide up and down. Furthermore, the fourth stage frame 8
4 connects its guide loft 114 to the upper support plate 9 of the third stage, the sleeve 12 of the auxiliary plate 13. By fitting into the third stage frame 8. It is mounted so that it can slide up and down. Note that the upper support plate 9 of the first stage. As shown in FIG. 4, notches 9a and 13a are formed in the center of the auxiliary play (and auxiliary play) 131 to allow the fourth stage guide rod 11 to pass therethrough.

A screw shaft 14 is vertically supported on the gear box 7. This screw shaft 14
(10) protrudes directly onto the lower support plate 101 of the first stage, and is attached to the lower support plate 101 of the second stage. The central screw receiving part, that is, the cylindrical screw receiving part 15 fixed to the center thereof, is screwed and penetrated, and further the lower support plates 10s of the third and fourth stages, and the cutout openings 10a of '104.
directly through the upper support plate 9I of the first stage.
It extends to the notch 9a. As shown in FIG. 5, the lower end of this screw thread 4 is connected to a motor shaft 8 of a tower drive motor 17 (FIG. 6) that can be rotated in forward and reverse directions via a belt or chain 16 in a gear box 7. and rotate forward or reverse. When this rotates in the normal direction, the frame 8□ of the second stage is propelled upward and rises along the guide rod 11+ of the first stage, and when it rotates in the reverse direction, it descends.

In conjunction with the lifting and lowering of the frame 8□ of the second stage, the frames 8□ and 84 of the third and fourth stages are also raised and lowered at the same time, so the following interlocking Ia width is established between the frames. It is installed.

The middle of each of the three sides of the upper support plate 9□ of the second stage and the upper support plate 9 of the third stage. A recess is provided at the center of each of the three sides, and a pulley 19 is rotatably supported at each of the four recesses. Then, the third stage frame 8. As for the lower support plate 10. but,
It is connected to the upper support plate 9I of the first stage through three timing belts 20° passing through pulleys 19 on three sides of the second stage. These timing helds 20.
Both ends of the 03 +
It is fixed to 91. In addition, regarding the frame 8° of the fourth stage, the support plate 104 on the lower side is connected to the second stage via three timing belts 204 passing through the pulleys 19 on three sides of the third stage. It is connected to the upper support plate 9□. These timing belts 20. Support play 1-10 using mooring devices at both ends. ．． It is fixed to 9□.

Therefore, when the frame body 8□ of the second stage rises as described above, the Boo January 9 on its two sides also rises, but,
One end of the three timing belts 203 is the first that does not move.
Because it is fixed to the support plate 91 on the upper side of the tier,
The lower support plate 10s of the third stage has three timing healds 20. and the third stage frame 8ff is pulled up along the sleeve 12 to the second stage frame 8ff.
Climb twice as far as □. When the frame body 83 of the third stage rises in this way, the three sides of the frame IJ19 are 24? higher than the upper support plate 9z of the second stage. Due to the distance S rising, the lower support plate lO4 of the fourth stage Ll is 3
It is pulled up by the timing heald 204 of the book, and the fourth stage frame 84 rises twice as far as the third stage frame 83 along the sleeve 12. In this way, as the frame 8□ of the second stage rises, the frame 83 of the third stage and the frame 84 of the fourth stage move together and simultaneously rise, doubling the distance. [? 44 expands as shown in FIGS. 3 and 4 from the contracted state shown in FIG. 2, and the height of the uppermost support plate 94 is proportional to the amount of rotation (normal rotation) of the screw shirt eye 4. It gets expensive.

On the other hand, when the second stage frame body 82 descends, the third stage frame body 83 and the fourth stage frame body 8. is interlocked and lowered, the entire tower device 4 contracts, and the height of the uppermost support plate 94 decreases in proportion to the rotation (reverse rotation) I of the screw shaft 14.

Therefore, as shown in FIG. 1, for example, a horizontal sensor support arm 21 is removably installed on the uppermost support plate 94 using an appropriate fixture 22, and an environmental measurement sensor 23 is attached to this arm 21. If you leave sensor 23
The height can be adjusted arbitrarily.

In FIG. 5, the rotation of the screw shirt eye 4 is transmitted to a rotary encoder 32 rotating around a shaft 31 via a plurality of large and small gears 24 to 31, and the amount of rotation is detected as a corresponding number of pulses. . Then, this number of pulses is added or subtracted according to forward or reverse rotation by the height display CPU 33 shown in FIG. digitally displayed as ). This digital display 34 is attached to the housing 2 at a position within the field of view of the television camera 6, as shown in FIG. 71, and its display is photographed together with the surrounding scene of the mobile cart 1.

Inside the housing 2, there is further a control receiver (i) shown in FIG.
i35, sequence controller 36, television transmitter and booster 37, traveling motor 38 that drives left and right wheels 3 separately, TL sources 39 and 40, self-propelled trolley 1
A positioning sensor 41 and the like for positioning are mounted.

The environment measuring robot configured in this way is used, for example, in a clean room, and is wirelessly and remotely controlled by a transmitting/receiving controller 42 outside the clean room. The display on the digital display 34 is displayed at the top of the screen of a monitor television built into the transmitting/receiving controller 42.

Note that it is convenient to prepare several types of sensor support arms 21 that support the environmental measurement sensor 23 depending on the type of the sensor 23, etc., and use them depending on the sensor to be used, the object to be measured, etc. The sensor support arm 21a shown in FIG. 7 is L-shaped so that it can support the sensor at a lower position than the sensor support arm 21 shown in FIG. Furthermore, if a planar grid-shaped arm is used and a large number of sensors are supported on this arm, simultaneous observation of multiple points can be achieved.

In addition, although the tower device 4 described above has four stages of frames, the number of stages may be arbitrary, and the number of guide rods 11 of each frame can be set to 4 or more, and the shape of the support plates 9 and 10 can be changed. It may be made into a polygon according to its nature.

Furthermore, the sensor support arm 21 does not necessarily have to be attached to the uppermost support plate;
It may also be attached to other support arms that move up and down. Also, regarding the timing belt 203°204,
If you use it, you can perform a highly accurate ascending system 1111, but you can also use a part of it using a normal heald or wire.

"Effects of the Invention" The environmental measuring robot of the present invention has the following effects.

■ The tower device is constructed by slidingly connecting a frame consisting of three or more guide rods and upper and lower support plates in multiple stages, and is stable even when extended to a high place (even about 10 m). Because of this structure, measurements can be made over a wide range in the height direction. Therefore, IX
It can also be used to measure the environment such as temperature, humidity, and airflow in large spaces such as stadiums, halls, gymnasium 2 atriums, and air domes.

■ The tower device expands and contracts vertically by raising and lowering the frame sequentially using screw shafts and timing healds, and has a stable structure as described above, so it has high positioning accuracy and does not disturb the airflow. Highly accurate measurements can be performed.

■ The tower device is unitized and can be separated from the self-propelled trolley, making it convenient to transport and handle, as well as easy to manufacture and maintain.

■ Because the tower device has a simple structure, it can be provided at a lower cost than conventional multi-jointed arm devices. ■ The height of expansion and contraction of the tower device is detected from the amount of rotation of the screw shaft and digitally displayed on the self-propelled trolley. If you use a television camera to photograph it along with the surrounding conditions, you can remotely control the height while also monitoring the height on a television monitor screen.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention, in which Fig. 1 is a schematic perspective view of the entire environmental measurement robot, Fig. 2 is a partially cutaway front view thereof,
3 and 4 are perspective views and sectional views of the tower device, FIG. 5 is a simplified plan view of a device for rotating the scree shaft of the tower device and a device for detecting its rotation speed, and FIG. 6 is an electrical system. FIG. 7 is a side view of another example of the sensor support arm. 1... Self-propelled trolley, 4... Tower device,
6...Television camera, 81-8. ...
... Frame body, 9I-94 ... Upper support plate, 10. ~104...Lower support plate,
11+~11. ...Guide rod, 12...
...Sleeve (fitting part), 14...Screw shaft, 15...Screw receiver (screw receiver),
17... Tower drive motor, 19...
・Pulley, 203, 204...Timing belt, 32...Lower encoder, 33...
...CPU for height display, 34...Digital display. sweat figure 5 offing figure 7

Claims (1)

[Claims] 1. A tower device and a motor for driving the tower device are mounted on a self-propelled cart, and the tower device has a plurality of upper and lower parts each having at least three vertical guide rods and upper and lower support plates. Consisting of tiered frame bodies, these frames can be vertically expanded and contracted as a whole by slidably fitting the fitting portions of each support plate and the guide rod, and the lowermost frame is fixed on the self-propelled cart, and the second stage frame is configured to screw the screw receiver provided on the lower support plate onto the vertical screw shaft rotated by the motor. It is directly raised and lowered by the rotation of the shaft, and for frames of the third and higher stages, one end is fixed to the support plate on the lower side of the frame, and from there one
The other end is connected to the second stage frame by a timing belt etc. fixed to the upper support plate of the two stage lower frame via a pulley that is pivotally supported on the upper support plate of the lower frame. An environmental measuring robot characterized by having a structure that moves up and down sequentially in conjunction with each other, and having an environmental measuring sensor supported on at least one frame of the robot. 2. On the self-propelled cart, a height detection means for detecting the expansion/contraction height of the tower device from the amount of rotation of the screw shaft, a digital display for digitally displaying the detected height, and a display surface thereof and 2. The environment measuring robot according to claim 1, further comprising a television camera for photographing the surroundings of the running trolley.