JPH022676B2 - - Google Patents
Info
- Publication number
- JPH022676B2 JPH022676B2 JP57143675A JP14367582A JPH022676B2 JP H022676 B2 JPH022676 B2 JP H022676B2 JP 57143675 A JP57143675 A JP 57143675A JP 14367582 A JP14367582 A JP 14367582A JP H022676 B2 JPH022676 B2 JP H022676B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle body
- pipe
- wheels
- manipulator
- wheel
- 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 - Lifetime
Links
- 230000007246 mechanism Effects 0.000 description 23
- 238000012544 monitoring process Methods 0.000 description 7
- 238000005096 rolling process Methods 0.000 description 7
- 230000002093 peripheral effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Description
【発明の詳細な説明】
〔発明に技術分野〕
本発明は原子炉格納容器内等の複雑な空間内を
走行する走行体に関する。
〔発明の技術的背景〕
一般に原子炉格納容器内等監視員の立入が好ま
しくない環境にある機器の点検監視をなす場合に
は遠隔操作によつて原子炉格納容器内を走行する
走行体にテレビカメラ等の監視用機器を搭載し、
この監視用機器によつて原子炉格納容器内の機器
を遠隔的に監視するものが開発されている。しか
し、原子炉格納容器内に多くの配管、機器等が収
容されており、上記の走行体はこのような複雑な
空間内を自由に走行できるものでなければならな
い。しかし、一台の走行体で複雑な空間内のすべ
ての箇所を走行させるのは困難であつた。このた
め、原子炉格納容器内に設けられたモノレールを
走行する走行体、作業員の走行用通路を走行する
走行体、配管の内外を走行する走行体等の各種の
走行体を設け、これら走行体にそれぞれ監視用機
器を搭載することが検討された。
〔背景技術の問題点〕
前記の如く多くの種類の走行体を備えるとこれ
らの走行体の保守管理が面倒となる。また、数多
くの走行体を備えると点検監視の際に他の走行体
が邪魔になる等の不具合を生じる。
〔発明の目的〕
本発明は一台の走行体でモノレール上の走行、
床面の走行、配管内外の走行等の各種態様の走行
が可能であり、原子炉格納容器内等の複雑な空間
内を自由に走行することができる走行体を提供す
ることを目的とする。
〔発明の概要〕
本発明は車体の上面および下面に車輪を設け、
またこの車体に全方向に回動自在でかつ折畳、展
開自在なマニピユレータを設け、このマニピユレ
ータの先端に車輪及びボールローラをレバーによ
つて切換え自在に設けたものである。したがつ
て、床面上を走行する場合には車体下面の車輪と
マニピユレータ先端の車輪を接地させ、安定した
走行ができる。また、配管内を走行する場合には
マニピユレータを上方に伸ばし、先端の車輪を配
管内面の上部に転接させ、安定した走行をおこな
うことができる。また、配管の外周に沿つて走行
する場合にはマニピユレータで配管を抱え込み、
先端の車輪を配管の外周上面に転接させて車体を
引上げ、車体上面の車輪を配管の下面に押圧し、
この車輪を駆動して走行することができる。ま
た、モノレールに沿つて走行する場合にはマニピ
ユレータの先端の車輪をモノレールに嵌合して車
体を引上げ、車体上面の車輪をモノレールの下面
に押圧し、この車輪を回転駆動してモノレールに
沿つて走行することができる。さらに、この車輪
によつて移動できない複雑な空間においては、ボ
ールローラに切換えることによつて、車輪の転動
方向以外の方向においても容易にかつ速やかに移
動することができる。
よつて、一台で床面の走行、配管内の走行、配
管外の走行、モノレール上の走行等の各種態様の
走行ができ、一台で原子炉格納容器内等の複雑な
空間を自由に走行することができるのである。
〔発明の実施例〕
以下図面を参照して本発明の一実施例を説明す
る。図中1は車体であつて、この車体1は前部車
体1aと後部車体1bとから構成されており、こ
れら前部車体1aおよび後部車体1bは略八面体
の形状をなしている。そして、この前部車体1a
と後部車体1bは連結器2a,2bによつて全方
向に互いに回動自在に連結され、またこれら連結
器2a,2bは前部車体1aと後部車体1bの回
動を任意の位置で固定できるように構成されてい
る。また、前部車体1aの前端および後部車体1
bの後端には上記と同様の連結器2b,2aが設
けられており、このような前部車体1aおよび後
部車体1bを複数台連結することができるように
構成されている。そして、上記前部車体1aの下
部には、操向駆動輪3が設けられており、この操
向駆動輪3は水平面内で回動して操向をなし、ま
た回転駆動されるように構成されている。また、
後部車体1bの下部には車輪4が取付けられてお
り、この車輪4はアーム5の回動により後部車輪
1bから突没自在に設けられている。また、前部
車体1aおよび後部車体1bの上面には駆動輪
6,6が設けられている。これらの駆動輪6,6
は第3図および第4図に示す如く水平面内で回動
する回動台7上に設けられ操向自在に構成されて
おり、また前部車体1aおよび後部車体1b内に
設けられた駆動機構(図示せず)によつて回転駆
動されるように構成されている。また、後部車体
1bの上面後端には集電子8が設けられており、
この集電子8は後述するモノレールに沿つて走行
する際にはこのモノレールに設けられたトロリ線
に接触して動力用の電力を給電するように構成さ
れている。さらに後部車体1bの後端にはケーブ
ル巻取機構9が設けられており、給電用のケーブ
ル10の巻取、繰出しをおこなうように構成され
ている。
また、前部車体1aの前面には立体テレビカメ
ラ11、超音波センサおよび熱電対12等の監視
用機器が設けられ、また後部車体1bの下面には
走行用センサ13が設けられており、この走行用
センサ13は床面を走行する際に床面上に設けら
れた標識を検出し走行を案内するように構成され
ている。また、前部車体1aの前端下部には搭載
物保持部14が形成され、この搭載物保持物14
には保持機構15……が設けられており、監視、
保守用の機器等の搭載物Aを保持するように構成
されている。また、上記後部車体1bにはバツテ
リボツクス16が設けられこのバツテリボツクス
16内には内部電源用のバツテリ(図示せず)が
収容されている。さらにこの後部車体1bには無
線装置17が設けられ、制御用の信号、測定信号
等の信号の伝送をおこなうように構成されてい
る。
そして、上記前部車体1aおよび後部車体1b
の上部にはそれぞれ左右一対づつのマニピユレー
タ18……が突設されている。これらマニピユレ
ータ18……は全方向に回動自在であり、かつ中
間部に関節部19……を有し、屈曲、伸展自在に
構成されている。そして、このマニピユレータ1
8……の先端には車輪機構20……が設けられて
いる。この車輪機構20は第5図および第6図に
示す如くマニピユレータ18の先端に回動自在に
設けられたアーム21と、このアーム21の先端
に回動自在に設けられたレバー22と、このレバ
ー22を回動させるシリンダ機構23と、上記レ
バー22の一端に回転自在に設けられた車輪24
と、上記レバー22の他端に設けられた全方向に
転動できるボールローラ25とから構成されてい
る。そして、車輪24を使用する場合には第5図
に示す如くシリンダ機構23によつてレバー22
を回動させ、車輪24を配管B等の外周面に転接
させ、またマニピユレータ18の先端を車輪24
の転動方向以外の方向に配管B等の表面に沿つて
移動させる場合には第6図に示す如くシリンダ機
構23によつてレバー22を回動させ、ボールロ
ーラ25を配管B等の外周面に当接させるように
構成されている。
また、上記マニピユレータ18……の先端部に
はチヤツク機構26が回動自在に設けられてお
り、このチヤツク機構26の先端部は開閉自在な
チヤツク27が設けられている。そして、このチ
ヤツク機構26は不使用時には第5図および第6
図に示す如くマニピユレータ18に沿つて折畳ま
れ、また使用時には第7図に示す如く車輪機構2
0をマニピユレータ18に沿つて折畳むとともに
チヤツク機構26を伸展させるように構成されて
いる。
次にこの一実施例の作用を説明する。まず、床
面上を走行させる場合には第8図に示す如く後部
車体1bの一対のマニピユレータ18,18を下
方に回動させてその先端部の車輪24,24を接
地させ、この車輪24,24と前部車体1bの操
向駆動輪3の3点で前部車体1bおよび後部車体
1bを支持する。なお、この場合、後部車体1b
の車輪4は後部車体1b内に没入させ、また連結
器2a,2bは回動不能に固定し、さらに前部車
体1aのマニピユレータ18,18は折畳んでお
く。そして、前部車体1aの操向駆動輪3を駆動
して床面上を走行し、また操向はこの操向駆動輪
3によつておこなう。また、走行用センサ13に
よつて床面上の標識を検出し、走行を案内する。
また、この場合の電力は内蔵されているバツテリ
から供給し、あるいはケーブル巻取機構9のケー
ブル10を原子炉格納容器内の電力線に接続し、
この電力線から給電する。
次に配管内を走行する場合には第9図および第
10図に示す如く前部車体1aの操向駆動輪3お
よび後部車体1bの車輪4を配管Bの内面の底部
に接地させて前部車体1aおよび後部車体1bを
支持し、また前部車体1aのマニピユレータ1
8,18を斜め上方に伸展させて先端の車輪2
4,24を配管Bの内面上部に当接させて転倒を
防止する。そして操向駆動輪3を駆動してこの配
管B内を走行する。なお、配管の屈曲部を通過す
る際には連結器2a,2bの固定を解除すれば配
管Bの屈曲に対して前部車体1aと後部車体1b
とが回動し、配管B屈曲部を円滑に通過すること
ができる。
次に、配管の外周面に沿つて走行する場合には
第11図および第12図に示す如く前部車体1a
および後部車体1bのマニピユレータ18……で
配管Bを抱え込み、先端部の車輪24……を配管
Bの上面に触させ、前部車体1aおよび後部車体
1bを引上げ、これらの上面に設けられている駆
動輪6,6を配管Bの下面に押圧する。そしてこ
の駆動輪6,6を回転駆動し、配管Bの外側に沿
つて走行する。なお、配管Bの屈曲部を通過する
際には連結器2a,2bの固定を解除すれば前部
車体1aと後部車体1bは配管Bの屈曲に対応し
て回動し、屈曲部を円滑に通過することができ
る。また、上記マニピユレータ18……で配管B
を抱え込む場合には、まず車輪機構20のシリン
ダ機構23によつてレバー22を回動させ、ボー
ルローラ25を配管Bの外周に転接させ、このボ
ールローラ25を配管Bの外周面に沿つて周方向
に転動させながらマニピユレータ18……を伸展
させて配管Bを抱え込み、マニピユレータ18が
配管Bを完全に抱え込んだらレバー22を回動さ
せ、車輪24を配管Bの外周に接触させる。
また、モノレール上を走行させる場合には第1
3図および第14図に示す如くマニピユレータ1
8……の先端部の車輪24……をモノレールCの
両側の案内部D,Dに嵌合し、前部車体1aおよ
び後部車体1bを引上げてこれらの上面に設けら
れた駆動輪6,6をモノレールCの下面に押圧
し、これら駆動輪6,6を回転駆動して走行す
る。この場合、集電子8をモノレールCの下面の
トロリ線(図示せず)に接触させ、給電をおこな
う。また、モノレールCの屈曲部を通過する際に
は連結器2a,2bの固定を解除すればモノレー
ルCの屈曲に対応して前部車体1aと後部車体1
bとが互いに回動し、屈曲部を円滑に通過するこ
とができる。
なお、本発明は上記の一実施例には限定されな
い。
たとえば車体は必ずしも前部車体と後部車体と
を回動自在に連結したものでなくてもよい。
また、信号の伝送は無線に限らず、有線あるい
は光通信でおこなつてもよい。
また、マニピユレータは関節よつて屈曲するも
のに限らず伸縮自在なものであつてもよい。
〔発明の効果〕
以上詳述したように本発明による走行体は、少
なくとも2以上の車体を相互に全方向に回動可能
に連結してなる車体部と、この車体部を構成する
各車体の上面及び下面に取付けられた車輪と、上
記車体部を構成する各車体に設けられ全方向に回
動自在でかつ折畳・展開自在なマニピユレータと
を具備し、このマニピユレータの先端部に車輪及
びボールローラをレバーによつて切換え自在に設
けたことを特徴とするものである。したがつて、
床面上を走行する場合には車体下面の車輪とマニ
ピユレータ先端の車輪を接地させ、安定した走行
ができる。また、配管内を走行する場合にはマニ
ピユレータを上方に伸ばし、先端の車輪を配管内
面の上部に転接させ、安定した走行をおこなうこ
とができる。また、配管の外周に沿つて走行する
場合にはマニピユレータで配管を抱え込み、先端
の車輪の配管の外周上面に転接させて車体を引上
げ、車体上面の車輪を配管の下面に押圧し、この
車輪を駆動して走行することができる。また、モ
ノレールに沿つて走行する場合にはマニピユレー
タの先端の車輪をモノレールに嵌合して車体を引
上げ、車体上面の車輪をモノレールの下面に押圧
し、この車輪を回転駆動してモノレールに沿つて
走行することができる。さらに、この車輪によつ
て移動できない複雑な空間においては、ボールロ
ーラに切換えることによつて、車輪の転動方向以
外の方向、例えば横・斜方向においても容易にか
つ速やかに移動することができる。
よつて、一台で床面の走行、配管内の走行、配
管外の走行、モノレール上の走行等の各種態様の
走行ができ、一台で原子炉格納容器内等の複雑な
空間を自由に走行することができる等その効果は
大である。 DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a traveling body that travels within a complex space such as a nuclear reactor containment vessel. [Technical Background of the Invention] Generally, when inspecting and monitoring equipment in an environment where it is undesirable for observers to enter the reactor containment vessel, a television is installed on a moving object running inside the reactor containment vessel by remote control. Equipped with monitoring equipment such as cameras,
This monitoring equipment has been developed to remotely monitor equipment inside the reactor containment vessel. However, many pipes, equipment, etc. are housed within the reactor containment vessel, and the above-mentioned traveling body must be able to freely travel within such a complex space. However, it is difficult for a single vehicle to travel to all locations within a complex space. For this purpose, various types of running bodies are installed, such as running bodies that run on monorails installed inside the reactor containment vessel, running bodies that run on worker passageways, and running bodies that run inside and outside piping. Consideration was given to equipping each body with monitoring equipment. [Problems with Background Art] As described above, when many types of running bodies are provided, maintenance and management of these running bodies becomes troublesome. Furthermore, if a large number of running bodies are provided, problems such as other running bodies getting in the way during inspection and monitoring may occur. [Object of the invention] The present invention provides a system for running on a monorail with one running body.
It is an object of the present invention to provide a traveling body that can travel in various manners such as traveling on the floor and inside and outside of piping, and can freely travel within a complex space such as a nuclear reactor containment vessel. [Summary of the invention] The present invention provides wheels on the upper and lower surfaces of a vehicle body,
Further, this vehicle body is provided with a manipulator that is rotatable in all directions and can be folded and unfolded, and wheels and ball rollers are provided at the tip of this manipulator so that they can be switched by a lever. Therefore, when running on the floor, the wheels on the underside of the vehicle body and the wheels at the tip of the manipulator are grounded, allowing stable running. In addition, when traveling inside a pipe, the manipulator is extended upward and the wheel at the tip is brought into contact with the upper part of the inner surface of the pipe, so that stable travel can be achieved. In addition, when traveling along the outer circumference of the pipe, the manipulator is used to hold the pipe and
The wheel at the tip is brought into contact with the upper surface of the outer periphery of the pipe to pull up the vehicle body, and the wheel on the upper surface of the vehicle body is pressed against the lower surface of the pipe.
The vehicle can be driven by driving these wheels. In addition, when traveling along the monorail, the wheel at the tip of the manipulator is fitted to the monorail to pull up the vehicle body, the wheels on the top of the vehicle body are pressed against the bottom surface of the monorail, and the wheels are driven to rotate and run along the monorail. Can run. Furthermore, in complex spaces where the wheels cannot be used for movement, by switching to ball rollers, it is possible to move easily and quickly in directions other than the rolling direction of the wheels. Therefore, one machine can travel in various ways such as on the floor, inside piping, outside piping, and on monorails, and can freely navigate complex spaces such as inside the reactor containment vessel. It is possible to run. [Embodiment of the Invention] An embodiment of the present invention will be described below with reference to the drawings. In the figure, 1 is a vehicle body, and this vehicle body 1 is composed of a front vehicle body 1a and a rear vehicle body 1b, and these front vehicle body 1a and rear vehicle body 1b have a substantially octahedral shape. And this front body 1a
and rear vehicle body 1b are connected to each other by connectors 2a, 2b so as to be rotatable in all directions, and these connectors 2a, 2b can fix rotation of front vehicle body 1a and rear vehicle body 1b at arbitrary positions. It is configured as follows. In addition, the front end of the front body 1a and the rear body 1
Connectors 2b and 2a similar to those described above are provided at the rear end of the vehicle b, and a plurality of such front vehicle bodies 1a and rear vehicle bodies 1b can be connected. A steering drive wheel 3 is provided at the lower part of the front vehicle body 1a, and the steering drive wheel 3 rotates within a horizontal plane to perform steering, and is configured to be rotationally driven. has been done. Also,
A wheel 4 is attached to the lower part of the rear vehicle body 1b, and this wheel 4 is provided so that it can be freely projected and retracted from the rear wheel 1b by rotation of an arm 5. Further, drive wheels 6, 6 are provided on the upper surfaces of the front vehicle body 1a and the rear vehicle body 1b. These drive wheels 6,6
As shown in FIGS. 3 and 4, it is provided on a rotating table 7 that rotates in a horizontal plane and is configured to be freely steerable, and drive mechanisms provided in the front vehicle body 1a and the rear vehicle body 1b. (not shown). Further, a collector 8 is provided at the rear end of the upper surface of the rear vehicle body 1b.
This current collector 8 is configured to come into contact with a contact wire provided on the monorail to supply power for motive power when traveling along a monorail, which will be described later. Furthermore, a cable winding mechanism 9 is provided at the rear end of the rear vehicle body 1b, and is configured to wind up and unwind a power feeding cable 10. Furthermore, monitoring equipment such as a three-dimensional television camera 11, an ultrasonic sensor, and a thermocouple 12 are provided on the front surface of the front vehicle body 1a, and a running sensor 13 is provided on the lower surface of the rear vehicle body 1b. The running sensor 13 is configured to detect signs provided on the floor and guide the running when the vehicle runs on the floor. Further, a loaded object holding portion 14 is formed at the lower front end of the front vehicle body 1a, and this loaded object holding portion 14
is provided with a holding mechanism 15... for monitoring,
It is configured to hold a load A such as maintenance equipment. Further, a battery box 16 is provided in the rear vehicle body 1b, and a battery (not shown) for an internal power source is accommodated in the battery box 16. Furthermore, this rear vehicle body 1b is provided with a wireless device 17, which is configured to transmit signals such as control signals and measurement signals. The front vehicle body 1a and the rear vehicle body 1b
A pair of manipulators 18 on the left and right are protruded from the upper part of each. These manipulators 18 are rotatable in all directions, have joints 19 in their intermediate portions, and are configured to be bendable and extendable. And this manipulator 1
A wheel mechanism 20... is provided at the tip of 8.... As shown in FIGS. 5 and 6, this wheel mechanism 20 includes an arm 21 rotatably provided at the tip of a manipulator 18, a lever 22 rotatably provided at the tip of this arm 21, and this lever. a cylinder mechanism 23 for rotating the lever 22; and a wheel 24 rotatably provided at one end of the lever 22.
and a ball roller 25 provided at the other end of the lever 22 and capable of rolling in all directions. When the wheels 24 are used, the lever 22 is moved by the cylinder mechanism 23 as shown in FIG.
is rotated to bring the wheel 24 into rolling contact with the outer peripheral surface of the pipe B, etc., and the tip of the manipulator 18 is brought into contact with the wheel
When moving along the surface of the pipe B etc. in a direction other than the rolling direction, the lever 22 is rotated by the cylinder mechanism 23 as shown in FIG. 6, and the ball roller 25 is moved along the outer peripheral surface of the pipe B etc. It is configured so that it comes into contact with the A chuck mechanism 26 is rotatably provided at the tip of the manipulator 18, and a chuck 27 that can be opened and closed is provided at the tip of the chuck mechanism 26 . When not in use, this chuck mechanism 26 is shown in FIGS. 5 and 6.
The wheel mechanism 2 is folded along the manipulator 18 as shown in the figure, and when in use, the wheel mechanism 2 is folded as shown in FIG.
0 along the manipulator 18 while extending the chuck mechanism 26 . Next, the operation of this embodiment will be explained. First, when traveling on the floor, as shown in FIG. 8, the pair of manipulators 18, 18 of the rear vehicle body 1b are rotated downward to bring the wheels 24, 24 at the tips thereof into contact with the ground. The front vehicle body 1b and the rear vehicle body 1b are supported at three points: 24 and the steering drive wheels 3 of the front vehicle body 1b. In addition, in this case, the rear vehicle body 1b
The wheels 4 are recessed into the rear vehicle body 1b, the couplers 2a, 2b are fixed unrotatably, and the manipulators 18, 18 of the front vehicle body 1a are folded. Then, the steering wheel 3 of the front vehicle body 1a is driven to run on the floor, and the steering wheel 3 is used to perform steering. Further, the running sensor 13 detects a sign on the floor and guides the running.
In this case, power is supplied from a built-in battery, or the cable 10 of the cable winding mechanism 9 is connected to a power line inside the reactor containment vessel.
Power is supplied from this power line. Next, when traveling inside the pipe, as shown in FIGS. 9 and 10, the steering drive wheels 3 of the front body 1a and the wheels 4 of the rear body 1b are grounded to the bottom of the inner surface of the pipe B, and the front It supports the vehicle body 1a and the rear vehicle body 1b, and also supports the manipulator 1 of the front vehicle body 1a.
8 and 18 diagonally upward, and the wheel 2 at the tip
4 and 24 are brought into contact with the upper part of the inner surface of the pipe B to prevent it from falling over. Then, the vehicle travels within this pipe B by driving the steering drive wheels 3. In addition, when passing through a bent part of the pipe, if the couplers 2a and 2b are released, the front body 1a and the rear body 1b will be fixed against the bend of the pipe B.
and can rotate, allowing pipe B to smoothly pass through the bent portion. Next, when traveling along the outer peripheral surface of the pipe, the front vehicle body 1a is moved as shown in FIGS. 11 and 12.
Then, the manipulator 18 of the rear body 1b holds the pipe B, makes the wheel 24 at the tip touch the top surface of the pipe B, and pulls up the front body 1a and the rear body 1b. Press the drive wheels 6, 6 against the lower surface of the pipe B. Then, the drive wheels 6, 6 are driven to rotate, and the vehicle travels along the outside of the pipe B. In addition, when passing through a bend in pipe B, if the couplers 2a and 2b are released, the front body 1a and the rear body 1b will rotate in accordance with the bend in pipe B, allowing the bend to pass smoothly. can pass. In addition, the manipulator 18...
When holding the pipe, first rotate the lever 22 by the cylinder mechanism 23 of the wheel mechanism 20 to bring the ball roller 25 into rolling contact with the outer circumference of the pipe B. The manipulators 18 are extended while rolling in the circumferential direction to hold the pipe B, and when the manipulator 18 completely holds the pipe B, the lever 22 is rotated to bring the wheels 24 into contact with the outer periphery of the pipe B. In addition, when running on a monorail, the first
As shown in Fig. 3 and Fig. 14, the manipulator 1
The wheels 24... at the tip of 8... are fitted into the guide parts D, D on both sides of the monorail C, and the front car body 1a and the rear car body 1b are pulled up and the drive wheels 6, 6 provided on the upper surfaces of these are fitted. is pressed against the lower surface of the monorail C, and the drive wheels 6, 6 are driven to rotate to travel. In this case, the current collector 8 is brought into contact with a contact wire (not shown) on the lower surface of the monorail C to supply power. Furthermore, when passing through a bend in the monorail C, by releasing the fixation of the couplers 2a and 2b, the front car body 1a and the rear car body 1 can be moved in response to the bend in the monorail C.
b can rotate relative to each other, and can smoothly pass through the bend. Note that the present invention is not limited to the above embodiment. For example, the vehicle body does not necessarily have to be a front vehicle body and a rear vehicle body that are rotatably connected. Further, signal transmission is not limited to wireless, and may be performed by wire or optical communication. Furthermore, the manipulator is not limited to one that bends at the joints, but may be one that is extendable and retractable. [Effects of the Invention] As detailed above, the traveling body according to the present invention includes a vehicle body portion formed by connecting at least two or more vehicle bodies so as to be rotatable in all directions, and each vehicle body constituting the vehicle body portion. It is equipped with wheels attached to the upper and lower surfaces, and a manipulator that is provided on each of the vehicle bodies constituting the vehicle body and is rotatable in all directions and can be folded and expanded. It is characterized in that the rollers are provided so that they can be switched freely using a lever. Therefore,
When running on the floor, the wheels on the underside of the vehicle body and the wheels at the tip of the manipulator are grounded, allowing stable running. In addition, when traveling inside a pipe, the manipulator is extended upward and the wheel at the tip is brought into contact with the upper part of the inner surface of the pipe, so that stable travel can be achieved. In addition, when traveling along the outer periphery of the pipe, the manipulator is used to hold the pipe, the wheel at the tip is brought into contact with the upper surface of the outer periphery of the pipe, the vehicle body is pulled up, the wheels on the upper surface of the vehicle body are pressed against the lower surface of the pipe, and the wheel can be driven and run. In addition, when traveling along the monorail, the wheel at the tip of the manipulator is fitted to the monorail to pull up the vehicle body, the wheels on the top of the vehicle body are pressed against the bottom surface of the monorail, and the wheels are driven to rotate and run along the monorail. Can run. Furthermore, in complex spaces where it is impossible to move using wheels, by switching to ball rollers, it is possible to move easily and quickly in directions other than the rolling direction of the wheels, such as horizontal and diagonal directions. . Therefore, one machine can travel in various ways such as on the floor, inside piping, outside piping, and on monorails, and can freely navigate complex spaces such as inside the reactor containment vessel. The effects are great, such as being able to run.
図は本発明の一実施例を示し、第1図は側面
図、第2図は正面図、第3図は駆動輪の部分の側
面図、第4図は駆動輪の部分の平面図、第5図は
車輪を使用する場合の車輪機構の正面図、第6図
はボールローラを使用する場合の車輪機構の正面
図、第7図はチヤツク機構を使用する場合のチヤ
ツク機構および車輪機構の正面図、第8図は床面
走行状態における側面図、第9図は配管内走行状
態における正面図、第10図は同側面図、第11
図は配管外走行状態における正面図、第12図は
同側面図、第13図はモノレール走行状態におけ
る正面図、第14図は同側面図である。
1……車体、1a……前部車体、1b……後部
車体、3……操向駆動輪(車輪)、4……車輪、
6……駆動輪(車輪)、18……マニピユレータ、
20……車輪機構、24……車輪。
The figures show one embodiment of the present invention, in which FIG. 1 is a side view, FIG. 2 is a front view, FIG. 3 is a side view of the driving wheel portion, FIG. 4 is a plan view of the driving wheel portion, and FIG. Figure 5 is a front view of the wheel mechanism when wheels are used, Figure 6 is a front view of the wheel mechanism when ball rollers are used, and Figure 7 is a front view of the chuck mechanism and wheel mechanism when a chuck mechanism is used. Fig. 8 is a side view when running on the floor, Fig. 9 is a front view when running inside the pipe, Fig. 10 is a side view, and Fig. 11 is a side view when running on the floor.
12 is a side view of the same, FIG. 13 is a front view of the monorail in a state of running, and FIG. 14 is a side view of the same. 1 ... Vehicle body, 1a... Front vehicle body, 1b... Rear vehicle body, 3... Steering drive wheels (wheels), 4... Wheels,
6... Drive wheel (wheel), 18... Manipulator,
20...Wheel mechanism, 24...Wheel.
Claims (1)
動可能に連結してなる車体部と、この車体部を構
成する各車体の上面及び下面に取付けられた車輪
と、上記車体部を構成する各車体に設けられ全方
向に回動自在でかつ折畳・展開自在なマニピユレ
ータと、このマニピユレータの先端部に回転自在
に設けられた車輪と、前記マニピユレータの先端
部に転動自在に設けられたボールローラと、車体
の移動状態に応じて前記ボールローラと車輪を切
換えるレバーとから成ることを特徴とする走行
体。1 A vehicle body formed by connecting at least two or more vehicle bodies rotatably in all directions, wheels attached to the upper and lower surfaces of each vehicle body constituting this vehicle body, and each vehicle body constituting the vehicle body. A manipulator provided on a vehicle body that is rotatable in all directions and can be folded and unfolded; a wheel rotatably provided at the tip of the manipulator; and a ball rotatably provided at the tip of the manipulator. A traveling body comprising a roller and a lever that switches between the ball roller and the wheels according to the moving state of the vehicle body.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP14367582A JPS5937075A (en) | 1982-08-19 | 1982-08-19 | Runner |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP14367582A JPS5937075A (en) | 1982-08-19 | 1982-08-19 | Runner |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS5937075A JPS5937075A (en) | 1984-02-29 |
JPH022676B2 true JPH022676B2 (en) | 1990-01-18 |
Family
ID=15344316
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP14367582A Granted JPS5937075A (en) | 1982-08-19 | 1982-08-19 | Runner |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS5937075A (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2772972B2 (en) * | 1989-04-28 | 1998-07-09 | 和男 山藤 | Mobile robot for work |
US10232506B2 (en) | 2014-12-26 | 2019-03-19 | Kawasaki Jukogyo Kabushiki Kaisha | Production system |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS57102782A (en) * | 1980-12-12 | 1982-06-25 | Mitsubishi Heavy Ind Ltd | Travelling device |
JPS57107949A (en) * | 1980-12-25 | 1982-07-05 | Kawasaki Steel Co | Travelling device on inner surface of steel pipe |
-
1982
- 1982-08-19 JP JP14367582A patent/JPS5937075A/en active Granted
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS57102782A (en) * | 1980-12-12 | 1982-06-25 | Mitsubishi Heavy Ind Ltd | Travelling device |
JPS57107949A (en) * | 1980-12-25 | 1982-07-05 | Kawasaki Steel Co | Travelling device on inner surface of steel pipe |
Also Published As
Publication number | Publication date |
---|---|
JPS5937075A (en) | 1984-02-29 |
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