JPS60166573A - Travelling vehicle - Google Patents
Travelling vehicleInfo
- Publication number
- JPS60166573A JPS60166573A JP59023158A JP2315884A JPS60166573A JP S60166573 A JPS60166573 A JP S60166573A JP 59023158 A JP59023158 A JP 59023158A JP 2315884 A JP2315884 A JP 2315884A JP S60166573 A JPS60166573 A JP S60166573A
- Authority
- JP
- Japan
- Prior art keywords
- legs
- vehicle
- vehicle body
- attached
- stairs
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automatic Cycles, And Cycles In General (AREA)
- Handcart (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の技術分野〕
本発明は原子力発電所や一般のプラント等の内部の点検
監視、作業を行なう除使用される走行車に係り、特に無
人で遠隔操作されるのに好適々走行車に関する。[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to a traveling vehicle used for inspecting, monitoring, and performing work inside a nuclear power plant or a general plant, and particularly relates to a vehicle that is unmanned and remotely controlled. The invention preferably relates to a running vehicle.
近年、原子力発電所や一般のプラント等においては、放
射緋下の作業や危険な作業から人間を解放する要望が強
く、そのためかかる作業にあたってはロボット等が使用
されている。In recent years, in nuclear power plants, general plants, etc., there is a strong desire to relieve humans from work under intense radiation or dangerous work, and therefore robots and the like are being used for such work.
ところで、かかる作業を行なうロボット等には、平地だ
けでなく障害物や階段といった複Ｈな走行路全移動する
能力が必要とされる。By the way, robots and the like that perform such work are required to have the ability to move not only on flat ground, but also on complex paths such as obstacles and stairs.
そこで、複雑な走行路を移動することができるものとし
て、人間と同様に走行可能なものまたは車輪やキャタピ
ラ全オｌ用したものが考えられている。Therefore, as a device capable of moving on a complicated running path, a device that can run in the same way as a human, or a device that uses wheels or caterpillars entirely is being considered.
しかしながら、これらの機構は制御が複雑であったり、
階段等に工夫を要したり、またＭ索が嵩訃などの難点が
ある。However, these mechanisms are complicated to control,
There are some drawbacks, such as the stairs requiring some ingenuity and the M cables being bulky.
本発明は、かかる点に鑑みなされたものであり、構造が
簡単かつ軽量で、しかも制御性が良く、さらに適用範囲
の広い走行車全提供すること全目的とする。The present invention has been made in view of the above points, and an object thereof is to provide a traveling vehicle that has a simple structure, is lightweight, has good controllability, and has a wide range of applications.
本発明は、下面に階段等と停会する保止段部の形成され
た車体と、この車体の前後に取り付けられ進行方向に直
交する一対の水平軸と、各水平軸の両端に取り付けられ
水平軸の周りに回転自在な脚と、各脚の先端部に取り付
けられた車輪とを有し、各車輪は独立的に駆動されるよ
うに構成されたものである。The present invention comprises a vehicle body having a retaining step on the lower surface that stops with stairs, etc., a pair of horizontal shafts attached to the front and rear of the vehicle body and perpendicular to the direction of travel, and a horizontal shaft attached to both ends of each horizontal shaft. It has legs that are rotatable around an axis and wheels attached to the tips of each leg, and each wheel is configured to be driven independently.
以下、本発明全図面に示す実施列に基づいて説明する。 Hereinafter, the present invention will be explained based on the implementation sequence shown in all the drawings.
第１図は本発明に係る走行車の実施例を示すもので、車
体ｌの下面には横方向に延在する枠数の係止段部２が鋸
歯状をなすように単体１の走行方向に連設されている。FIG. 1 shows an embodiment of a traveling vehicle according to the present invention, in which locking step portions 2 of a number of frames extending in the lateral direction are provided on the lower surface of the vehicle body 1 in a sawtooth shape in the traveling direction of the unit 1. It is connected to.
この係止段部２は伊達の階段ｌＯ等に係会されるもので
あり、走行車が階段１０等を昇降する際使用される。ま
た、単体１の前部および後部には各１対の脚３，４が左
右に取り付けられている。この脚３，４は走行車の走行
方向に直交する水平＋１１１５．６の周りに回転自在と
されている。また、脚３．４の先躊部には重輪７，８が
取り酊けられている。この車輪７．８は独立的に駆動さ
れるように構成されている。This locking step portion 2 is connected to a staircase 10 or the like, and is used when the vehicle goes up or down the stairs 10 or the like. Furthermore, a pair of legs 3 and 4 are attached to the front and rear parts of the unit 1 on the left and right sides, respectively. The legs 3 and 4 are rotatable around a horizontal line +1115.6 perpendicular to the traveling direction of the vehicle. Furthermore, heavy wheels 7 and 8 are attached to the tip of the legs 3.4. This wheel 7.8 is designed to be driven independently.
続いて、この走行車の作用について暇明する。Next, we will explain the function of this running vehicle.
第２図へ〜Ｄは平地走行時における走行車の作用を示し
ている。この第２図Ａ−Ｄに示すように、脚３．４を適
宜回転させることにより、車体１の高さまたは水平方向
に対する角度を変えることができる。Figures 2 to 2D show the action of the vehicle when running on flat ground. As shown in FIGS. 2A to 2D, the height of the vehicle body 1 or the angle with respect to the horizontal direction can be changed by appropriately rotating the legs 3.4.
第３図Ａ、Ｂは旋回時における走行中の作用を示してい
る。即ち、脚３，４を第３図Ｂに示すように閉脚させる
よう脚３金時計方向にまた脚４を反時計方向にそれぞれ
回転させ前後のホイルペーヌを短かくする。続いて、左
右の車輪７．８を一側において同方向となるように互い
に反転させて、走行車を第３図Ａに矢印で示す方向に回
転させる。FIGS. 3A and 3B show the action during running when turning. That is, the legs 3 and 4 are rotated clockwise and leg 4 counterclockwise so that the legs 3 and 4 are closed as shown in FIG. 3B, thereby shortening the front and rear foil panels. Subsequently, the left and right wheels 7.8 are reversed so that they run in the same direction on one side, and the vehicle is rotated in the direction shown by the arrow in FIG. 3A.
この場合、左右の車輪７．８の回転数の差金自由に選択
できるようにしておけば、走行車を任意の曲率半径で旋
回させることが可能である。In this case, if the difference between the rotational speeds of the left and right wheels 7.8 can be freely selected, it is possible to turn the vehicle with an arbitrary radius of curvature.
第４図へ〜Ｆは配管等の障害物９全乗り越える場合の走
行車の作用を示している。この場合には先ず、走行車を
障害物９に近接する位置まで進行させる。次いで、第４
図へに示すように、車体１７＞ｉ ＠ＡＴ方へ突出する
よう脚３，４を時計方向に回転させる。この脚３．４の
回転により車体１の高さを漸次低くシ、第４図Ｂに示す
ように、車体１の前部下面の係止段部２を障害物９と当
接させる。Figures 4 to 4F show the action of the vehicle when it overcomes all obstacles 9 such as pipes. In this case, first, the vehicle is moved to a position close to the obstacle 9. Then the fourth
As shown in the figure, the legs 3 and 4 are rotated clockwise so that they protrude toward the vehicle body 17>i@AT. This rotation of the legs 3.4 gradually lowers the height of the vehicle body 1, causing the locking step 2 on the lower front surface of the vehicle body 1 to come into contact with the obstacle 9, as shown in FIG. 4B.
続いて、前部の脚３のみを第４図ｋにおけると同じ方向
即ち時計方向に回転させる。この回転中車体１は後部の
脚４と障害物９とによって支持されている。そして、前
部の脚３の先端部に取り付けられた車輪７が第４図Ｃに
示すように接地されたなら脚３．４を閉脚させるように
脚３金時計方向にまた脚４を反時計方向に回転させて車
体１の下面の係止段部２と障害物９との当接状態全解除
させる。続いて、第４図りに示すように、走行車を少し
前進させる。次いで、第４図Ｅに示すように脚３を反時
計方向にまた脚４を時計方向に回転させて車体１の下面
の係止段部２を障害物９に当接させる。係止段ＶＡ２が
障害物９に当接されたら、後部の脚４のみを第４図Ｅに
おけると同じ方向１２１Ｊち時計方向に回転させる。そ
して、後部の脚４の先端部に取り付けられた重輪８が第
４図Ｆに示すように接地されたなら脚３．４を時計方向
に回転させる。Subsequently, only the front leg 3 is rotated in the same direction as in FIG. 4k, ie clockwise. During this rotation, the vehicle body 1 is supported by the rear legs 4 and the obstacle 9. When the wheels 7 attached to the tips of the front legs 3 touch the ground as shown in FIG. direction to completely release the contact between the locking step 2 on the lower surface of the vehicle body 1 and the obstacle 9. Next, as shown in the fourth diagram, the vehicle is moved forward a little. Next, as shown in FIG. 4E, the legs 3 are rotated counterclockwise and the legs 4 are rotated clockwise to bring the locking step 2 on the lower surface of the vehicle body 1 into contact with the obstacle 9. When the locking step VA2 comes into contact with the obstacle 9, only the rear leg 4 is rotated clockwise in the same direction 121J as in FIG. 4E. Then, when the heavy wheels 8 attached to the tips of the rear legs 4 touch the ground as shown in FIG. 4F, the legs 3.4 are rotated clockwise.
第５図Ａ−Ｅは階段を昇る場合の走行車の作用を示して
いる。この場合には先ず、走行車を階段１０に近接する
位置まで進行させる。次いで、第５図へに示すように、
車体ｌが前方へ突出するよう脚３，４を時計方向に回転
させる。この脚３．４の回転により車体１の高さを漸次
低くシ、中休１の前部下面の係止段部２を階段１０の第
１段目に当接させる。続いて、６１１部の脚３のみ全第
５図Ａにおけると同じ方向１２１Ｊ ｆｐ時酊方向に回
転させ、第５図Ｂに示すように、前部の脚３に取り付け
られた車輪７を階段ＩＯの第２段目に当接させる。続い
て、脚３全第５図Ｂにおけると同じ方向即ち時計方向に
回転させると共に走行車を前進させる。この結果、第５
図Ｃに示すように車体ｌの係止段部２と階段１０との係
合が解除され、車体１は斜め上方へ突出される。この状
態からざらに脚３を回転させてゆくと、第５図りに示す
状態金繰て、遂には第５囚Ｅに示すように車体１の下面
の係止段部２が階段（０と停会することになる。即ち、
係止段部２が第６図に示すように階段ｌＯと係合され、
この結果４５０以上の傾斜を有する階段１０であっても
車体１がずり落ちることはなくなる。ちなみに、車体ｌ
の下面が平担の場合には摩擦係数との関係で４５０以上
の階段を昇ることはできない。而して、この状態から脚
３，４を第５図Ｅに矢視する方向即ち時計方向に回転さ
せれば、走行車は順次階段を昇ってゆくことと々る。Figures 5A to 5E show the behavior of the vehicle when climbing stairs. In this case, first, the vehicle is advanced to a position close to the stairs 10. Next, as shown in Figure 5,
Rotate the legs 3 and 4 clockwise so that the vehicle body l protrudes forward. The height of the vehicle body 1 is gradually lowered by this rotation of the legs 3.4, and the locking step portion 2 on the lower front surface of the intermediate rest 1 is brought into contact with the first step of the stairs 10. Subsequently, only the leg 3 of the 611 section is rotated in the same direction as in FIG. 5A, and as shown in FIG. 5B, the wheel 7 attached to the front leg 3 is The second stage of the Subsequently, the legs 3 are all rotated in the same direction as in FIG. 5B, that is, clockwise, and the vehicle is moved forward. As a result, the fifth
As shown in FIG. C, the engagement between the locking step portion 2 of the vehicle body 1 and the stairs 10 is released, and the vehicle body 1 is projected diagonally upward. When the legs 3 are roughly rotated from this state, the state shown in Figure 5 is reached, and finally, as shown in Figure 5 E, the locking step 2 on the lower surface of the vehicle body 1 is connected to the stairs (0 and the stop). We will meet. That is,
The locking step portion 2 is engaged with the step lO as shown in FIG.
As a result, even if the stairs 10 have an inclination of 450 degrees or more, the vehicle body 1 will not slide down. By the way, the car body
If the bottom surface is flat, it will not be possible to climb more than 450 stairs due to the coefficient of friction. From this state, if the legs 3 and 4 are rotated in the direction shown by the arrows in FIG. 5E, that is, clockwise, the vehicle will ascend the stairs one by one.
第７図へ〜Ｄは階段を降りる場ばの走行車の作用を示し
ている。この場合には先ず、走行車全階段ＩＯに近接す
る位置捷で進行させる。次いで、第７図へに示すように
、車体１が前方に突出するよう脚３，４を時計方向に回
転させる。この脚３゜４の回転により重体１の高さをあ
る程哩まで低くし、その後前部の脚３のみを同方向に回
転させる。Figures 7 to 7D show the action of the vehicle when descending the stairs. In this case, the vehicle is first moved at a position close to all the stairs IO. Next, as shown in FIG. 7, the legs 3 and 4 are rotated clockwise so that the vehicle body 1 projects forward. By rotating the legs 3.degree.4, the height of the heavy body 1 is lowered to a certain extent, and then only the front legs 3 are rotated in the same direction.
この脚３の回転により途中車体１の＠部下面の係止段部
２全階段１０と係合させ、その後第７図Ｂに示すように
前部の脚３に取り付けられた車輪７を上から第１段目に
当接でせる。続いて、脚３を同方向に回転させ、第７図
Ｏに示すように、重体ｌの係止段部２と階段ｌＯとのイ
茅合全γシメ除させる。続いて、脚３．４全時計方向に
回転させ、１体１を斜め下方に突出させ゛る。そして、
申一体１の係止段部２を再度階段ｔＯＫ係合させる。而
して、脚３゜４を時開方向に回転させれば、紺行軍は順
次階段全降りてゆくことになる。By rotating this leg 3, the locking step 2 on the lower surface of the vehicle body 1 is engaged with the entire staircase 10, and then, as shown in FIG. 7B, the wheel 7 attached to the front leg 3 is inserted from above. Make contact with the first stage. Subsequently, the legs 3 are rotated in the same direction, and as shown in FIG. Subsequently, the legs 3.4 are rotated fully clockwise to cause the body 1 to protrude diagonally downward. and,
The locking step portion 2 of the trigger unit 1 is again engaged with the step tOK. If the legs 3 and 4 are rotated in the opening direction, the Blue March will descend all the stairs one by one.
このように実ｗ１列の走行車は、車体１、脚部３゜４、
車輪７，８とから構成されているため構造が簡単かつ軽
量である。また、脚３．４および車輪７．８の回転を適
宜操作することにより障害物９、階段Ｔｏといった複雑
な走行路全自由に走行することができる。加えて、脚３
，４および車輪７．８の回転のみの制御で済むのでその
制御性は向上される。また車体ｌの下面に係止段部２が
形成されているので、４５°以上の階段ｌＯであっても
自由に昇降できる。In this way, the running cars of the actual w1 row have a car body 1, legs 3°4,
Since it is composed of wheels 7 and 8, the structure is simple and lightweight. In addition, by appropriately controlling the rotation of the legs 3.4 and wheels 7.8, the vehicle can travel freely on a complicated route such as obstacles 9 and stairs To. In addition, leg 3
, 4 and the wheels 7.8, the controllability is improved. Furthermore, since the locking step portion 2 is formed on the lower surface of the vehicle body 1, the vehicle can freely ascend and descend even if the staircase is 45° or more.
なお、本発明は前記笑施列に限定されるものではなく、
水平軸５，６（第１図）全進行方向に可動自在としても
良いものである。このときには、旋回時になお一層前後
のホイルベーヌを縮めることができるので走行車の旋回
半径をより小さくし得る。Note that the present invention is not limited to the above-mentioned method,
The horizontal shafts 5, 6 (FIG. 1) may be movable in all directions of movement. In this case, since the front and rear wheel vanes can be further reduced during turning, the turning radius of the vehicle can be made smaller.
また、脚３，４全伸縮自在としても良く、このときには
、障害物９の乗り越え性能の向上や階段ｌＯの昇降性能
の向上を図ることができる。Further, the legs 3 and 4 may be fully extendable and retractable, and in this case, it is possible to improve the performance of getting over the obstacle 9 and the performance of ascending and descending the stairs 10.
さらに、水平軸５．６を進行方向に可動自在にすると共
に脚３．４全伸縮自在としても良いものである。Further, the horizontal shaft 5.6 may be freely movable in the direction of movement, and the legs 3.4 may be fully extendable and retractable.
以上Ｈ見間したように本発明の走行車は、下面に階段等
と係合する係止段部の形成された車体と、この車体の前
後に寧り付けらね進行方向に＠交する一対の水平軸と、
各水平軸の両端に敞り付けられ水平軸の周りに回転自在
が脚と、各脚の先ｉ／＃ｉ１部に散り付けられた車輪と
を有し、各車輪は独立的に駆動されるよう構成されてい
るので、構造が簡単かつ軽量となる。また、脚および車
輪の回転を適宜制御することにエリ初雑な走行路を自由
に走行できるのでその適用範囲も広い。さらに脚および
車輪の回転のみによって制御し得るのでその制御性も良
い。また、単体の下面に係止段部が形成されているので
４５°υ上の階段も自由に昇降できる。As described above, the traveling vehicle of the present invention includes a vehicle body in which a locking step portion that engages with stairs, etc. is formed on the lower surface, and a pair of locking steps attached to the front and rear of the vehicle body that intersect in the direction of travel. and the horizontal axis of
It has legs that are attached to both ends of each horizontal axis and is rotatable around the horizontal axis, and wheels that are scattered at the tip of each leg, and each wheel is driven independently. This structure makes the structure simple and lightweight. In addition, by controlling the rotation of the legs and wheels as appropriate, the vehicle can freely travel on rough roads, so its range of application is wide. Furthermore, since it can be controlled only by the rotation of the legs and wheels, the controllability is also good. Furthermore, since a locking step is formed on the lower surface of the unit, it is possible to freely go up and down stairs 45°υ above.
第１図は本発明に保る走行車の夷ｔｓ例の概略側面図、
’ｉｄ４２ ｍｌ Ａ ” Ｄは第１図の走行車の平地
走行の場合の作用状態を表わすツ１、第３図Ａ、Ｂは第
１図の走行車の旋回状態全表わす図、第４図Ａ〜Ｆは第
１図の走行車の障害物の乗り返え状態を表わす図、第５
図Ａ−にけ第１図の走行−県が階段をｒる隼１台の作用
状態を表わす１シｊ、第６［シ１け第１図の走行中の下
面に形成された係止段部と階段との係合の状態を表わす
図、第７図Ａ−Ｄは第１図の走行中が階段を降りる場合
の作用状態を表わす図である。
ｌ・・・ψ体、２・・・係止段部、３，４・・・脚、５
，６・・・水平軸、７．８・・・車輪。
出１人代理人 猪 股 渭
（１１）FIG. 1 is a schematic side view of an example of a traveling vehicle according to the present invention;
'id42 ml A '' D represents the working state of the traveling vehicle in Figure 1 when running on a flat ground. Figures 3 A and B represent the entire turning state of the traveling vehicle in Figure 1. Figure 4 A ~F is a diagram showing the state in which the traveling vehicle in Figure 1 returns to the obstacle, and Figure 5
Figure A - Traveling in Figure 1 - Prefecture represents the operating state of one Hayabusa running up the stairs. FIGS. 7A to 7D are diagrams showing the state of engagement between the part and the stairs, and FIGS. 7A to 7D are diagrams showing the operating state when the vehicle in FIG. 1 descends the stairs while traveling. l... ψ body, 2... Locking step, 3, 4... Leg, 5
, 6...Horizontal axis, 7.8...Wheel. One representative: Akira Inomata (11)
Claims (1)
と、この小体の前後に取りＮ゛けられ進行方向に旧ダす
る一対の水平軸と、各水平軸の両喘に取り付けられ水平
軸の周りに回転自在な脚と、各脚の先端部に敗り付けら
れた車輪とを有し、各車輪は独立的にＵに動されるよう
に構成されていることｅ％徴とする走行車。 ２）水平軸は進行方向に可動自在とされていること’ｆ
％徴とする特許請求の範囲第１項記載の走行車。 ３）脚は伸縮自在とされていることを特徴とする特許請
求の範囲第１項または第２項記載の走行車。[Scope of Claims] ■) A vertical body having a locking step portion formed on the lower surface to be secured to a staircase, etc., and a pair of horizontal shafts that are installed at the front and rear of this small body and extend in the direction of movement; It has a leg that is attached to both panes of each horizontal axis and is rotatable around the horizontal axis, and a wheel that is attached to the tip of each leg, so that each wheel can be independently moved in a U direction. A running vehicle that is configured as an e% characteristic. 2) The horizontal axis must be movable in the direction of travel.
A traveling vehicle according to claim 1, wherein the % is expressed as a percentage. 3) The traveling vehicle according to claim 1 or 2, wherein the legs are extendable and retractable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59023158A JPS60166573A (en) | 1984-02-10 | 1984-02-10 | Travelling vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59023158A JPS60166573A (en) | 1984-02-10 | 1984-02-10 | Travelling vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60166573A true JPS60166573A (en) | 1985-08-29 |
| JPH0471745B2 JPH0471745B2 (en) | 1992-11-16 |
Family
ID=12102789
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59023158A Granted JPS60166573A (en) | 1984-02-10 | 1984-02-10 | Travelling vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60166573A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009234534A (en) * | 2008-03-28 | 2009-10-15 | Ihi Corp | Locomotive robot |
| WO2014157863A1 (en) * | 2013-03-29 | 2014-10-02 | Kim Joon Hyung | Travelling device capable of climbing over stairs |
| CN111591363A (en) * | 2020-05-27 | 2020-08-28 | 中国人民解放军国防科技大学 | High-integration wheel leg composite mechanism and carrying platform |
-
1984
- 1984-02-10 JP JP59023158A patent/JPS60166573A/en active Granted
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009234534A (en) * | 2008-03-28 | 2009-10-15 | Ihi Corp | Locomotive robot |
| WO2014157863A1 (en) * | 2013-03-29 | 2014-10-02 | Kim Joon Hyung | Travelling device capable of climbing over stairs |
| CN111591363A (en) * | 2020-05-27 | 2020-08-28 | 中国人民解放军国防科技大学 | High-integration wheel leg composite mechanism and carrying platform |
| CN111591363B (en) * | 2020-05-27 | 2021-04-27 | 中国人民解放军国防科技大学 | High-integration wheel leg composite mechanism and carrying platform |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0471745B2 (en) | 1992-11-16 |
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