JP4794336B2 - Automated traveling robot - Google Patents

Automated traveling robot Download PDF

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JP4794336B2
JP4794336B2 JP2006080843A JP2006080843A JP4794336B2 JP 4794336 B2 JP4794336 B2 JP 4794336B2 JP 2006080843 A JP2006080843 A JP 2006080843A JP 2006080843 A JP2006080843 A JP 2006080843A JP 4794336 B2 JP4794336 B2 JP 4794336B2
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leg
slider
pin
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leg portion
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JP2007253281A (en
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和文 橋本
和司 平岡
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Chugoku Electric Power Co Inc
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Description

本発明は、管路や狭隘な空間等の点検、探査、清掃等を行なう際に使用される自動走行ロボットに関し、特に、弾性を有する複数の毛状体により推進力を得るように構成した自動走行ロボットに関する。   The present invention relates to an automatic traveling robot used when inspecting, exploring, cleaning, and the like of pipes and narrow spaces, and more particularly, an automatic robot configured to obtain a propulsive force by a plurality of elastic hairs. It relates to a traveling robot.

配管等の管路や狭隘な空間等の点検、探査、清掃等を行なう際に使用される自動走行ロボットには種々のタイプのものがあり、例えば、特許文献１には、下水道管や石油導管等の配管内部の検査や補修に使用される管内自動走行装置が提案されている。   There are various types of automatic traveling robots used for inspecting, exploring, cleaning, and the like of pipes and narrow spaces, such as a sewer pipe and an oil conduit. In-pipe automatic traveling devices have been proposed for use in inspections and repairs inside pipes.

この管内自動走行装置は、複数の駆動輪を外部に有するハウジング内に収納され、電気ケーブルを介して外部電源装置に接続された電動モータと油圧ポンプと油圧タンクを有する圧力源部と、圧力源部から送られる作動油で回転する油圧モータと油圧モータの出力軸と各駆動輪の車軸間を連結するギヤー群とを有する走行駆動手段と、圧力源部から送る作動油の油量と方向を制御する電磁弁ブロックとを備えている。   This in-pipe automatic traveling device is housed in a housing having a plurality of drive wheels outside, and is connected to an external power supply device via an electric cable, a pressure source unit having a hydraulic pump and a hydraulic tank, and a pressure source A hydraulic drive motor that rotates with hydraulic oil fed from the section, traveling drive means having a gear group that connects between the output shaft of the hydraulic motor and the axle of each drive wheel, and the amount and direction of hydraulic oil sent from the pressure source section And a solenoid valve block to be controlled.

ところで、上記のような構成の管内自動走行装置にあっては、駆動輪の回転を推進力として管路内を走行するように構成されているため、内壁面が平坦な管路内であれば円滑に走行することができるが、内壁面が凹凸や段差があるような複雑な形状の管路内の場合には、充分な推進力を得ることができず、円滑に走行することができず、途中で進退不能になることが多々ある。また、構造が複雑であるために、製作に要する時間、手間及び費用が嵩み、装置全体としての価格が高くついてしまう。   By the way, in the in-pipe automatic traveling apparatus having the above-described configuration, since it is configured to travel in the pipeline using the rotation of the drive wheel as a driving force, if the inner wall surface is in a flat pipeline. Although it can run smoothly, if it is in a pipeline with a complicated shape where the inner wall surface is uneven or uneven, it cannot obtain sufficient propulsive force and cannot run smoothly. There are many cases where it becomes impossible to advance or retreat on the way. In addition, since the structure is complicated, the time, labor, and cost required for manufacturing increase, and the price of the entire apparatus increases.

一方、上記のような問題に対処するため、本願発明者らは、弾性を有する複数の毛状体によって推進力を得るように構成した自動走行ロボットを特許文献２に提案している。   On the other hand, in order to cope with the above problems, the inventors of the present application have proposed an automatic traveling robot configured to obtain a propulsive force by a plurality of elastic hairs in Patent Document 2.

このような構成の自動走行ロボットにあっては、特許文献１に記載の管内自動走行装置のような問題が生じるようなことはなく、管路の内壁面の凹凸形状等に影響されずに充分な推進力が得られる。また、構造が簡単であるため、製作による時間、手間、及び費用を削減することができ、装置全体としてのコストを低減させることもできる。
特開平６−１９１４０１号公報 特開２００５−２３８３３９号公報 In the automatic traveling robot having such a configuration, the problem as in the automatic in-pipe apparatus described in Patent Document 1 does not occur, and it is sufficient without being affected by the uneven shape of the inner wall surface of the pipe. Can provide a strong driving force. In addition, since the structure is simple, the time, labor, and cost for manufacturing can be reduced, and the cost of the entire apparatus can also be reduced.
Japanese Patent Laid-Open No. 6-191401 JP 2005-238339 A

本発明は、特許文献２に開示される自動走行ロボットの改良に関するものであり、管路の内壁面の形状に影響されることなく、また管路の傾斜角度に影響されることなく、安定した円滑な走行が得られる自動走行ロボットを提供することを目的とする。   The present invention relates to an improvement of the automatic traveling robot disclosed in Patent Document 2, and is stable without being affected by the shape of the inner wall surface of the pipeline and without being influenced by the inclination angle of the pipeline. An object of the present invention is to provide an automatic traveling robot that can achieve smooth traveling.

上記のような課題を解決するために、本発明は、以下のような手段を採用している。
すなわち、本発明は、周方向の両端面が互いに対向するように対向配置されるとともに、互いに接近、離隔可能な一対の略半円筒状の脚部と、各脚部の外面に、長手方向に所定の間隔ごとに複数段に、かつ各段に周方向に所定の間隔ごとに複数箇所に設けられ、各々が各脚部の外面から外方に突出し、かつ各脚部の外面に対して所定の角度で傾斜する、複数の毛状体を束ねて構成した複数の毛状体の束と、前記各脚部の内面側に、各脚部の長手方向に沿うようにそれぞれ固定される一対のスライド軸と、各スライド軸にスライド自在に設けられるスライダとからなるスライダ機構と、一端が前記一方の脚部のスライド軸の一端にピン結合され、他端が前記他方の脚部のスライダにピン結合される一方の連結部材と、一端が前記他方の脚部のスライド軸の一端にピン結合され、他端が前記一方の脚部のスライド軸のスライダにピン結合されるとともに、中間部が前記一方の連結部材の中間部にピン結合される他方の連結部材とからなる連結機構と、前記一方の脚部のスライド軸のスライダをスライドさせる駆動機構と、前記両脚部の端部間に設けられる駆動モータと、該駆動モータの出力軸に重心が偏心した状態で取り付けられる錘体と、該駆動モータと前記一方の脚部の端部との間、及び該駆動モータと前記他方の脚部の端部との間にピン結合される一対の連結部材とからなる加振手段とを備えていることを特徴とする。 In order to solve the above problems, the present invention employs the following means.
That is, the present invention, together with both end surfaces in the circumferential direction are opposed to face each other, close to each other, and spaced apart from possible pair of generally semi-cylindrical leg portion, the outer surface of each leg, the longitudinal direction Provided in a plurality of steps at predetermined intervals and in a plurality of locations at predetermined intervals in the circumferential direction in each step, each projecting outward from the outer surface of each leg and predetermined with respect to the outer surface of each leg A pair of a plurality of hair bodies configured by bundling a plurality of hair bodies , and a pair of inner surfaces fixed to the inner surfaces of the leg portions along the longitudinal direction of the leg portions. A slider mechanism comprising a slide shaft and a slider slidably provided on each slide shaft, one end is pin-coupled to one end of the slide shaft of the one leg, and the other end is pinned to the slider of the other leg One connecting member to be joined, and one end of the other leg A second coupling member that is pin-coupled to one end of the guide shaft, the other end is pin-coupled to a slider of the slide shaft of the one leg portion, and an intermediate portion is pin-coupled to an intermediate portion of the one coupling member; A connecting mechanism comprising: a driving mechanism for sliding the slider of the slide shaft of the one leg portion; a driving motor provided between the ends of the both leg portions; and a state where the center of gravity is eccentric to the output shaft of the driving motor. And a pair of connecting members that are pin-coupled between the drive motor and the end of the one leg, and between the drive motor and the end of the other leg. And an excitation means.

本発明の自動走行ロボットによれば、駆動機構により、スライダ機構の一方の脚部のスライド軸のスライダを該スライド軸に沿ってスライドさせることにより、該スライダの変位に追従して連結機構の両連結部材が伸縮し、両連結部材の伸縮に追従して他方の脚部のスライド軸のスライドが該スライド軸に沿ってスライドし、両脚部を接近又は離隔する方向に駆動させることができる。従って、駆動機構により、両脚部を離隔させる方向に駆動させることにより、各脚部の外面側の複数の毛状体の束を管路の内壁面に圧接させることができ、両脚部を接近させる方向に駆動させることにより、各脚部の外面側の複数の毛状体の束を管路の内壁面から離間させることができる。
また、駆動機構により、両脚部を離隔させて各脚部の外面側の複数の毛状体の束を管路の内壁面に圧接させた状態で、加振手段の駆動モータを作動させて錘体を偏心回転させて振動を発生させることにより、その振動を両連結部材を介して両脚部に伝達させ、両脚部から両脚部の外面側の複数の毛状体の束に伝達させ、各毛状体の束を管路の長手方向に撓むように弾性変形させることができ、この各毛状体の束の弾性変形を自動走行ロボットを走行させる推進力として作用させることができ、この推進力によって自動走行ロボットを管路内を内壁面に沿って長手方向に走行させることができる。
従って、管路の内壁面の形状、管路の傾斜角度に影響されることなく、様々な内面形状、傾斜角度の管路内を安定して円滑に走行させることが可能となる。
さらに、加振手段の両連結部材の長さ、ピン結合の位置を調整することにより、両脚部が最大に離隔したときの両脚部間の間隔、及び最大に接近したときの両脚部間の間隔を調整することができる。 According to the automatic traveling robot of the present invention , the slider of the slide shaft of one leg portion of the slider mechanism is slid along the slide shaft by the drive mechanism, so that both of the coupling mechanisms follow the displacement of the slider. The connecting member expands and contracts, the slide of the slide shaft of the other leg slides along the slide shaft following the expansion and contraction of both connecting members, and the both legs can be driven in a direction approaching or separating. Therefore, by driving the legs in a direction in which both legs are separated from each other, the bundle of a plurality of hairs on the outer surface side of each leg can be pressed against the inner wall surface of the conduit, and both legs are brought close to each other. By driving in the direction, a bundle of a plurality of hairs on the outer surface side of each leg portion can be separated from the inner wall surface of the conduit.
Further, the drive mechanism is operated by driving the drive motor of the vibration means in a state in which both the leg portions are separated by the drive mechanism and the bundle of a plurality of hairs on the outer surface side of each leg portion is pressed against the inner wall surface of the conduit. By rotating the body eccentrically to generate vibration, the vibration is transmitted to both legs via both connecting members, and is transmitted from both legs to a bundle of hairs on the outer surface side of both legs. It is possible to elastically deform the bundles of the filamentous bodies so as to bend in the longitudinal direction of the pipe line, and it is possible to cause the elastic deformations of the bundles of the respective hairy bodies to act as a propulsive force for running the automatic traveling robot. The automatic traveling robot can travel in the longitudinal direction along the inner wall surface in the pipeline.
Therefore, it is possible to stably and smoothly travel in the pipes having various inner surface shapes and inclination angles without being affected by the shape of the inner wall surface of the pipe line and the inclination angle of the pipe line.
Furthermore, by adjusting the length of both connecting members of the vibration means and the position of the pin connection, the distance between the legs when the legs are separated to the maximum, and the distance between the legs when the legs are close to the maximum Can be adjusted.

また、本発明において、前記脚部は、接近したときに外形が円形状をなし、離隔したときに外形が長円形状をなすように構成されていることとしてもよい。 In the present invention, the leg portion may be configured such that the outer shape has a circular shape when approaching, and the outer shape has an oval shape when separated .

本発明の自動走行ロボットによれば、駆動機構により、両脚部を離隔する方向に駆動させることにより、両脚部の外形が長円形状をなすように構成され、各脚部の外面側の複数の毛状体の束を管路の内壁面に強く圧接させることができ、複数の毛状体の束による強力な推進力が得られることになる。 According to the automatic traveling robot of the present invention, the drive mechanism is configured to drive both the legs in the direction of separating the legs, so that the outer shape of both legs is formed into an oval shape. The bundle of hairs can be strongly pressed against the inner wall surface of the duct, and a strong driving force can be obtained by the bundle of hairs.

以上、説明したように、本発明の自動走行ロボットによれば、駆動機構により、両脚部を互いに離隔する方向に駆動させることにより、各脚部の外面側の複数の毛状体の束を管路の内壁面に圧接させることができる。そして、この状態で、加振手段の駆動モータを作動させて錘体を偏心回転させて振動を発生させて、その振動を両連結部材を介して両脚部に伝達させ、両脚部から両脚部の外面側の複数の毛状体の束に伝達させることにより、各毛状体の束を管路の長手方向に撓むように弾性変形させることができ、この各毛状体の束の弾性変形を自動走行ロボットを走行させる推進力として作用させることができ、この推進力によって自動走行ロボットを管路内を内壁面に沿って長手方向に走行させることができる。
従って、管路の内壁面の形状、管路の傾斜角度に影響されることなく、様々な内面形状、傾斜角度の管路内を安定して円滑に走行させることができ、適用可能な範囲を広げることができる。さらに、加振手段の両連結部材の長さ、ピン結合の位置を調整することにより、両脚部が最大に離隔したときの両脚部間の間隔、及び最大に接近したときの両脚部間の間隔を調整することができるので、これによっても適用可能な範囲を広げることができる。
また、各脚部、毛状体、スライダ機構、連結機構、駆動機構は、簡単な構造のものであるので、製作に要する手間、時間、及び費用を削減することができ、製造コストを安く抑えることができる。
さらに、両脚部を離隔させたときに、それらの外形が長円形状をなすように構成したので、各脚部の外面側の複数の毛状体の束を管路の内壁面に強く圧接させることができ、各脚部の外面側の複数の毛状体の束によって強力な推進力が得られ、管路の内壁面の形状、管路の傾斜角度に影響されることなく、安定した円滑な走行が得られることになる。 As described above, according to the automatic traveling robot of the present invention, a plurality of bundles of hairs on the outer surface side of each leg portion are tubed by driving the both leg portions in directions away from each other by the drive mechanism. It can be pressed against the inner wall surface of the road . Then, in this state, the drive motor of the vibration means is operated to eccentrically rotate the weight body to generate vibration, and the vibration is transmitted to both legs via both connecting members. By transmitting to a bundle of a plurality of hairs on the outer surface side, each bundle of hairs can be elastically deformed so as to bend in the longitudinal direction of the conduit, and the elastic deformation of each bundle of hairs is automatically performed. It can act as a driving force for driving the traveling robot, and the driving force can cause the automatic traveling robot to travel in the longitudinal direction along the inner wall surface in the pipeline.
Therefore, it is possible to stably and smoothly travel in pipes having various inner surface shapes and inclination angles without being affected by the shape of the inner wall surface of the pipe line and the inclination angle of the pipe line. Can be spread. Furthermore, by adjusting the length of both connecting members of the vibration means and the position of the pin connection, the distance between the legs when the legs are separated to the maximum, and the distance between the legs when the legs are close to the maximum Therefore, the applicable range can be expanded.
In addition, each leg, hair, slider mechanism, coupling mechanism, and drive mechanism have a simple structure, so it is possible to reduce the labor, time, and cost required for manufacturing, and to reduce manufacturing costs. Can
In addition, when the legs are separated from each other, the outer shape of the legs forms an oval shape, so that the bundle of a plurality of hairs on the outer surface side of each leg is strongly pressed against the inner wall surface of the conduit. A strong propulsive force can be obtained by a bundle of a plurality of capillaries on the outer surface side of each leg, and it is possible to achieve a stable and smooth operation without being affected by the shape of the inner wall surface of the pipeline and the inclination angle of the pipeline. Will be able to get a good driving .

以下、図面を参照しつつ本発明の実施の形態について説明する。
図１〜図４には、本発明による自動走行ロボットの一実施の形態が示されていて、図１は走行前の状態を示す概略縦断面図、図２は図１の下面図、図３は走行開始時及び走行中の状態を示す概略縦断面図、図４は図３の下面図である。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
1 to 4 show an embodiment of an automatic traveling robot according to the present invention. FIG. 1 is a schematic longitudinal sectional view showing a state before traveling, FIG. 2 is a bottom view of FIG. Fig. 4 is a schematic longitudinal sectional view showing a state at the start of traveling and during traveling, and Fig. 4 is a bottom view of Fig. 3.

すなわち、本実施の形態に示す自動走行ロボット１は、対向配置される一対の脚部２、２と、各脚部２にそれぞれ設けられる複数の毛状体５と、両脚部２、２間に設けられて両脚部２、２を互いに接近、離隔する方向に駆動させる駆動手段６と、両脚部２、２間に設けられて両脚部２、２を振動させる加振手段２０とを備えている。   That is, the automatic traveling robot 1 shown in the present embodiment includes a pair of leg portions 2 and 2 that are arranged to face each other, a plurality of hairs 5 provided on each leg portion 2, and a space between both leg portions 2 and 2. Drive means 6 provided to drive both legs 2, 2 in a direction approaching and separating from each other, and vibration means 20 provided between both legs 2, 2 to vibrate both legs 2, 2 are provided. .

各脚部２は、同一長さ、大きさの略半円筒状をなすものであって、耐水性を有する各種の合成樹脂材、金属材等から形成される。両脚部２、２は、周方向の両端面２ｃ、２ｄが互いに対向するように対向配置され、後述する駆動手段６により互いに接近、離隔可能に構成されている。   Each leg 2 has a substantially semi-cylindrical shape having the same length and size, and is formed of various synthetic resin materials, metal materials, and the like having water resistance. The both leg portions 2 and 2 are arranged to face each other so that both end surfaces 2c and 2d in the circumferential direction face each other, and are configured to be able to approach and separate from each other by a driving means 6 described later.

各脚部２の凸状の外面２ａには、毛状体の束４が長手方向に所定の間隔ごとに複数段に設けられ、各段には周方向に所定の間隔ごとに複数箇所に毛状体の束４が設けられ、これらの複数の毛状体の束４によって各脚部２の外面２ａの全体に亘って複数の毛状体５からなる毛状体群３が構成され、この毛状体群３によって自動走行ロボット１を走行させるための推進力が得られる。   On the convex outer surface 2a of each leg 2, a bundle of hairs 4 is provided in a plurality of stages at a predetermined interval in the longitudinal direction, and each stage has a plurality of hairs at a predetermined interval in the circumferential direction. A bundle 4 of hair-like bodies is provided, and a plurality of hair-like body bundles 4 is formed by a plurality of hair-like body bundles 4 including a plurality of hair-like bodies 5 over the entire outer surface 2a of each leg 2. A propulsive force for traveling the automatic traveling robot 1 is obtained by the hair group 3.

各毛状体の束４は、同一長さ、径の複数の毛状体５を末広状をなすように束ねて構成したものであって、各脚部２の外面２ａに対して全体が所定の角度（本実施の形態においては約４０度）で傾斜するように、かつ各脚部２の外面２ａから外方に所定の長さ突出するように、各脚部２の外面２ａに一束ごとに一体に設けられている。   Each bundle 4 of hairs is formed by bundling a plurality of hairs 5 having the same length and diameter so as to form a divergent shape, and is entirely predetermined with respect to the outer surface 2a of each leg 2. Bundled on the outer surface 2a of each leg 2 so as to be inclined at a predetermined angle (about 40 degrees in the present embodiment) and to protrude outward from the outer surface 2a of each leg 2 by a predetermined length. It is provided as a single unit.

各毛状体の束４は、各脚部２の外面２ａに所定の深さ、径、傾きの孔（図示せず）を穿設し、この孔内に各毛状体の束４の根元部を挿入して接着剤等を充填して硬化させることにより、各脚部２の外面２ａに一体に設けられる。本実施の形態においては、各毛状体の束４を３本の毛状体５を束ねて構成しているが、２本又は４本以上の毛状体５を束ねて毛状体の束４を構成してもよい。   Each hair bundle 4 is formed with a hole (not shown) having a predetermined depth, diameter and inclination in the outer surface 2a of each leg 2, and the root of each hair bundle 4 is formed in this hole. By inserting the part and filling with an adhesive or the like to be cured, it is integrally provided on the outer surface 2a of each leg part 2. In the present embodiment, each hair bundle 4 is formed by bundling three hair bodies 5, but two or more hair bodies 5 are bundled to form a bundle of hair bodies. 4 may be configured.

各毛状体の束４を構成する各毛状体５は、弾性及び耐水性を有する素材からなる棒状をなすものであって、各毛状体５の素材としては、例えば、ポリエチレン、アクリル系樹脂、塩化ビニル系樹脂等の各種の合成樹脂材、各種の金属材等が挙げられる。但し、これらに限定することなく、同様の特性を有する素材であれば使用することができる。   Each hair body 5 constituting each bundle 4 of hair bodies has a rod shape made of a material having elasticity and water resistance. Examples of the material for each hair body 5 include polyethylene and acrylic. Examples thereof include various synthetic resin materials such as resins and vinyl chloride resins, and various metal materials. However, the present invention is not limited thereto, and any material having similar characteristics can be used.

毛状体群３を構成する各毛状体５は、先端部を管路３０の内壁面３１に当接させた状態で後述する加振手段２０により脚部２に振動を付加することにより、その振動に追従して管路３０の長手方向に撓むように弾性変形し、この毛状体５の弾性変形が自動走行ロボット１を走行させる推進力として作用する。   Each of the hair bodies 5 constituting the hair body group 3 applies vibration to the leg portion 2 by the vibration means 20 described later in a state where the tip portion is in contact with the inner wall surface 31 of the duct 30. Following the vibration, it is elastically deformed so as to bend in the longitudinal direction of the pipe line 30, and the elastic deformation of the ciliary body 5 acts as a propulsive force for running the automatic traveling robot 1.

駆動手段６は、一対の脚部２、２間に設けられて両脚部２、２間を連結する伸縮自在な連結機構７と、連結機構７を伸縮させるスライダ機構１１と、スライダ機構１１を駆動させる駆動機構１４とを備え、この駆動機構１４とスライダ機構１１と連結機構７との協働により、両脚部２、２が互いに接近、離隔する方向に駆動する。   The drive means 6 is provided between the pair of leg portions 2 and 2, and can be extended and contracted to connect the two leg portions 2 and 2, a slider mechanism 11 that expands and contracts the connection mechanism 7, and drives the slider mechanism 11. And the drive mechanism 14, the slider mechanism 11, and the coupling mechanism 7 cooperate to drive the legs 2, 2 in a direction to approach and separate from each other.

スライダ機構１１は、各脚部２の凹状の内面２ｂ側の中央部に、各脚部２の長手方向に沿うように設けられるとともに、両端部が各脚部２の内面２ｂ側に固定部材（図示せず）を介して固定される棒状のスライド軸１２と、各スライド軸１２にそれぞれスライド自在に設けられる筒状のスライダ１３とから構成されている。この場合、スライド軸１２は、各脚部２の内面２ｂの略全長に行き渡るように長さが設定されている。   The slider mechanism 11 is provided at the center of each leg 2 on the concave inner surface 2b side along the longitudinal direction of each leg 2, and both ends are fixed members (on the inner surface 2b side of each leg 2). It comprises a rod-like slide shaft 12 fixed via a not-shown) and a cylindrical slider 13 provided slidably on each slide shaft 12. In this case, the length of the slide shaft 12 is set so as to reach substantially the entire length of the inner surface 2b of each leg portion 2.

連結機構７は、一対の板状又は棒状の連結部材８、９を中央部間でピン１０により結合して構成したものであって、一方の連結部材８の一端部が一方の脚部２のスライド軸１２の一端部にピン１０により結合され、他端部が他方の脚部２のスライダ１３にピン１０により結合され、他方の連結部材９の一端部が他方の脚部２のスライド軸１２の一端部にピン１０により結合され、他端部が一方の脚部２のスライダ１３にピン１０により結合されている。   The connecting mechanism 7 is configured by connecting a pair of plate-like or rod-like connecting members 8, 9 with a pin 10 between the central portions, and one end of one connecting member 8 is one of the legs 2. One end of the slide shaft 12 is coupled by a pin 10, the other end is coupled to a slider 13 of the other leg 2 by a pin 10, and one end of the other connecting member 9 is coupled to the slide shaft 12 of the other leg 2. The other end is coupled to the slider 13 of one leg 2 by the pin 10.

連結機構７の両連結部材８、９を中央部のピン１０を中心として相対的に回動させることにより、両連結部材８、９が両脚部２、２の長手方向と直交する方向に伸縮する。この場合、両連結部材８、９は、最大に伸びることにより図３及び図４に示す状態となり、最小に縮むことにより図１及び図２に示す状態となる。両連結部材８、９の伸縮量は、後述する加振手段２０の連結部材２３、２４の長さ、取り付け位置等を調整することにより、調整することができる。   By rotating the connecting members 8 and 9 of the connecting mechanism 7 relative to each other about the center pin 10, the connecting members 8 and 9 expand and contract in a direction perpendicular to the longitudinal direction of the legs 2 and 2. . In this case, both the connecting members 8 and 9 are in the state shown in FIG. 3 and FIG. 4 when they are extended to the maximum, and are in the state shown in FIG. 1 and FIG. The amount of expansion / contraction of both connecting members 8 and 9 can be adjusted by adjusting the lengths, attachment positions, etc. of connecting members 23 and 24 of the vibration means 20 described later.

駆動機構１４は、一方の脚部２の内面２ｂ側に出力軸１６が図中下方を向くように取り付けられる駆動モータ１５と、駆動モータ１５の出力軸１６の回転を直線運動に変換して、一方の脚部２のスライド軸１２上のスライダ１３に伝達させる変換機構１７とから構成されている。   The drive mechanism 14 converts the rotation of the output shaft 16 of the drive motor 15 into a linear motion, and the drive motor 15 attached to the inner surface 2b side of the one leg 2 so that the output shaft 16 faces downward in the figure. It is comprised from the conversion mechanism 17 transmitted to the slider 13 on the slide shaft 12 of one leg part 2. As shown in FIG.

変換機構１７は、例えば、駆動モータ１５の出力軸１６に軸線を一致させた状態で取り付けられるねじ軸１８と、ねじ軸１８に進退可能に螺着される可動ねじ１９とによって構成され、可動ねじ１９の一部が一方の脚部２のスライダ１３に連結されている。   The conversion mechanism 17 includes, for example, a screw shaft 18 that is attached in a state where the axis coincides with the output shaft 16 of the drive motor 15, and a movable screw 19 that is screwed to the screw shaft 18 so as to be able to advance and retract. A part of 19 is connected to the slider 13 of one leg 2.

駆動機構１４の駆動モータ１５を回転駆動させることにより、出力軸１６と一体にねじ軸１８が回転し、このねじ軸１８の回転が可動ねじ１９に伝達され、可動ねじ１９がねじ軸１８上を進退し、可動ねじ１９の進退に追従してスライダ１３がスライド軸１２をスライドし、このスライダ１３の変位に追従して連結機構７の両連結部材８、９が伸縮し、両連結部材８、９に追従して他方の脚部２のスライダ１３がスライド軸１２上をスライドする。そして、このように、両脚部２、２の両スライダ１３、１３が両連結部材８、９を介して両スライド軸１２、１２上をスライドすることにより、両脚部２、２が接近、離隔する方向に駆動し、図１及び図２、図３及び図４に示すように、最大に接近した位置と最大に離隔した位置との間を駆動することになる。   By rotating the drive motor 15 of the drive mechanism 14, the screw shaft 18 rotates integrally with the output shaft 16, the rotation of the screw shaft 18 is transmitted to the movable screw 19, and the movable screw 19 moves on the screw shaft 18. The slider 13 slides on the slide shaft 12 following the advance and retreat of the movable screw 19, and both connecting members 8, 9 of the connecting mechanism 7 expand and contract following the displacement of the slider 13. 9, the slider 13 of the other leg 2 slides on the slide shaft 12. In this way, the sliders 13 and 13 of the leg portions 2 and 2 slide on the slide shafts 12 and 12 via the connecting members 8 and 9 so that the leg portions 2 and 2 approach and separate from each other. Driven in the direction, as shown in FIGS. 1, 2, 3, and 4, it is driven between a position approaching the maximum and a position farthest from the maximum.

加振手段２０は、駆動モータ２１と、駆動モータ２１の出力軸（図示せず）に重心が偏心した状態で取り付けられる錘体（図示せず）と、駆動モータ２１を両脚部２、２に連結する連結機構２２とを備えており、駆動モータ２１を駆動させて、出力軸を回転駆動させることにより、出力軸の回転に追従して錘体が偏心回転し、この錘体の偏心回転が連結機構２２を介して両脚部２、２に伝達される。   The vibration means 20 includes a drive motor 21, a weight body (not shown) that is attached to the output shaft (not shown) of the drive motor 21 in a state where the center of gravity is eccentric, and the drive motor 21 is attached to both legs 2 and 2. And a coupling mechanism 22 for coupling. By driving the drive motor 21 and rotating the output shaft, the weight body eccentrically rotates following the rotation of the output shaft. It is transmitted to both legs 2, 2 via the coupling mechanism 22.

連結機構２２は、一端部が一方の脚部２の図中下端部にピン２５により結合されるとともに、他端部が駆動モータ２１の図中左端部にピン２５により結合される一方の連結部材２３と、一端部が一方の脚部２の図中下端部にピン２５により結合されるとともに、他端部が駆動モータ２１の図中右端部にピン２５により結合される他方の連結部材２４とから構成され、両脚部２、２が最大に離隔したときには両連結部材２３、２４は水平状態となり、両脚部２、２が最大に接近したときには両連結部材２３、２４は垂直状態となる。連結機構２２の両連結部材２３、２４の長さ、ピン２５による結合位置等を調整することにより、両脚部２、２が最大に離隔したときの両脚部２、２間の間隔、及び最大に接近したときの両脚部２、２間の間隔を調整することができる。   The coupling mechanism 22 has one end coupled to the lower end of one leg 2 by a pin 25 and the other end coupled to the left end of the drive motor 21 by a pin 25. And the other connecting member 24 whose one end is coupled to the lower end of one leg 2 by a pin 25 and whose other end is coupled to the right end of the drive motor 21 by a pin 25. The two connecting members 23 and 24 are in a horizontal state when the two leg portions 2 and 2 are separated to the maximum, and the two connecting members 23 and 24 are in a vertical state when the two leg portions 2 and 2 are close to the maximum. By adjusting the lengths of the connecting members 23 and 24 of the connecting mechanism 22 and the connecting position of the pins 25, the distance between the legs 2 and 2 when the legs 2 and 2 are separated to the maximum, and the maximum The space | interval between both the leg parts 2 and 2 when approaching can be adjusted.

次に、上記のように構成した本実施の形態による自動走行ロボット１の作用について説明する。
まず、図１及び図２に示すように、駆動手段６の駆動機構１４の駆動モータ１５を駆動させて、スライダ機構１１及び連結機構７を介して両脚部２、２を最大に接近させ、この状態を保って点検、探査、清掃等の対象となる管路３０内に自動走行ロボット１を装着する。 Next, the operation of the automatic traveling robot 1 according to the present embodiment configured as described above will be described.
First, as shown in FIGS. 1 and 2, the drive motor 15 of the drive mechanism 14 of the drive means 6 is driven to bring the both legs 2 and 2 close to the maximum via the slider mechanism 11 and the coupling mechanism 7. The automatic traveling robot 1 is mounted in the pipeline 30 that is a target for inspection, exploration, cleaning, etc. while maintaining the state.

そして、図３及び図４に示すように、駆動手段６の駆動機構１４の駆動モータ１５を駆動させて、スライダ機構１１及び連結機構７を介して両脚部２、２を最大に離隔させ、両脚部２、２の外面２ａ側の毛状体群３の各毛状体５を管路３０の内壁面３１に圧接する。   Then, as shown in FIGS. 3 and 4, the drive motor 15 of the drive mechanism 14 of the drive means 6 is driven, and the both leg portions 2 and 2 are separated to the maximum via the slider mechanism 11 and the coupling mechanism 7, so that both legs Each hair body 5 of the hair body group 3 on the outer surface 2 a side of the portions 2 and 2 is pressed against the inner wall surface 31 of the duct 30.

そして、図３及び図４に示すように、加振手段２０の駆動モータ２１を駆動させて、錘体を偏心回転させることにより振動を発生させ、この振動を連結機構２２を介して両脚部２、２に伝達し、両脚部２、２の外面２ａ側の毛状体群３に伝達し、各毛状体５を管路３０の長手方向に撓むように弾性変形させる。   Then, as shown in FIGS. 3 and 4, the drive motor 21 of the vibration means 20 is driven to cause the weight body to rotate eccentrically, and this vibration is generated via the connecting mechanism 22. 2, and transmitted to the hair group 3 on the outer surface 2 a side of both legs 2, 2, and each hair body 5 is elastically deformed so as to bend in the longitudinal direction of the duct 30.

そして、このように両脚部２，２の毛状体群３の各毛状体５を管路３０の内壁面３１に圧接した状態で弾性変形させることにより、この毛状体群３の各毛状体５の弾性変形が自動走行ロボット１を走行させる推進力として作用し、この推進力によって自動走行ロボット１が管路３０内を内壁面３１に沿って管路３０の長手方向に走行することになる。   And each hair of this hair group 3 is elastically deformed in the state which pressed each hair 5 of hair body group 3 of both legs 2 and 2 in pressure contact with inner wall surface 31 of channel 30 in this way. The elastic deformation of the body 5 acts as a driving force for driving the automatic traveling robot 1, and the automatic driving robot 1 travels in the longitudinal direction of the pipe line 30 along the inner wall surface 31 by the driving force. become.

上記のように構成した本実施の形態による自動走行ロボット１にあっては、一対の脚部２、２を駆動手段６によって互いに離隔させることにより、両脚部２、２の外面２ａ側の毛状体群３の各毛状体５の先端部を管路３０の内壁面３１に強く圧接させて、この状態で加振手段２０により両脚部２、２に振動を付加することにより、毛状体群３の各毛状体５を弾性変形させるように構成したので、管路３０の内壁面３１の形状、管路３０の傾斜角度に影響されずに、充分な推進力が得られることになる。   In the automatic traveling robot 1 according to the present embodiment configured as described above, the pair of legs 2 and 2 are separated from each other by the driving means 6 so that the hair on the outer surface 2a side of both legs 2 and 2 is formed. The tip of each hair body 5 of the body group 3 is brought into strong pressure contact with the inner wall surface 31 of the duct 30, and in this state, vibration is applied to both legs 2, 2 by the vibration means 20, Since the capillaries 5 of the group 3 are configured to be elastically deformed, sufficient propulsive force can be obtained without being affected by the shape of the inner wall surface 31 of the conduit 30 and the inclination angle of the conduit 30. .

従って、管路３０の内壁面３１の形状に影響されることなく、また管路３０の傾斜角度に影響されることなく、安定した円滑な走行をすることができるので、各種の内壁面３１の形状の管路３０、各種の傾斜角度の管路３０の点検、探査、清掃等に適用することができる。   Therefore, stable and smooth running can be performed without being influenced by the shape of the inner wall surface 31 of the pipe line 30 and without being influenced by the inclination angle of the pipe line 30, so The present invention can be applied to inspection, exploration, cleaning, and the like of the pipe line 30 having a shape and various inclination angles.

また、脚部２、駆動手段６、及び加振手段２０は、簡単な構造を有しているので、それらの製作に要する手間、時間、及び費用を削減することができ、装置全体としての価格を安く抑えることができ、安価なものを提供することができる。   Moreover, since the leg part 2, the drive means 6, and the vibration means 20 have a simple structure, the effort, time, and expense which are required for those manufacture can be reduced, and the price as the whole apparatus is sufficient. Can be kept cheap, and inexpensive items can be provided.

なお、前記の説明においては、一対の脚部２、２を対向配置して、両脚部２、２を接近、離隔可能に構成したが、一対以上の脚部２を対向配置して、それらを接近、離隔可能に構成してもよい。   In the above description, the pair of leg portions 2 and 2 are arranged so as to face each other, and the both leg portions 2 and 2 can be approached and separated from each other. You may comprise so that an approach and separation are possible.

本発明による自動走行ロボットの一実施の形態を示した概略縦断面図であって、走行前の状態を示した概略縦断面図である。1 is a schematic longitudinal sectional view showing an embodiment of an automatic traveling robot according to the present invention, and is a schematic longitudinal sectional view showing a state before traveling. FIG. 図１の下面図である。It is a bottom view of FIG. 走行開始時及び走行中の状態を示した概略縦断面図である。It is the schematic longitudinal cross-sectional view which showed the state at the time of a driving | running | working start and driving | running | working. 図３の下面図である。FIG. 4 is a bottom view of FIG. 3.

符号の説明Explanation of symbols

１ 自動走行ロボット
２ 脚部 ２ａ 外面
２ｂ 内面 ２ｃ、２ｄ 周方向の端面
３ 毛状体群 ４ 毛状体の束
５ 毛状体 ６ 駆動手段
７ 連結機構 ８ 一方の連結部材
９ 他方の連結部材 １０ ピン
１１ スライダ機構 １２ スライド軸
１３ スライダ １４ 駆動機構
１５ 駆動モータ １６ 出力軸
１７ 変換機構 １８ ねじ軸
１９ 可動ねじ ２０ 加振手段
２１ 駆動モータ ２２ 連結機構
２３ 一方の連結部材 ２４ 他方の連結部材
２５ ピン ３０ 管路
３１ 内壁面 DESCRIPTION OF SYMBOLS 1 Automatic traveling robot 2 Leg part 2a Outer surface 2b Inner surface 2c, 2d End face of the circumferential direction 3 Hairy group 4 Hairy bundle 5 Hairy body 6 Drive means 7 Connection mechanism 8 One connection member 9 The other connection member 10 Pin 11 Slider mechanism 12 Slide shaft 13 Slider 14 Drive mechanism 15 Drive motor 16 Output shaft 17 Conversion mechanism 18 Screw shaft 19 Movable screw 20 Excitation means 21 Drive motor 22 Connection mechanism 23 One connection member 24 The other connection member 25 Pin 30 Pipe 31 Inner wall surface

Claims (2)

周方向の両端面が互いに対向するように対向配置されるとともに、互いに接近、離隔可能な一対の略半円筒状の脚部と、
各脚部の外面に、長手方向に所定の間隔ごとに複数段に、かつ各段に周方向に所定の間隔ごとに複数箇所に設けられ、各々が各脚部の外面から外方に突出し、かつ各脚部の外面に対して所定の角度で傾斜する、複数の毛状体を束ねて構成した複数の毛状体の束と、
前記各脚部の内面側に、各脚部の長手方向に沿うようにそれぞれ固定される一対のスライド軸と、各スライド軸にスライド自在に設けられるスライダとからなるスライダ機構と、
一端が前記一方の脚部のスライド軸の一端にピン結合され、他端が前記他方の脚部のスライダにピン結合される一方の連結部材と、一端が前記他方の脚部のスライド軸の一端にピン結合され、他端が前記一方の脚部のスライド軸のスライダにピン結合されるとともに、中間部が前記一方の連結部材の中間部にピン結合される他方の連結部材とからなる連結機構と、
前記一方の脚部のスライド軸のスライダをスライドさせる駆動機構と、
前記両脚部の端部間に設けられる駆動モータと、該駆動モータの出力軸に重心が偏心した状態で取り付けられる錘体と、該駆動モータと前記一方の脚部の端部との間、及び該駆動モータと前記他方の脚部の端部との間にピン結合される一対の連結部材とからなる加振手段とを備えていることを特徴とする自動走行ロボット。 A pair of substantially semi-cylindrical legs that are disposed opposite to each other so that the opposite end faces in the circumferential direction are opposed to each other ,
Provided on the outer surface of each leg in a plurality of stages at predetermined intervals in the longitudinal direction and on each stage in a plurality of positions at predetermined intervals in the circumferential direction, each projecting outward from the outer surface of each leg , And a bundle of a plurality of hairs configured by bundling a plurality of hairs, which is inclined at a predetermined angle with respect to the outer surface of each leg ,
A slider mechanism comprising a pair of slide shafts fixed to the inner surface side of each leg portion along the longitudinal direction of each leg portion, and a slider slidably provided on each slide shaft;
One connecting member whose one end is pin-coupled to one end of the slide shaft of the one leg portion, and the other end is pin-coupled to the slider of the other leg portion, and one end is one end of the slide shaft of the other leg portion A coupling mechanism comprising: the other end of which is pin-coupled to the slider of the slide shaft of the one leg, and the other middle of which is pin-coupled to the middle of the one coupling member. When,
A drive mechanism for sliding the slider of the slide shaft of the one leg,
A drive motor provided between the ends of the both legs, a weight attached to the output shaft of the drive motor in a state where the center of gravity is eccentric, between the drive motor and the end of the one leg, and An automatic traveling robot comprising: a vibration means comprising a pair of connecting members pin-coupled between the drive motor and an end of the other leg portion . 前記脚部は、接近したときに外形が円形状をなし、離隔したときに外形が長円形状をなすように構成されていることを特徴とする請求項１に記載の自動走行ロボット。 The automatic traveling robot according to claim 1, wherein the leg portion is configured such that the outer shape forms a circular shape when approaching, and the outer shape forms an oval shape when separated .
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