JPH0583434B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is a cable-like body configured as a cable-like body having an active multi-joint trunk structure, and which is effective as a moving device for a mobile robot used in a nuclear reactor, for example. The present invention relates to active mobility devices.

[Prior Art] Work in extreme environments such as nuclear reactors is generally performed by mobile robots. In robot work under such extreme environments, the performance of a moving device for mounting and moving various devices such as inspection devices plays an important role.

Mobile robots used for work inside nuclear reactors are required to have a high loading capacity to carry manipulators, visual devices, communication devices, computers, batteries, etc. In addition, because there are many narrow passages with steps such as stairs and pipes and right-angled corners inside a nuclear reactor, a small size and high ground adaptability are required. Furthermore, a predetermined moving speed is also required to improve work efficiency.

However, at present, there is no mobile device for a mobile robot that satisfies the above-mentioned specifications, and it is desired that a mobile device that satisfies these specifications be developed as soon as possible.

The present invention has been made to address the above-mentioned circumstances, and an object of the present invention is to provide a cable-like active moving device suitable as a moving device for a mobile robot used in an extreme environment such as a nuclear reactor.

[Means for Solving the Problems] In order to achieve the above object, the present invention connects a plurality of joint structures in series, and connects adjacent joint structures at the connection part in a direction perpendicular to their arrangement plane. Each joint structure is configured to be able to perform translational movement relative to each other and rotational movement relative to each other around an axis along the vertical direction, and each joint structure is configured to generate a propulsive movement at a predetermined position in the vertical axis direction. It was designed to have a propulsion device attached to it.

[Function] In the above configuration, the cord-like body of the multi-jointed trunk structure has active properties due to the translational and rotational movements of the joint structures, adapting the trunk to the moving environment, and at the same time providing a driving propulsion device. You can proceed with

[Embodiment] FIG. 1 is a perspective view showing the external configuration of an embodiment.

The moving device of this embodiment is as shown in FIG.
It is constructed as a cord-like body having a multi-joint trunk structure in which a plurality of joint structures 10 are connected in series. Note that two joint structures 10 are shown in the figure for convenience.

Each joint structure 10 has a cylindrical appearance, for example. Adjacent joint structures 10 can mutually translate in the direction perpendicular to the arrangement plane, that is, in the direction of the central axis (hereinafter referred to as the Z axis) of the cylindrical joint structure 10, at the connecting portion. It's becoming like that. Further, the adjacent joint structures 10 can rotate relative to each other in the yawing angle direction around the Z axis. That is, each joint structure 10 can rotate around the central axis (Z-axis) of the other joint structure 10. Furthermore, each joint structure 1
A propulsion device 20 for generating propulsion motion is attached to the lower surface of the vehicle.

In the above configuration, the cable-like body formed by connecting the joint structures 10 in series becomes active due to the translational movement and rotational movement, and the propulsive movement of the propulsion device 20 is added to this. Then,
You can progress while adapting your trunk to the moving environment.

The basic configuration of this embodiment has been described above, but in order to improve the running performance of the device, this embodiment further includes the following configuration. One of them is
Like the joint structure 10, the propulsion device 20 is capable of yawing movement around the Z axis.
In this way, by enabling the propulsion device 20 to actively move, it is possible to realize a more detailed course change of the trunk. . However, in order to obtain such accurate course change performance, an independent drive device is required to generate the yawing motion of the propulsion device 20. However, in this embodiment, while the mechanism is simplified, a somewhat smooth Similarly, in order to obtain course change performance, the propulsion device 20 is always rotated by an angle that is half the rotation angle of the joint structure 10.

Next, we will introduce other configurations to improve driving performance.
This will be explained using figures. In this figure 2, 30
is a rotation axis for rotating the propulsion device 20 around the Z axis, and is rotatably attached to the joint structure 10. The propulsion device 20 is attached to the lower end of this rotating shaft 30, and can rotate around the Z-axis by rotation of the rotating shaft 30.

The propulsion device 20 is not fixed to such a rotating shaft 30, but is rotated around an axis 60 (see FIG. 2) that is perpendicular to both the Z axis and the propulsion direction (X) of the propulsion device 20. It is rotatably mounted. In this case, the propulsion device 20 is normally controlled in attitude parallel to the arrangement plane by two springs 40 and 50 acting in opposite directions on the propulsion device 20, and if there is an obstacle, the propulsion device 20 It is designed to be able to change its posture according to the shape of the obstacle.

In the above configuration, at the same time a propulsive force is generated by the propulsion motion of the propulsion device 20, the joint structure 10
The direction of movement is determined while adapting the trunk to the moving environment through translational and rotational movements of can do.

As described above, although the moving device of this embodiment has a simple configuration, by the above-mentioned translational movement, rotational movement, and propulsion movement working together, it is possible to move in a narrow space as shown in FIG. It is possible to drive around right-angled corners. Further, as shown in FIG. 4, each joint structure 10 can be floated over obstacles such as pipes arranged on the running surface. Similarly, as shown in FIG. 5, for stairs formed on the running surface, each joint structure 10
It is possible to ascend while levitating the objects one after another.

Furthermore, as shown in FIGS. 6 and 7, by inclining each joint structure 10, movement on a steep slope can be performed. In addition, when crossing a slope as shown in Figure 8, as shown in the same figure,
Stable propulsion can be obtained by shifting adjacent joint structures 10 in the Z-axis direction and taking a propulsion posture in which the trunk is set in a zigzag shape as shown in FIG. Note that FIG. 9 is a view of the trunk seen from below.

By the way, the above-mentioned translational movement, rotational movement, and propulsion movement may be controlled by detecting the structure and dimensions of the obstacle using a sensor, for example, and by taking into consideration the position, running speed, etc. of the object.

Although the outline of this embodiment has been described above, the specific structure of each part will now be described with reference to FIGS. 10 to 16.

FIG. 10 is a perspective view showing an enlarged appearance of one joint structure 10 and a propulsion device 20 attached thereto. The joint structure 10 has a double cylinder structure including an outer cylinder 100 and an inner cylinder 101. The outer cylinder 100 and the inner cylinder 101 are rotatably connected by a bearing. The propulsion device 20 is attached to a rotating shaft 30 rotatably supported on the bottom plate of the outer cylinder 100.

A window 102 is formed around the Z-axis in the outer cylinder 100, and a translation gear 103 and a linear bearing 104 attached to the inner cylinder 101 protrude from the window 102.

Here, the configuration for obtaining translational motion will be explained with reference to FIGS. 11 to 13. FIG. 11 is a diagram of the inside of the joint structure 10 seen from above, and FIG. 12 is a diagram of the inside of the joint structure 10 seen from the side. FIG. 13 is a front view of the joint structure 10.

In FIG. 11, 105 is a motor for obtaining a driving force for translational movement, and is fixed inside the inner cylinder 101. This motor 105 can rotate in both positive and negative directions, and this rotation is transmitted to the rotating shaft 107 of the gear 103 via a flexible coupling body 106. This rotating shaft 107 has a bearing 1
08, and is rotatably supported by the inner cylinder 101. The rotation of the motor 105 is controlled by a belt 109 (first
The rotation amount of the motor 105 is detected by the potentiometer 110.

As shown in FIG. 11, a rack 111 and a bearing track 112 are attached to the outer cylinder 100. The rack 111 is meshed with the gear 103 provided on the adjacent joint structure 10, as shown by the two-dot chain line in FIG. 11, and the bearing raceway 112 is similarly fitted with the linear bearing 104.

In the above configuration, if the motor 105 rotates clockwise ( _X1 direction in FIG. 13), the gear 103
If there is a load on the joint structure 10 on the side that prohibits downward movement, and no load on the joint structure 10 on the rack 111 side that prohibits upward movement, the latter joint structure 10 rises. On the contrary, there is no load on the former joint structure 10,
If there is a load on the latter joint structure 10, the former joint structure 10 will descend. Similarly, when the motor 105 rotates counterclockwise ( _X2 direction in FIG. 13), the former joint structure 10 rises and the latter joint structure rises depending on the degree of load applied to each joint structure 10. The body 10 descends.

Next, a configuration for obtaining rotational motion of the joint structure 10 and the propulsion device 20 will be described with reference to FIG. 14. FIG. 14 is a side view showing the joint structure 10 cut along lines (A-B) and (B-C) shown in FIG. 11. As shown in FIG. 14, the inner cylinder 101 and the outer cylinder 102 are connected to the bearing 11.
3 and 114, they are rotatably coupled to each other. (See FIG. 12 for bearing 114).

A motor 115 rotatable in both positive and negative directions is attached to the inner cylinder 101 to obtain rotational motion. Two gears 117 and 118 are attached to a rotating shaft 116 of this motor 115. One of the gears 117 is meshed with a gear 119 attached to the rotating shaft 30. . Rotating axis 3
0 is rotatably held via a bearing 120 so as to coincide with the central axis of the outer cylinder 100. The amount of rotation of this rotating shaft 30 is determined by the amount of rotation of the belt 12.
1 to the potentiometer 122 attached to the inner cylinder 101. The other gear 1
18 is meshed with a gear 123 attached to the outer cylinder 100 such that its central axis coincides with the outer cylinder 100.

In the above configuration, the rotation of the motor 115 is transmitted to the rotating shaft 30 via the gears 117 and 119, and drives the rotating shaft 30 to rotate. As a result, propulsion machine 2
0 rotates around the Z axis. At the same time, the rotation of the motor 115 is transmitted to the outer cylinder 100 via the gears 118 and 123, driving the outer cylinder 100 to rotate. As a result, the outer cylinder 100 rotates around the Z-axis. In this case, the gear ratio of the gear 117 to the gear 119 is set to one half of the gear ratio of the gear 118 to the gear 123, and the propulsion device 20 is set to one half of the rotation angle of the outer cylinder 100. It is designed to rotate by an angle.

Furthermore, due to the rotation of the outer cylinder 100, the two adjacent joint structures 10 rotate relative to each other around the Z-axis. This will be explained using FIG. 15. FIG. 15 shows two adjacent joint structures 10, viewed from above, separated into 10a and 10b, respectively. Now, the joint structure 10a, 1
It is assumed that the relationship 0b is such that the bearing track 112 attached to the outer tube 100 of the joint structure 10a meshes with the linear bearing 104 attached to the inner tube 101 of the joint structure 10b.

In such a relationship, now the joint structure 10
If a load that restricts the movement to the left and right is applied to b, the joint structure 10a can rotate around the central axis (Zb axis) of the joint structure 10b due to the rotation of its outer cylinder 100. On the contrary, joint structure 1
If the above-described load is applied to Oa, the rotation of the outer cylinder 100 of the joint structure 10a causes the joint structure 10b to rotate about the Za axis.

By the way, the purpose of giving the joint structure 10 a rotation function is to make the subsequent joint structure 10 follow the course of the previous joint structure 10, so the joint structure 10 located at the head of the whole is particularly There is no need to have a rotation function. FIG. 16 shows a joint structure in which this rotation function is omitted.

As shown in FIG. 16, the leading joint structure 10
consists of one cylinder 124. In this cylinder 124,
A motor 125 that can rotate in both positive and negative directions is attached, and the rotating shaft 30 is attached to a bearing 126.
It is attached via. This rotating shaft 30
A gear 127 is attached to the gear 127.
is the gear 1 attached to the rotating shaft of the motor 125
It is meshed with 28. As a result, the rotating shaft 30
is rotationally driven by the motor 125, and rotates the propulsion device 20 attached to its lower end.

As detailed above, the mobile device of this embodiment is
Since it is constructed as a cable-like body with an active trunk structure, even if there are steps or narrow right-angled corners in the running path, it can move while adapting its trunk to these. Especially when bending at a right-angled corner, if the bending and forward movement of the trunk are controlled in good synchronization, it is theoretically possible to pass through a passage approximately the same width as the diameter of the joint structure 10. .

In addition, since the inside of each joint structure 10 is almost hollow, it is possible to secure sufficient storage space for inspection equipment, etc., and by increasing the number of joints, the load capacity can be increased.

Furthermore, since propulsion by crawlers or the like is possible, a sufficient moving speed can be ensured.

Further, since each joint structure 10 has a simple configuration, it is robust, highly reliable, and easy to maintain.

Further, by loading devices with different functions on each joint structure 10, tasks can be performed in parallel and simultaneously, and functions can be easily added by connecting the joint structures 10.

Note that the present invention is not limited to the above-mentioned embodiments, and various other modifications can be made without departing from the gist of the invention.

For example, regarding the Z drive mechanism, by using a ball screw instead of a rack or gears, the arrangement of the central motor 105 can be changed, the space inside the joint structure can be expanded, and the loading performance can be improved.

Also, in the device of the previous embodiment, the eighth
It is possible to cross a slope by assuming the propulsion posture as explained in FIG. 9 and FIG. 9, or by meandering. ) By adding a rotation control function around the axis ),
It is also possible to cross a slope by running in a straight line in a different posture from that shown in FIGS. 8 and 9.

[Effects of the Invention] According to the present invention, for example, when a working robot is assumed to be used in a nuclear reactor, a cable-like active robot that can exhibit sufficient performance in terms of loading capacity, ground adaptability, and high speed. A mold moving device can be provided.

[Brief explanation of the drawing]

Fig. 1 is a perspective view showing the structure of an embodiment of the present invention, Fig. 2 is a side view showing the structure of a part of the embodiment, and Figs. 3 to 9 explain the running ability of the embodiment. FIG. 10 is a perspective view showing an example of a specific configuration of a part of one embodiment, FIG. 11 is a plan view of the interior of an example of the specific configuration, and FIG. 12 is a side view of the interior. , FIG. 13 is a front view of the outside, FIG. 14 is a side view of the inside, FIG. 15 is a diagram for explaining rotational movement, and FIG. 16 is a side view of the inside of an example of a specific configuration. . 10... Joint structure, 20... Propulsion machine.

Claims (1)

[Scope of Claims] 1. A plurality of joint structures are arranged in series to form a multi-joint trunk structure, and the connection structure of the plurality of joint structures is such that adjacent joint structures are aligned in the arrangement plane. The joint structure is connected by a linear bearing mechanism so as to be able to slide and translate relative to each other in orthogonal vertical directions, and the joint structure rotates the linear bearing mechanism in a direction around the axis so as to be able to rotate around the axis in the vertical direction. A cable-like active locomotion device, characterized in that the cable-like active locomotion device is attached so as to be rotatable, and further includes a propulsion device attached to each of the joint structures to generate a propulsion motion on the side of the arrangement surface.