JP2909295B2 - Self-propelled robot for liquid inspection - Google Patents
Self-propelled robot for liquid inspectionInfo
- Publication number
- JP2909295B2 JP2909295B2 JP6115192A JP6115192A JP2909295B2 JP 2909295 B2 JP2909295 B2 JP 2909295B2 JP 6115192 A JP6115192 A JP 6115192A JP 6115192 A JP6115192 A JP 6115192A JP 2909295 B2 JP2909295 B2 JP 2909295B2
- Authority
- JP
- Japan
- Prior art keywords
- floating body
- spherical
- camera
- spherical floating
- annular
- 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.)
- Expired - Fee Related
Links
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- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は液中点検用自航ロボット
に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled robot for underwater inspection.
【０００２】[0002]
【従来の技術】例えば、プラント設備の液中機器の点検
に使用される液中点検用自航ロボットとしては、従来、
図３側面図に示すように、水平カプセル状の中性浮力体
０１の前後端上下にそれぞれ左右方向向きの可逆転推進
器０２を設けるとともに、央部上下にそれぞれ前後方向
向きの可逆転推進器０３を設け、合計６基の推進器０
２，０３で全方位へ自航可能とするものが知られてい
る。ここで、０４は外部からロボットへの電力及び制御
信号供給用の電送ケーブルである。2. Description of the Related Art For example, as a self-propelled robot for submerged inspection used for inspection of submerged equipment of plant equipment, conventionally,
As shown in the side view of FIG. 3, reversible propulsion devices 02 are provided at the front and rear ends of a horizontal capsule-shaped neutral buoyant body 01 at the front and rear ends, respectively, and reversible propulsion devices at front and rear directions are respectively provided at the upper and lower ends. 03, a total of six propulsion units 0
It is known that the vehicle can travel in all directions at 2,03. Here, reference numeral 04 denotes a transmission cable for supplying power and control signals from the outside to the robot.
【０００３】しかしながら、このようなロボットでは、
下記のような欠点がある。 (1) 浮力体０１の前後軸に関する対称形状と左右軸に関
する対称形状とが異なるので、６基の推進器０２，０３
を必要としており、従って装置費が嵩み、不経済であ
る。 (2) 上記６基の推進器０２，０３が配設された浮力体０
１の平衡を保つ必要があるので、浮力体０１の形状が大
型化し、従って装置費が嵩み、不経済である。However, in such a robot,
It has the following disadvantages. (1) Since the symmetrical shape of the buoyant body 01 with respect to the front and rear axes and the symmetrical shape with respect to the left and right axes are different, the six propulsors 02 and 03 are provided.
Therefore, the equipment cost is high and uneconomical. (2) The buoyancy body 0 on which the above-mentioned six propulsion units 02 and 03 are disposed
Since it is necessary to keep the balance of 1, the shape of the buoyant body 01 is increased in size, so that the equipment cost is increased and uneconomical.
【０００４】[0004]
【発明が解決しようとする課題】本発明は、このような
事情に鑑みて提案されたもので、推進器の数が少なく、
かつ浮力体が平衡し易く、従って形状が小型で経済性及
び操縦性に優れた液中点検用自航ロボットを提供するこ
とを目的とする。SUMMARY OF THE INVENTION The present invention has been proposed in view of such circumstances, and has a small number of propulsion units.
Further, it is an object of the present invention to provide a self-propelled robot for submerged inspection, in which a buoyant body is easily balanced, and thus has a small shape, and is excellent in economy and maneuverability.
【０００５】[0005]
【課題を解決するための手段】そのために、本発明は液
中に浸漬され中性浮力を有する水平環状浮体の円状中心
線に等間隔でそれぞれ液密に貫設形成された前後左右の
竪円筒状ケーシングと、上記各ケーシングにそれぞれ同
軸的に配設された可逆転推進器と、上記環状浮体の中心
孔の中心に同心的に緩く挿入され左右端でそれぞれ耳軸
を介して上記環状浮体の中心孔に回動自在に軸支された
球状浮体と、上記球状浮体の前端部に付設されたＴＶカ
メラ及び照明灯と、上記球状浮体の下端に付設された平
衡用重錘と、上記各推進器，上記ＴＶカメラ，上記照明
灯に電力及び信号を送る浮力性ケーブルとを具えたこと
を特徴とする。For this purpose, the present invention relates to a horizontal annular floating body which is immersed in a liquid and has a neutral buoyancy. A cylindrical casing, a reversible thruster disposed coaxially with each of the casings, and the annular floating body concentrically and loosely inserted into the center of the center hole of the annular floating body via ear shafts at the left and right ends, respectively. A spherical floating body rotatably supported by a center hole of the spherical floating body, a TV camera and an illumination lamp attached to a front end of the spherical floating body, an equilibrium weight attached to a lower end of the spherical floating body, The vehicle further comprises a propulsion device, the TV camera, and a buoyant cable for transmitting power and a signal to the lighting.
【０００６】[0006]
【作用】このような構成によれば、液中に浸漬され中性
浮力を有する水平環状浮体の円状中心線に等間隔でそれ
ぞれ液密に貫設形成された前後左右の竪円筒状ケーシン
グと、上記各ケーシングにそれぞれ同軸的に配設された
可逆転推進器と、上記環状浮体の中心孔の中心に同心的
に緩く挿入され左右端でそれぞれ耳軸を介して上記環状
浮体の中心孔に回動自在に軸支された球状浮体と、上記
球状浮体の前端部に付設されたＴＶカメラ及び照明灯
と、上記球状浮体の下端に付設された平衡用重錘と、上
記各推進器，上記ＴＶカメラ，上記照明灯に電力及び信
号を送る浮力性ケーブルとを設けているので、下記の作
用が行われる。 (1) 推進機構の数が４基に減少するとともに、浮体の形
状を全方位に対称とすることが可能となり、浮力が小型
になるとともに平衡し易くなる。 (2) 球状浮体が垂下状態を保つことが可能となるととも
に、環状浮体を球状浮体の周りに回動することができ
る。 (3) 球状浮体から中空耳軸を経て各推進機構へケーブル
を導設することができ、外部と装置との間のケーブル数
の減少が可能となる。According to the above construction, the front, rear, left and right vertical cylindrical casings formed in liquid-tight manner at equal intervals on the circular center line of a horizontal annular floating body immersed in liquid and having neutral buoyancy are provided. A reversible thruster disposed coaxially in each of the casings, and loosely inserted concentrically into the center of the center hole of the annular floating body through the ear shafts at the left and right ends respectively in the center hole of the annular floating body. A spherical floating body rotatably supported, a TV camera and an illumination light attached to a front end of the spherical floating body, a balancing weight attached to a lower end of the spherical floating body, Since the TV camera and the buoyant cable for transmitting electric power and signals to the illumination lamp are provided, the following operation is performed. (1) The number of propulsion mechanisms is reduced to four, and the shape of the floating body can be made symmetrical in all directions, so that the buoyancy becomes small and the balance becomes easy. (2) The spherical floating body can maintain the hanging state, and the annular floating body can be rotated around the spherical floating body. (3) Cables can be guided from the spherical floating body to each propulsion mechanism via the hollow ear shaft, and the number of cables between the outside and the device can be reduced.
【０００７】[0007]
【実施例】本発明の一実施例を図面について説明する
と、図１縦断面図及び図２平面図において、１はトーラ
ス状の中性浮力を有する環状浮体２の円状中心線３の前
後左右の４等分位置４を中心にそれぞれ環状浮体２に中
心面に直交する適宜直径でそれぞれ液密に貫設された４
個の短円筒状ケーシングで、これと環状浮体２とが構成
する水密区画５内にはそれぞれ環状電動機固定子６が配
設されている。７は円筒状ケーシング１の内側にそれぞ
れベアリング８を介して同軸的に回転可能に内挿された
竪円筒状電動機回転子で、この内側には同軸的に竪軸推
進器９が配設されている。９ａ，９ｂ，９ｃ，９ｄは、
それぞれ円筒状ケーシング１，水密区画５〜推進器９が
協働して形成する推進機構である。１０は環状浮体２の
内側で左右方向の直径の両端位置にある１対の円筒状ケ
ーシング１，１を結ぶ方向に突設された１対の中空耳軸
１１，１１を介して枢着された球状浮体、１２は球状浮
体１０の底部に取付けられた平衡用重錘である。１３は
球状浮体１０の央部側面に取付けられた点検用ＴＶカメ
ラ、１４はＴＶカメラ１３を挟んで球状浮体１０の上
部，下部側面にそれぞれ取付けられた照明灯、１５は球
状浮体１０の下部と装置外とを接続する浮力性ケーブル
で、この中には固定子用ケーブル１６，カメラ用ケーブ
ル１７及び照明灯用ケーブル１８が挿通し、ケーブル１
６の先端部は中空耳軸１１を挿通して各電動機固定子６
に接続している。DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described with reference to the drawings. In FIG. 1 is a longitudinal sectional view and FIG. 2 is a plan view, where 1 is a torus-like annular floating body 2 having a neutral buoyancy. The liquid floating members 4 each having an appropriate diameter orthogonal to the center plane are respectively provided in the annular floating body 2 around the four equally divided positions 4 of the four.
In each of the short cylindrical casings, an annular motor stator 6 is disposed in a watertight section 5 formed by the annular floating body 2 and the casing. Reference numeral 7 denotes a vertical cylindrical motor rotor rotatably inserted coaxially through a bearing 8 inside the cylindrical casing 1, and a vertical shaft propulsion device 9 is coaxially disposed inside the rotor. I have. 9a, 9b, 9c, 9d are:
These are propulsion mechanisms formed by cooperation of the cylindrical casing 1, the watertight compartments 5 and the propulsion device 9, respectively. Numeral 10 is pivotally mounted via a pair of hollow ear shafts 11, 11 protruding in a direction connecting the pair of cylindrical casings 1, 1 at both ends of the diameter in the left-right direction inside the annular floating body 2. The spherical floating body 12 is an equilibrium weight attached to the bottom of the spherical floating body 10. Reference numeral 13 denotes an inspection TV camera mounted on the central side surface of the spherical floating body 10, reference numeral 14 denotes an illumination lamp mounted on each of the upper and lower side surfaces of the spherical floating body 10 with the TV camera 13 interposed therebetween, and reference numeral 15 denotes a lower part of the spherical floating body 10. A buoyant cable for connecting the outside of the apparatus, into which a cable 16 for a stator, a cable 17 for a camera, and a cable 18 for an illumination lamp are inserted.
6 are inserted through the hollow ear shaft 11 so that each motor stator 6
Connected to
【０００８】このようなロボットにおいて、液中機器の
点検に当っては、平衡用重錘１２により垂下状態にある
球状浮体１０に対し、これの中空耳軸１１，１１の方向
Ｘ−Ｘと直交する直径Ｙ−Ｙの両端にある推進機構９
ａ，９ｃを連続的に運転して互いに反対方向の推力を発
揮することで環状浮体２を中空耳軸Ｘ−Ｘの周りに回動
して、図１鎖線に示すように、水平状態から鉛直状態ま
での任意の姿勢を採らすことができる。このようにし
て、環状浮体２を図１に示すように鉛直姿勢にしたの
ち、例えば推進機構９ａ及び９ｃを同一方向に回動すれ
ば、本発明ロボットはＹ−Ｙ方向へ前後進し、推進機構
９ａ，９ｃを互いに反対方向に回動すれば、本発明ロボ
ットは竪軸線Ｚ−Ｚの周りに回動する。In such a robot, when inspecting the submerged equipment, the spherical floating body 10 which is suspended by the balance weight 12 is perpendicular to the direction XX of the hollow ear shafts 11, 11. Propulsion mechanisms 9 at both ends of the diameter YY
a, 9c are continuously operated to exert thrusts in opposite directions to rotate the annular floating body 2 around the hollow ear axis XX, and as shown by the chain line in FIG. Any posture up to the state can be taken. In this manner, after the annular floating body 2 is set to the vertical posture as shown in FIG. 1, if the propulsion mechanisms 9a and 9c are rotated in the same direction, the robot of the present invention moves forward and backward in the YY direction, When the mechanisms 9a and 9c are rotated in opposite directions, the robot of the present invention rotates around the vertical axis Z-Z.
【０００９】いずれの場合でも、球状浮体１０は中空耳
軸１１，１１の軸線に支持されその平衡用重錘１２の作
用によりその竪中心線は竪軸線Ｚ−Ｚの姿勢に保持され
るから、上下１対の照明灯１４，１４で対象物を照ら
し、ＴＶカメラ１３でその状態を遠隔的に視認すること
ができる。さらに中空耳軸１１，１１の方向、すなわち
Ｘ−Ｘの直径の両端にある推進機構９ｂ，９ｄを連動的
に運転して互いに反対方向の推力を発揮すると、装置全
体を一体的に中空耳軸１１，１１の方向とは直交する直
径Ｙ−Ｙの周りに任意の角度に回動して所要の姿勢を採
らすことができる。その際、球状浮体１０は前傾又は後
傾姿勢を採ることとなり、対象物体の傾斜個所に正対す
る姿勢で点検個所を視認することができる。In any case, the spherical floating body 10 is supported on the axis of the hollow ear shafts 11, 11 and the vertical center line thereof is maintained in the vertical axis ZZ by the action of the balancing weight 12. The object can be illuminated by a pair of upper and lower illuminating lamps 14, and the state can be visually recognized remotely by the TV camera 13. Further, when the propulsion mechanisms 9b, 9d at both ends of the hollow ear shafts 11, 11, that is, both ends of the diameter of XX are operated in conjunction to exert thrusts in opposite directions, the entire device is integrally formed with the hollow ear shafts. It is possible to take a required posture by rotating at an arbitrary angle around a diameter YY orthogonal to the direction of 11,11. At that time, the spherical floating body 10 assumes a forward-tilted or backward-tilted posture, and the inspection location can be visually recognized in a posture directly facing the inclined location of the target object.
【００１０】このような、実施例のロボットによれば、
液中に浸漬され中性浮力を有する水平環状浮体の円状中
心線に等間隔でそれぞれ液密に貫設形成された前後左右
の竪円筒状ケーシングと、上記各ケーシングにそれぞれ
同軸的に配設された可逆転推進器と、上記環状浮体の中
心孔の中心に同心的に緩く挿入され左右端でそれぞれ耳
軸を介して上記環状浮体の中心孔に回動自在に軸支され
た球状浮体と、上記球状浮体の前端部に付設されたＴＶ
カメラ及び照明灯と、上記球状浮体の下端に付設された
平衡用重錘と、上記各推進器，上記ＴＶカメラ，上記照
明灯に電力及び信号を送る浮力性ケーブルとを設けてい
るので、下記効果が奏せられる。 (1) 推進機構の数が４基に減少するとともに、浮体の形
状を全方位に対称とすることが可能となり、浮体が小型
になるとともに平衡し易くなり、従って装置の経済性及
び操縦性が向上する。 (2) 球状浮体が垂下状態を保つことが可能となるととも
に、環状浮体を球状浮体の周りに回動することができ、
従って目視点検作業が容易になる。 (3) 球状浮体から中空耳軸を経て各推進機構へケーブル
を導設することができ、外部と装置との間のケーブル数
の減少が可能となり、従って目視点検作業が容易になる
とともに、ケーブルの保全性が向上する。According to such a robot of the embodiment,
The front, rear, left and right vertical cylindrical casings are formed in a liquid-tight manner at equal intervals around the circular center line of a horizontal annular floating body immersed in liquid and having neutral buoyancy, and coaxially disposed on each of the above casings And a spherical floating body which is loosely inserted concentrically into the center of the center hole of the annular floating body and is rotatably supported by the center hole of the annular floating body via ear shafts at the left and right ends respectively. A TV attached to the front end of the spherical floating body
Since the camera and the lighting, the balancing weight attached to the lower end of the spherical floating body, and the buoyant cables for transmitting power and signals to the propulsion devices, the TV camera, and the lighting are provided, The effect is achieved. (1) As the number of propulsion mechanisms is reduced to four, the shape of the floating body can be made symmetrical in all directions, and the floating body becomes smaller and easier to balance, so that the economical efficiency and maneuverability of the device are reduced. improves. (2) While the spherical floating body can maintain the hanging state, the annular floating body can rotate around the spherical floating body,
Therefore, visual inspection work is facilitated. (3) Cables can be guided from the spherical floating body to each propulsion mechanism through the hollow ear shaft, and the number of cables between the outside and the device can be reduced, so that visual inspection work is easy and cable The maintainability of is improved.
【００１１】[0011]
【発明の効果】要するに本発明によれば、液中に浸漬さ
れ中性浮力を有する水平環状浮体の円状中心線に等間隔
でそれぞれ液密に貫設形成された前後左右の竪円筒状ケ
ーシングと、上記各ケーシングにそれぞれ同軸的に配設
された可逆転推進器と、上記環状浮体の中心孔の中心に
同心的に緩く挿入され左右端でそれぞれ耳軸を介して上
記環状浮体の中心孔に回動自在に軸支された球状浮体
と、上記球状浮体の前端部に付設されたＴＶカメラ及び
照明灯と、上記球状浮体の下端に付設された平衡用重錘
と、上記各推進器，上記ＴＶカメラ，上記照明灯に電力
及び信号を送る浮力性ケーブルとを具えたことにより、
推進器の数が少なく、かつ浮力体が平衡し易く、従って
形状が小型で経済性及び操縦性に優れた液中点検用自航
ロボットを得るから、本発明は産業上極めて有益なもの
である。In summary, according to the present invention, the front, rear, left and right vertical cylindrical casings are formed in a liquid-tight manner at equal intervals around the circular center line of a horizontal annular floating body immersed in liquid and having neutral buoyancy. And a reversible thruster disposed coaxially with each of the casings, and a center hole of the annular floating body that is loosely inserted concentrically into the center of the center hole of the annular floating body via the ear shaft at each of the left and right ends. A spherical floating body which is rotatably supported on the spherical floating body, a TV camera and an illumination lamp attached to a front end of the spherical floating body, an equilibrium weight attached to a lower end of the spherical floating body, By having the TV camera and a buoyant cable for transmitting power and a signal to the illumination lamp,
The present invention is extremely useful industrially because the number of propulsors is small, and the buoyant body is easily balanced, so that a self-propelled robot for submersible inspection having a small size and excellent economic efficiency and maneuverability is obtained. .
【図１】本発明の一実施例を示す縦断面図である。FIG. 1 is a longitudinal sectional view showing one embodiment of the present invention.
【図２】図１の平面図である。FIG. 2 is a plan view of FIG.
【図３】公知の液中点検用自航ロボットを示す側面図で
ある。FIG. 3 is a side view showing a known self-propelled robot for underwater inspection.
１ 円筒状ケーシング ２ 環状浮体 ３ 円状中心線 ４ ４等分位置 ５ 水密区画 ６ 電動機固定子 ７ 電動機回転子 ８ ベアリング ９ 推進器 ９ａ 推進機構 ９ｂ 推進機構 ９ｃ 推進機構 ９ｄ 推進機構 １０ 球状浮体 １１ 中空耳軸 １２ 平衡用重錘 １３ ＴＶカメラ １４ 照明灯 １５ 浮力性ケーブル １６ ケーブル １７ ケーブル １８ ケーブル DESCRIPTION OF SYMBOLS 1 Cylindrical casing 2 Annular floating body 3 Circular center line 4 4 Equivalent position 5 Watertight section 6 Motor stator 7 Motor rotor 8 Bearing 9 Propeller 9a Propulsion mechanism 9b Propulsion mechanism 9c Propulsion mechanism 9d Propulsion mechanism 10 Spherical floating body 11 Medium Air ear axis 12 Weight for balance 13 TV camera 14 Illumination light 15 Buoyancy cable 16 Cable 17 Cable 18 Cable
Claims (1)
状浮体の円状中心線に等間隔でそれぞれ液密に貫設形成
された前後左右の竪円筒状ケーシングと、上記各ケーシ
ングにそれぞれ同軸的に配設された可逆転推進器と、上
記環状浮体の中心孔の中心に同心的に緩く挿入され左右
端でそれぞれ耳軸を介して上記環状浮体の中心孔に回動
自在に軸支された球状浮体と、上記球状浮体の前端部に
付設されたＴＶカメラ及び照明灯と、上記球状浮体の下
端に付設された平衡用重錘と、上記各推進器，上記ＴＶ
カメラ，上記照明灯に電力及び信号を送る浮力性ケーブ
ルとを具えたことを特徴とする液中点検用自航ロボッ
ト。1. A front and rear left and right vertical cylindrical casing which is immersed in a liquid and has a neutral buoyancy and is formed in a liquid-tight manner at equal intervals around a circular center line of a horizontal annular floating body. A reversing propulsion unit arranged coaxially, and rotatably supported by a center hole of the annular floating body, which is loosely inserted concentrically into the center of the center hole of the annular floating body via ear shafts at right and left ends, respectively; The spherical floating body, a TV camera and an illuminator attached to the front end of the spherical floating body, an equilibrium weight attached to the lower end of the spherical floating body, the propulsors, the TV
A self-propelled robot for underwater inspection, comprising: a camera; and a buoyant cable for transmitting power and a signal to the lighting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6115192A JP2909295B2 (en) | 1992-02-17 | 1992-02-17 | Self-propelled robot for liquid inspection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6115192A JP2909295B2 (en) | 1992-02-17 | 1992-02-17 | Self-propelled robot for liquid inspection |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH05229480A JPH05229480A (en) | 1993-09-07 |
| JP2909295B2 true JP2909295B2 (en) | 1999-06-23 |
Family
ID=13162835
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6115192A Expired - Fee Related JP2909295B2 (en) | 1992-02-17 | 1992-02-17 | Self-propelled robot for liquid inspection |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2909295B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003042029A1 (en) * | 2001-11-16 | 2003-05-22 | Consejo Superior De Investigaciones Científicas | Undersea robot and the control method therefor |
-
1992
- 1992-02-17 JP JP6115192A patent/JP2909295B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH05229480A (en) | 1993-09-07 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 19990303 |
|
| LAPS | Cancellation because of no payment of annual fees |