JPH0891792A - Handling mechanism of wall mobile robot - Google Patents

Abstract

PURPOSE: To prevent an undue force from being applied to a robot during the transportation by rotating a robot supporting frame by a drive mechanism and providing a robot fixing mechanism on a robot supporting frame so as to improve the workability. CONSTITUTION: A fork 9 is fitted closely to the bottom of the close-fit supporting tube 11 of a robot supporting device 10, and fixed with a tightening screw 21. Also the fork 9 is raised and turned so as to reverse the robot supporting device 10 up side down. The fork 9 is lowered to lower the robot supporting device to a robot. Then a fixing band 23 is wound on the outer supporting frame 2 of the robot so as to lock a fixing device 24 oh both ends to a hook 25 attached to the top end of the fixing wire rope 18 of a winch 19. The winch 19 is operated to press the outer supporting frame 2 of the robot onto a damping material 20 installed on a first notch annular frame 15. Thus the robot can be transported easily without exerting undue external force on the robot.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a handling mechanism for a wall surface moving robot.

[0002]

[Prior art]

2. Description of the Related Art For example, as a wall surface moving robot used for ultrasonic flaw detection of a spherical gas holder, there is a wall surface moving robot that uses a vacuum suction cup as a suction means for a wall surface. This wall surface moving robot connects, for example, a pair of support frames to each other so that they can move relative to each other, and each support frame is provided with a telescopic drive leg provided with a vacuum suction cup, and the vacuum suction cups of the telescopic drive legs of either one of the support frames are provided. By this, relative movement of the support frame on the other side is performed in a state of being attached to the wall surface of the building, and by alternately performing this movement, it is possible to move along the wall surface. In this way, the welding bead is moved while sticking to the wall surface of the building, and the flaw detection operation of the welding bead is performed by the flaw detection device installed on the support frame.

When such a robot has a large size, mechanical force is required when the robot is attached to the wall surface or is collected from the wall surface. For this reason, conventionally, general-purpose aerial work vehicles such as crane trucks have been used.

[0004]

Therefore, there are the following problems. The workability is poor because the work is done by a general-purpose work platform. In particular, when the wall surface is a spherical surface, the angle of the wall surface changes depending on the location, so it is necessary to take measures such as limiting the sticking or collecting position. Since no consideration is given to transportation on the ground, excessive external force may be applied when transporting the robot, which is also a cause of failure. Therefore, the present invention aims to solve such a problem.

[0005]

In order to solve the above problems, the present invention provides a full-rotation forklift truck,
The robot support device is provided with a fitting support cylinder for fitting the fork of the truck, and the robot support device stands up one column on one side of the base body provided with the fitting support cylinder. The robot receiving frame is rotatably supported on the
A driving mechanism is installed between the other side of the base body and the robot receiving frame, and the robot receiving frame is rotated by the driving mechanism, and the robot receiving frame is provided with a handling mechanism of a wall-mounting robot that constitutes a robot fixing mechanism. suggest.

The present invention proposes that the drive mechanism is a pantograph type hydraulic jack in the above structure.

Further, the present invention proposes that, in the above-mentioned structure, the robot fixing mechanism is constructed by installing winches at at least three locations along the outer periphery of the robot receiving frame and winding the fixing wires around the winches. To do.

Further, the present invention proposes that, in the above-mentioned structure, the robot fixing mechanism includes a robot receiving frame, a expanding / contracting means, and a wire pulling device including at least three fixing wires connected to both ends thereof. .

[0009]

The robot support device can be supported by fitting the fork of the full-rotation forklift truck into the fitting support cylinder. In this state, by raising and rotating the fork, the robot support device is turned upside down. Supported.

Therefore, after the robot is fixed with the robot fixing mechanism to the robot receiving frame in a state where the driving leg is placed downward, the driving leg side of the robot can be moved upward by performing the above-mentioned upside-down inversion. .

In this state, by rotating the robot receiving frame by the drive mechanism and operating the fork, the posture of the robot can be attached according to the inclination angle of the wall surface.

Since it is a full-rotation forklift, it can be transported freely.

When the robot fixing mechanism is constructed by using a fixing wire, the robot is in a state of being suspended by the wire during transportation, and can be naturally brought to the center position by gravity, so that the robot can be moved to a predetermined position. Easy to fix and no unnecessary external force is applied.

[0014]

Embodiments of the present invention will now be described with reference to the drawings.
1 and 2 conceptually show an example of a wall surface moving robot. First, the wall surface moving robot 1 will be described. Reference numeral 2 is an outer support frame, 3 is an inner support frame, and these have annular frame portions 2a and 3a. And these support frames 2 and 3 are connected so that relative movement is possible. In this case, the relative movement is relative movement in one direction of the support frames 2 and 3 and their relative turning. Reference numeral 4 conceptually shows a drive mechanism for performing these relative movements. Specifically, the drive mechanism 4 is suitably a linear movement mechanism using a ball screw or a turning mechanism using gears, for example. Can be configured to. The support frames 2 and 3 are provided with telescopic drive legs 5 using a cylinder device or the like, and a vacuum suction cup 6 is provided at the tip end side thereof. An ultrasonic flaw detector A is installed on the inner support frame 3.

FIG. 1 shows a telescopic drive leg 5 of both supporting frames 2 and 3.
The vacuum suction cup 6 of the robot is attracted to the wall surface 7 so that the robot 1
When the vacuum suction cup 6 is separated from the wall surface 7 by shortening only the telescopic drive leg 5 of the inner support frame 3 in this state, the robot 1 causes the robot 1 to telescopic drive leg 5 of the outer support frame 2. Is supported on the wall surface 7 only by the vacuum suction cup 6 of
The inner support frame 3 becomes movable. In this state, the inner supporting frame 3 can be moved upward by the driving mechanism 4 to the state shown in FIG.

Thus, the inner support frame 3 is moved by a predetermined distance, the telescopic drive leg 5 of the inner support frame 3 is extended, and the vacuum suction cup 6 is moved.
After abutting against the wall surface 7, the vacuum suction cup 6 is operated and adsorbed, so that the vacuum suction cup 6 of the telescopic drive leg 5 of the inner support frame 3 is also in the support state of the robot 1. In this state,
Next, when only the telescopic drive leg 5 of the inner support frame 2 is shortened and the vacuum suction cup 6 is separated from the wall surface 7, the robot 1 is adsorbed and supported on the wall surface 7 only by the vacuum suction cup 6 of the telescopic drive leg 5 of the inner support frame 3. , The outer support frame 2 becomes movable, and in this state, the drive mechanism 4 moves the outer support frame 2 upward in the figure, and then the telescopic drive leg 5 of the outer support frame 2 is extended to move the vacuum suction cup 6 The state shown in FIG. 1 can be obtained by abutting against the wall surface 7 and performing vacuum suction. By alternately performing the relative movements of the outer support frame 2 and the inner support frame 3 as described above, the robot 1 can be moved along the wall surface 7. In the above embodiments, the suction means is the vacuum suction cup 6, but a magnet can also be used.

FIG. 3 shows a full-rotation forklift truck 8 which is one of the elements of the handling mechanism of the present invention.
The full-rotation forklift truck 8 has a function of rotating the fork 9 by 360 degrees as shown in the figure, in addition to the function of a normal forklift truck.

FIG. 4 shows a robot support device 10 which is another element of the handling mechanism of the present invention. The robot support device 10 is a combination of a pair of fitting support cylinders 11 into which the forks 9 are fitted. The base member 12 is formed by joining members. A pair of support columns 13 are erected on one side of the base body 12, that is, in the fitting support cylinder 11 at a position apart from the end portion on the fitting side of the fork 9, and the robot support frame 14 is formed by these support columns 13. It is rotatably supported. The robot receiving frame 14 has a configuration in which the first and second notched annular frames 15 and 16 are joined with a space therebetween, and the rotation fulcrum is slightly biased. The other side of the base 12 and the second annular frame 16
A pantograph-type hydraulic jack 17 is installed between them. On the other hand, the robot receiving frame 14 has a winch 19 in which fixing wires 18 for supporting the robot are wound at four places in the drawing.
Is installed. That is, in this embodiment, the robot fixing mechanism has the winch 19 as a constituent element. On the other hand, cushioning members 20 are attached to the first cutout annular frame 15 at a plurality of locations. Further, the fitting support cylinder 11 is provided with a tightening screw 21 at an appropriate position.

In the above configuration, the robot support device 1
In the single unit, 0 is placed on the ground with the side of the fitting support cylinder 11 facing downward, and is first supported by the full-rotation forklift truck 8. That is, the full-rotation forklift truck 8 is operated to fit the fork 9 into the fitting support cylinder 11 of the robot support device 10 to the base as shown in FIG. 5, and then the fork 9 is fixed by the tightening screw 21.

Next, after raising the fork 9 to a predetermined height, the fork 9 is turned and the robot supporting device 10 is turned upside down. Full-rotation forklift truck 8 in this state
Is driven to move to the robot 1 mounted on a predetermined mounting table 22 as shown in FIG. As shown in this figure, the robot 1 is mounted on the mounting table 22 with the telescopic drive leg 5 side facing downward, that is, in a natural state.

After the robot supporting device 10 is brought to a predetermined position above the robot 1 as shown in FIG.
The fork 9 is lowered to lower the robot support device 10 to a predetermined position. Next, as shown in detail in FIG. 7, a fixing band 23 is wound around the outer supporting frame 2 of the robot 1 at appropriate positions, and stoppers 24 at both ends are engaged with hooks 25 attached to the ends of the fixing wires 18 of the winches 19. To meet. After performing such an operation for all winches 19,
The robot 1 can be fixed to the robot support device 10 by operating the winch 19 and pressing the appropriate position of the outer support frame 2 against the cushioning material 20 provided in the first cutout annular frame 15. At this time, if the robot support device 10 is slightly lifted, the robot 1 is suspended by the fixed wires 18 at a plurality of places, so that the robot 1 can be naturally brought to a predetermined support center position in the robot support device 10 by its own weight. By winding the fixed wire 18 with the winch 19 in such a state, the robot 1 can be fixed at a predetermined position as shown in FIG.
By operating the full-rotation forklift truck 8 in such a supported state, it is possible to easily carry the robot 1 without applying an excessive external force to the robot 1.

In this way, the robot 1 is carried near the wall surface 26 to be attached, for example, below the spherical gas holder, and then the fork 9 is rotated 180 degrees to turn the robot support device 10 upside down. Can be brought to a posture in which the telescopic drive leg 5 is positioned above the robot support device 10. In this state, the pantograph hydraulic jack 17 is operated while tilting and lifting the fork 9 as necessary. By rotating the robot receiving frame 14 with respect to the base body 12, the robot 1 is placed in a posture corresponding to the inclined wall surface 26 as shown in FIG.
The vacuum suction cup 6 can be pressed against the wall surface 26. Then, the vacuum suction cup 6 is operated to support the weight of the robot 1, and then the winch 19 is operated to move the fixed wire 18
Is loosened and the fixing band 23 is removed to complete the work of attaching the robot 1. Then, the collection work of the robot 1 attached to the wall surface 26 may be performed by reversing the above-described mounting work.

In the above embodiment, the robot 1 is supported by the robot support device 10 by utilizing the tension of the fixed wire 18 wound around the winch 19.
Instead of 9, the expansion / contraction means capable of pulling or loosening the plurality of fixing wires 18 can be used.

That is, FIGS. 10 and 11 show another example of the robot fixing mechanism, and the reference numeral 27 shows the expansion / contraction means.
The expansion / contraction means 27 can simultaneously drive the left and right arms 28a and 28b, which are constituent elements of a pantograph mechanism (not shown), in the direction of an arrow 29 in the figure to expand or contract the distance between the wires 18 on the left and right sides. It is a mechanism that
In this mechanism, two wires 18 are respectively connected to the left and right arms 28a and 28b, and the outer support frame 2 of the robot 1 is connected.
The robot 1 can be fixed to a predetermined position with one touch by the operation of the expansion / contraction means 27 in this mechanism. In addition, in FIGS. 10 and 11, members given the same reference numerals as those in the other drawings are similar members, and the description thereof will be omitted. The robot fixing mechanism can be configured without using the fixing wire.

[0025]

As described above, the present invention has the following effects. The posture of the robot can be easily adjusted according to the angle of the wall surface to which the robot is to be attached. Therefore, the robot can be attached and collected easily without limiting the position. Since the robot can be easily transported and an unnecessary external force can be prevented from being applied during transportation, it is also effective in preventing the robot from being damaged. In the case where the fixing wire is used as the fixing mechanism of the robot, the fixing to the predetermined position can be naturally adjusted by its own weight, and the operation is easy, and also from this point, an unnecessary external force is applied to the robot. It is possible to prevent joining.

[Brief description of drawings]

FIG. 1 is a conceptual diagram showing an example of a wall surface moving robot which is an object of the present invention.

FIG. 2 is directed to the present invention. It is a conceptual diagram which shows an example of a wall surface mobile robot.

FIG. 3 is an external view of an example of a full-rotation forklift truck that is one of the constituent elements of the present invention.

FIG. 4 is an external view of an example of a robot support device that is one of the constituent elements of the present invention.

5 is a side view showing an operation example of the present invention with the configuration of FIG. 3 and FIG. 4. FIG.

FIG. 6 is a side view showing an operation example of the present invention according to the configurations of FIGS. 3 and 4.

FIG. 7 is an explanatory diagram showing a detailed configuration of an example of a robot fixing mechanism.

FIG. 8 is a side view showing an operation example of the present invention according to the configurations of FIGS. 3 and 4.

FIG. 9 is a side view showing an operation example of the present invention with the configuration of FIGS. 3 and 4.

FIG. 10 is an explanatory diagram showing a configuration of a robot support device using a robot fixing mechanism of another example.

FIG. 11 is an explanatory diagram showing a detailed configuration of another example of the robot fixing mechanism.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Wall-mounting robot 2 Outer support frame (annular frame part 2a) 3 Inner support frame (annular frame part 3a) 4 Drive mechanism 5 Telescopic drive leg 6 Vacuum suction cup 7 Wall surface 8 Full-rotation forklift truck 9 Fork 10 Robot support device 11 Fitting Support cylinder 12 Base body 13 Strut 14 Robot receiving frame 15 First notched annular frame 16 Second notched annular frame 17 Pantograph hydraulic jack 18 Fixing wire 19 Winch 20 Buffer material 21 Tightening screw 22 Mounting table 23 For fixing Band 24 Stopper 25 Hook 26 Wall surface 27 Expansion / contraction means 28a, 28b Arm 29 Arrow indicating movement direction

Claims (4)

[Claims] 1. A full-rotation forklift truck and a robot support device provided with a fitting support cylinder for fitting the fork of the truck, wherein the robot support device is one side of a base body provided with the fitting support cylinder. One column is erected on the column, the robot receiving frame is rotatably supported on this column, and a drive mechanism is installed between the other side of the base and the robot receiving frame, and the robot receiving frame is rotated by the drive mechanism. In addition to the above configuration, a robot fixing mechanism is configured on the robot receiving frame, which is a handling mechanism for a wall-mounting robot. 2. The handling mechanism for a wall-mounting robot according to claim 1, wherein the drive mechanism is a pantograph type hydraulic jack. 3. The robot fixing mechanism according to claim 1, wherein winches are installed at at least three locations along an outer circumference of the robot receiving frame, and a fixing wire is wound around the winches. Handling mechanism of wall mobile robot 4. The wall surface according to claim 1, wherein the robot fixing mechanism comprises a robot receiving frame, a expanding / contracting means, and a wire pulling device including at least three fixing wires connected to both ends of the expanding / contracting means. Mobile robot handling mechanism