JPH05213240A - Transfer device - Google Patents
Transfer deviceInfo
- Publication number
- JPH05213240A JPH05213240A JP1968492A JP1968492A JPH05213240A JP H05213240 A JPH05213240 A JP H05213240A JP 1968492 A JP1968492 A JP 1968492A JP 1968492 A JP1968492 A JP 1968492A JP H05213240 A JPH05213240 A JP H05213240A
- Authority
- JP
- Japan
- Prior art keywords
- gas cylinder
- transfer device
- obstacle
- drive
- transfer
- 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.)
- Granted
Links
Landscapes
- Steering Controls (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は原子力プラントの建物内
における目視点検装置の移行台車に適用される階段や不
整地などを移動する移行装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer device for moving a stairway or an uneven terrain, which is applied to a transfer cart of a visual inspection device in a nuclear plant.
【０００２】[0002]
【従来の技術】原子力プラントにおいてはその建物内を
定期的に目視点検装置しなければならない。このような
建物内には階段や部屋間の敷居などの移行障害が多く、
単なる移行台車に目視点検装置を搭載しただけでは十分
に点検を行うことができない。従って、階段や不整地な
どを移動できるものが従来から使用されている。2. Description of the Related Art In a nuclear power plant, the inside of the building must be regularly inspected visually. In such a building, there are many transitional obstacles such as stairs and sills between rooms,
It is not possible to carry out sufficient inspections simply by installing a visual inspection device on the transfer cart. Therefore, those that can move on stairs or uneven terrain have been conventionally used.
【０００３】図４に従来の移行装置を示す。同図に示す
ように、この移行装置は四脚歩行式の移行装置であっ
て、左右一対の駆動輪１０１を有する走行台車１０２の
上部には点検装置本体１０３が取付けられ、走行台車１
０２の前後には一対のリンク機構からなる脚部１０４，
１０５が取付けられている。FIG. 4 shows a conventional transfer device. As shown in the figure, this transfer device is a quadrupedal transfer device, and an inspection device main body 103 is attached to an upper portion of a traveling carriage 102 having a pair of left and right driving wheels 101.
Before and after 02, the leg portion 104 including a pair of link mechanisms,
105 is attached.
【０００４】而して、この移行装置が床面１０６から階
段１０７を登って移動するには、前後の脚部１０４，１
０５を屈伸させると共に左右の駆動輪１０１を回転駆動
することで行う。従って、点検装置本体１０３は、同図
に矢印で示すように、移動することができる。Thus, in order for the transfer device to move up the stairs 107 from the floor 106, the front and rear legs 104, 1
05 is bent and stretched, and the left and right drive wheels 101 are rotationally driven. Therefore, the inspection device body 103 can move as indicated by the arrow in the figure.
【０００５】[0005]
【発明が解決しようとする課題】上述した従来の移行装
置にあっては、階段１０７の形状に合わせて前後の脚部
１０４，１０５を屈伸すると共に左右の駆動輪１０１を
回転駆動して点検装置本体１０３を移動させるものであ
る。脚部１０４，１０５及び駆動輪１０１の駆動は、通
常、制御装置を用いて制御している。ところが、この場
合、移動する部位によって脚部１０４，１０５の移動量
や移動範囲、あるいは駆動輪１０１の回転速度などが異
なり、その機構や制御自体が複雑となってしまうという
問題があった。また、この移行装置は脚部１０４，１０
５及び駆動輪１０１によって起立状態を保持しているた
め、不整地などで転倒しやすく、転倒した場合には姿勢
の復帰が困難であるという問題があった。In the above-mentioned conventional transition device, the front and rear legs 104 and 105 are bent and stretched in accordance with the shape of the stairs 107, and the left and right drive wheels 101 are rotationally driven to inspect the inspection device. The main body 103 is moved. The drive of the legs 104 and 105 and the drive wheel 101 is usually controlled by a control device. However, in this case, there is a problem in that the moving amount and moving range of the leg portions 104 and 105, the rotation speed of the drive wheels 101, and the like differ depending on the moving portion, and the mechanism and control itself become complicated. In addition, this transfer device also includes legs 104 and 10
Since the standing state is maintained by the vehicle 5 and the drive wheel 101, there is a problem that it is easy to fall down on an uneven terrain or the like, and it is difficult to restore the posture when falling down.
【０００６】本発明はこのような問題点を解決するもの
であって、転倒を防止すると共に機構及び制御の簡素化
を図った移行装置を提供することを目的とする。The present invention solves such problems, and an object of the present invention is to provide a transfer device which prevents a fall and simplifies the mechanism and control.
【０００７】[0007]
【課題を解決するための手段】上述の目的を達成するた
めの本発明の移行装置は、並設され独立して駆動する一
対の駆動輪を有する走行台車上に伸縮自在なガスシリン
ダを立設し、該ガスシリンダの上部に傾斜用操舵機構を
有するジャイロスコープ状揚力起立機構を設けたことを
特徴とするものである。SUMMARY OF THE INVENTION In order to achieve the above-mentioned object, a transfer device of the present invention is provided with an expandable gas cylinder standing on a traveling carriage having a pair of driving wheels which are arranged in parallel and driven independently. However, a gyroscopic lift raising mechanism having a tilting steering mechanism is provided above the gas cylinder.
【０００８】[0008]
【作用】移行装置を移動するには、ジャイロスコープ状
揚力起立機構によって旋回駆動して揚力を発生させて装
置本体を起立させ、駆動輪を駆動して前進させる。この
とき、一対の駆動輪の回転数の差によってステアリング
操作を行う。そして、階段などの不整地の移行中に障害
物を乗り越える場合は、ガスシリンダの伸長状態で装置
本体をこの障害物近傍まで移動して傾斜用操舵機構によ
って装置本体を前方に傾斜させ、ガスシリンダを急速に
収縮して走行台車を引上げる。すると、ジャイロスコー
プ状揚力起立機構の揚力によって空中を移動して障害物
上に軟着地する。そして、再び、ガスシリンダの伸長状
態とし、駆動輪を駆動することで前進する。In order to move the shifting device, the gyroscopic lift raising mechanism swings and drives to generate a lift to raise the main body of the device and drive the drive wheels to move it forward. At this time, the steering operation is performed by the difference in the rotational speeds of the pair of drive wheels. When overcoming an obstacle during transition of uneven ground such as stairs, move the device body to the vicinity of the obstacle with the gas cylinder extended and tilt the device body forward by the tilting steering mechanism. Is quickly contracted to pull up the traveling carriage. Then, the lift force of the gyroscopic lift raising mechanism moves in the air and softly lands on an obstacle. Then, the gas cylinder is brought into the expanded state again, and the driving wheels are driven to move forward.
【０００９】[0009]
【実施例】以下、図面に基づいて本発明の実施例を詳細
に説明する。Embodiments of the present invention will now be described in detail with reference to the drawings.
【００１０】図１に本発明の一実施例に係る移行装置の
正面、図２に移行装置の平面、図３に作動説明を示す。FIG. 1 is a front view of a transfer device according to an embodiment of the present invention, FIG. 2 is a plan view of the transfer device, and FIG.
【００１１】図１及び図２に示すように、本実施例の移
行装置において、走行台車１１には独立して回転する左
右一対の駆動輪１２，１３が支持されており、それぞれ
専用の駆動装置１４，１５によって回転駆動することが
できるようになっている。この走行台車１１には伸縮自
在なガスシリンダ１６が立設されている。ガスシリンダ
１６は上部に位置する中空のシリンダケース１７とこの
シリンダケース１７に長手（上下）方向移動自在に嵌合
する中空のピストンロッド１８とからなり、両者の間に
張設された引張コイルばね１９によって急速収縮する方
向に付勢されている。そして、シリンダケース１７の上
端部には取付台座２０が取付けられる一方、ピストンロ
ッド１８の下端部は走行台車１１に取付けられている。As shown in FIGS. 1 and 2, in the shifting device of this embodiment, a pair of left and right drive wheels 12 and 13 that rotate independently is supported by a traveling carriage 11, and each drive device is dedicated. It can be rotationally driven by 14 and 15. A gas cylinder 16 that can expand and contract is erected on the traveling carriage 11. The gas cylinder 16 is composed of a hollow cylinder case 17 located at the upper part and a hollow piston rod 18 fitted in the cylinder case 17 so as to be movable in the longitudinal (vertical) direction. A tension coil spring stretched between the two. It is biased by 19 in the direction of rapid contraction. The mounting pedestal 20 is attached to the upper end of the cylinder case 17, while the lower end of the piston rod 18 is attached to the traveling carriage 11.
【００１２】また、ガスシリンダ１６の外周部には制御
弁やコンプレッサ、チャンバ等を有するガス圧給排系ユ
ニット２１が装着され、ガスシリンダ１６と配管２２，
２３によって連結されている。更に、ガスシリンダ１６
の外周部には電源・制御系ユニット２４が装着され、こ
の電源・制御系ユニット２４には指向駆動系付目視装置
２５が搭載されている。A gas pressure supply / discharge system unit 21 having a control valve, a compressor, a chamber, etc. is mounted on the outer peripheral portion of the gas cylinder 16, and the gas cylinder 16 and the pipe 22,
It is connected by 23. Furthermore, the gas cylinder 16
A power supply / control system unit 24 is mounted on the outer periphery of the power supply / control system unit 24.
【００１３】ガスシリンダ１６の取付台座２０には傾斜
用操舵機構を介してジャイロスコープ状揚力起立機構が
設けられている。傾斜用操舵機構において、同心円の円
環状のフレーム３１，３２，３３がそれぞれ対向して設
けられた一対の軸受３４，３５によって回転自在に支承
されている。即ち、フレーム３１は一対の軸受３４によ
ってフレーム３２に対してＸ軸をもって回転自在であ
り、フレーム３２は一対の軸受３５によってフレーム３
３に対してＸ軸と直行するＹ軸をもって回転自在であ
る。そして、このフレーム３３の下部はガスシリンダ１
６の取付台座２０に固定されている。The mounting base 20 of the gas cylinder 16 is provided with a gyroscopic lift raising mechanism via a tilting steering mechanism. In the tilting steering mechanism, concentric annular frames 31, 32, 33 are rotatably supported by a pair of bearings 34, 35 provided facing each other. That is, the frame 31 is rotatable about the X axis with respect to the frame 32 by the pair of bearings 34, and the frame 32 is rotatable by the pair of bearings 35.
It has a Y-axis that is orthogonal to the X-axis with respect to 3, and is rotatable. The lower part of the frame 33 is the gas cylinder 1.
It is fixed to the mounting base 20 of 6.
【００１４】ジャイロスコープ状揚力起立機構は上述し
たフレーム３１内に設けられている。即ち、フレーム３
１内にはその中央に円板状の水平をなす支持台３６が位
置し、この支持台３６はフレーム３１の内周面の四方か
ら延設された４つのスタビライザ３７（図１では２つ開
示）によって支持されている。支持台３６の中央部には
回転軸３８によってリング付プロペラ３９が回転自在に
取付けられ、 このプロペラ３９の外周部には複数の鼓状
のガイドローラ４０を介して球帯状のリングウイング４
１が反転旋回自在に装着されている。プロペラ３９の回
転軸３８はハウジング４２内に設けられた小型高出力の
駆動装置４３によって回転駆動することができる。The gyroscopic lift raising mechanism is provided in the frame 31 described above. That is, frame 3
A disk-shaped horizontal support base 36 is located in the center of the frame 1. The support base 36 includes four stabilizers 37 extending from four sides of the inner peripheral surface of the frame 31 (two are disclosed in FIG. 1). ) Is supported by. A propeller 39 with a ring is rotatably attached to a central portion of the support base 36 by a rotating shaft 38, and a spherical ring-shaped ring wing 4 is provided on an outer peripheral portion of the propeller 39 via a plurality of drum-shaped guide rollers 40.
1 is mounted so that it can be turned and rotated freely. The rotary shaft 38 of the propeller 39 can be rotationally driven by a small-sized and high-power drive device 43 provided in the housing 42.
【００１５】また、４つのスタビライザ３７の下方には
各スタビライザ３７とフレーム３１との間に四本の駆動
軸４４（図１では２つ開示）が回転自在に支承され、こ
の駆動軸４４にそれぞれフラップ４５が固結されると共
に、各駆動軸４４の一端には操舵用駆動装置４６が連結
されている。Further, below the four stabilizers 37, four drive shafts 44 (two disclosed in FIG. 1) are rotatably supported between the stabilizers 37 and the frame 31, and the drive shafts 44 are respectively supported. The flap 45 is fixed, and a steering drive device 46 is connected to one end of each drive shaft 44.
【００１６】而して、移行装置を移動するには、駆動装
置４３を駆動して回転軸３８を介してプロペラ３９を回
転させる。すると、この回転力は複数の鼓状のガイドロ
ーラ４０を介してリングウイング４１に伝達され、この
リングウイング４１はプロペラ３９とは逆方向に旋回
し、スピン力がキャンセルされて揚力が発生する。従っ
て、装置本体が起立し、このときにガス圧給排系ユニッ
ト２１によってガスシリンダ１６に圧縮ガスを供給して
伸長させた状態とし、各駆動装置１４，１５を駆動する
ことによって駆動輪１２，１３を回転駆動し、平地上を
走行台車１１が装置本体を前進させる。この状態で目視
装置２５によって目視点検が行われる。なお、一対の駆
動輪１２，１３の回転数を変化させることで、その差に
よってステアリング操作を行うことができる。In order to move the transfer device, the drive device 43 is driven to rotate the propeller 39 via the rotary shaft 38. Then, this rotational force is transmitted to the ring wing 41 via the plurality of hourglass-shaped guide rollers 40, the ring wing 41 turns in the direction opposite to the propeller 39, the spin force is canceled, and lift is generated. Therefore, the apparatus main body stands up, and at this time, the gas pressure supply / exhaust system unit 21 supplies the compressed gas to the gas cylinder 16 to make it extend, and the drive wheels 12, 15 are driven by driving the respective drive devices 14, 15. 13 is rotationally driven, and the traveling carriage 11 advances the main body of the apparatus on the level ground. In this state, visual inspection is performed by the visual device 25. By changing the rotational speeds of the pair of drive wheels 12 and 13, the steering operation can be performed by the difference.
【００１７】また、移行装置が階段などの不整地の移行
中に階段５１を乗り越える場合には、図３（ａ）に示す
ように、ガスシリンダ１６の伸長状態で装置本体をこの
障害物近傍まで移動し、４つのフラップ４５の中から選
択して駆動装置４６によって回動し、リングウイング４
１によって発生した揚力を推進力に変え、装置本体を前
方に傾斜させる。そして、この状態でガスシリンダ１６
の圧縮ガスを排出することで引張コイルばね１９によっ
て急速に収縮し、走行台車１１を引上げる。すると、装
置本体が揚力によって瞬間的に空中に浮き、図３（ｂ）
に示すように、振子の原理で装置本体がリングウイング
４１の中心部を支点として揺動して垂下状態となりなが
ら階段５１上に軟着地する。着地後は、図３（ｃ）に示
すように、再び、ガスシリンダ１６を伸長状態として装
置本体を押し上げ、前述と同様に、各駆動装置１４，１
５を駆動することによって駆動輪１２，１３を回転駆動
して前進させる。Further, when the transfer device climbs over the stairs 51 during the transfer of uneven terrain such as stairs, as shown in FIG. 3 (a), the main body of the device is extended to the vicinity of the obstacle with the gas cylinder 16 extended. The ring wing 4 is moved, selected from the four flaps 45 and rotated by the drive device 46.
The lift force generated by 1 is converted into propulsion force, and the main body of the apparatus is tilted forward. Then, in this state, the gas cylinder 16
When the compressed gas is discharged, the tension coil spring 19 rapidly contracts and the traveling carriage 11 is pulled up. Then, the main body of the device momentarily floats in the air due to the lift force, as shown in FIG.
As shown in FIG. 3, the main body of the apparatus swings around the center of the ring wing 41 as a fulcrum by the principle of a pendulum and softly lands on the stairs 51 while being in a hanging state. After landing, as shown in FIG. 3 (c), the gas cylinder 16 is expanded again to push up the main body of the apparatus, and each drive device 14, 1 is moved in the same manner as described above.
By driving 5, the driving wheels 12 and 13 are rotationally driven and moved forward.
【００１８】[0018]
【発明の効果】以上、実施例を挙げて詳細に説明したよ
うに本発明の移行装置によれば、並設され独立して駆動
する一対の駆動輪を有する走行台車上に伸縮自在なガス
シリンダを立設し、そのガスシリンダの上部に傾斜用操
舵機構を有するジャイロスコープ状揚力起立機構を設け
たので、移行中に障害物を乗り越える場合は、装置本体
をこの障害物近傍まで移動して前方を傾斜させ、ガスシ
リンダを急速に収縮して走行台車を引上げることで揚力
によって空中を移動することで簡単に障害物を乗り越え
ることができ、装置の転倒を防止することができる。ま
た、機構及び制御系の簡素化を図ることができ、容易に
不整地などの点検作業を行うことができる。As described above in detail with reference to the embodiments, according to the transition device of the present invention, the gas cylinder which can be expanded and contracted on the traveling carriage having a pair of driving wheels arranged in parallel and independently driven. Since a gyroscopic lift lifting mechanism with a tilting steering mechanism was installed on the upper part of the gas cylinder, when overcoming an obstacle during transition, move the device body to the vicinity of this obstacle and move forward. It is possible to easily get over the obstacle and prevent the device from tipping over by inclining the gas cylinder, rapidly contracting the gas cylinder and pulling up the traveling carriage to move in the air by lift. In addition, the mechanism and control system can be simplified, and inspection work on uneven terrain can be easily performed.
【図１】本発明の一実施例に係る移行装置の正面図であ
る。FIG. 1 is a front view of a transfer device according to an embodiment of the present invention.
【図２】移行装置の平面図である。FIG. 2 is a plan view of a transfer device.
【図３】移行装置の作動説明図である。FIG. 3 is an operation explanatory view of a transfer device.
【図４】従来の移行装置の正面図である。FIG. 4 is a front view of a conventional transfer device.
１１ 走行台車 １２，１３ 駆動輪 １６ ガスシリンダ ２５ 目視装置 ３１，３２，３３ フレーム ３９ プロペラ ４１ リングウイング ４３ 駆動装置 ４５ フラップ 11 Traveling vehicle 12, 13 Drive wheel 16 Gas cylinder 25 Visual device 31, 32, 33 Frame 39 Propeller 41 Ring wing 43 Drive device 45 Flap
Claims (1)
を有する走行台車上に伸縮自在なガスシリンダを立設
し、該ガスシリンダの上部に傾斜用操舵機構を有するジ
ャイロスコープ状揚力起立機構を設けたことを特徴とす
る移行装置。1. A gyroscope-like lift upright having a telescopic gas cylinder standing on a traveling carriage having a pair of driving wheels arranged side by side and independently driven, and having a tilting steering mechanism above the gas cylinder. A transfer device having a mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1968492A JP3129344B2 (en) | 1992-02-05 | 1992-02-05 | Transition device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1968492A JP3129344B2 (en) | 1992-02-05 | 1992-02-05 | Transition device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH05213240A true JPH05213240A (en) | 1993-08-24 |
| JP3129344B2 JP3129344B2 (en) | 2001-01-29 |
Family
ID=12006066
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1968492A Expired - Fee Related JP3129344B2 (en) | 1992-02-05 | 1992-02-05 | Transition device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3129344B2 (en) |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5701965A (en) * | 1993-02-24 | 1997-12-30 | Deka Products Limited Partnership | Human transporter |
| US5971091A (en) * | 1993-02-24 | 1999-10-26 | Deka Products Limited Partnership | Transportation vehicles and methods |
| US6553271B1 (en) | 1999-05-28 | 2003-04-22 | Deka Products Limited Partnership | System and method for control scheduling |
| US6571892B2 (en) | 1999-03-15 | 2003-06-03 | Deka Research And Development Corporation | Control system and method |
| JP2007320336A (en) * | 2006-05-30 | 2007-12-13 | Toyota Motor Corp | Inverted wheel type moving body and its control method |
| US9188984B2 (en) | 1999-06-04 | 2015-11-17 | Deka Products Limited Partnership | Control of a personal transporter based on user position |
| US9545963B2 (en) | 2002-07-12 | 2017-01-17 | DEKA Products Limited Partnership LLP | Control of a transporter based on attitude |
| USD803963S1 (en) | 2016-07-20 | 2017-11-28 | Razor Usa Llc | Two wheeled board |
| USD807457S1 (en) | 2016-07-20 | 2018-01-09 | Razor Usa Llc | Two wheeled board |
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| CN111270608A (en) * | 2020-03-09 | 2020-06-12 | 浙江大学 | Wall-climbing robot for detection in steel box girder of large-span bridge |
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| USD941948S1 (en) | 2016-07-20 | 2022-01-25 | Razor Usa Llc | Two wheeled board |
| US11399995B2 (en) | 2016-02-23 | 2022-08-02 | Deka Products Limited Partnership | Mobility device |
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| US5971091A (en) * | 1993-02-24 | 1999-10-26 | Deka Products Limited Partnership | Transportation vehicles and methods |
| US5701965A (en) * | 1993-02-24 | 1997-12-30 | Deka Products Limited Partnership | Human transporter |
| US6571892B2 (en) | 1999-03-15 | 2003-06-03 | Deka Research And Development Corporation | Control system and method |
| US6553271B1 (en) | 1999-05-28 | 2003-04-22 | Deka Products Limited Partnership | System and method for control scheduling |
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| US11720115B2 (en) | 2016-04-14 | 2023-08-08 | Deka Products Limited Partnership | User control device for a transporter |
| US10802495B2 (en) | 2016-04-14 | 2020-10-13 | Deka Products Limited Partnership | User control device for a transporter |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP3129344B2 (en) | 2001-01-29 |
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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: 20001003 |
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| LAPS | Cancellation because of no payment of annual fees |