JPS61120056A - Moving device in narrow space - Google Patents

Abstract

PURPOSE:To make the device small in size and light in weight and to obtain stable running when a space between walls is narrow and direction change without radius, by providing wheels on the back of both ends of a pair of frames intersecting crosswise. CONSTITUTION:Contact pressure of driving wheels 23, 24 and driven wheels 32, 33 to double walls is obtained by pushing out one frame 22 out of a pair of frames intersecting crosswise by a thrusting mechanism 30 at fixed pressure against another frame. Accordingly, own weight is held by frictional force of wheels and wall faces, and the device can run in all directions including vertical upward movement, inclined movement etc. Running power is obtained by forced rotation driving of wheels 23, 24. Direction of rotation of wheels 23, 24, 32, 33 can be changed freely, and the testing machine can change direction of advance freely, and can make running of direction change locus having no radius of curvature.

Description

【発明の詳細な説明】 〈産業上の利用分野〉 本発明は壁面の検査やその他の作業を行うために検査機
等の装置を搭載して走行させるための狭隘空間移動装置
に関する。DETAILED DESCRIPTION OF THE INVENTION <Industrial Field of Application> The present invention relates to a narrow space moving device for carrying and traveling a device such as an inspection machine in order to inspect a wall surface or perform other tasks.

〈従来の技術〉 従来、例えば原子炉容器の二重壁間、潜水艦二重壁等の
ような二重壁をもつ構造物の二重壁間や２重管の内管と
外管とのｇ壁どうしの隙間のように狭隘な場所を移動す
る装置としては、装置を正面視した第５図、それを側面
視した第６図及び第６図のＡ−Ａ矢視方向の断面を示し
た１４７図のような装置１が知られており、この装置１
には、それぞれ独立して内管壁３上を駆動回転可能な２
つの駆動ローラ２と、装置１の移動によってその内管壁
３上を従動回転する転向車輪４とが一直線上に並ばない
ように取シ付けられている。更に装置ＩＫ取シ付けた昇
降モータ５にギヤ６を介して回転自在のゾールねじ７が
連結されており、このゴールねじ７の回転により前後動
するポールナツト８に固定したキャリッジ９にピン止め
したアーム１０を介して上下動自在の台座１１が連結さ
れている。この台座１１には、台座１１の上昇側で外管
壁１２に当接し装置１の移動によって外管壁１２内周を
従動回転し得る３つの転向車輪４ａが、−直線上に並ば
ないように取り付けられている。従ってこの装置１を外
・ｇと内管との隙間に置き、Ｎ　−ルねじ７を回転させ
、ゴールナツト８を第１図中では左方向に移動させるこ
とで往復スライダクランク機構の応用で台座１１が上昇
して外管壁１２内周に転向車輪４ａが押し付けられる。<Prior art> Conventionally, for example, the g For a device that moves in a narrow space such as a gap between walls, Figure 5 shows a front view of the device, Figure 6 shows a side view of the device, and a cross section in the direction of the arrow A-A in Figure 6 is shown. A device 1 as shown in Fig. 147 is known, and this device 1
, there are two rotatable parts that can be driven and rotated independently on the inner tube wall 3.
The two driving rollers 2 and the turning wheel 4, which rotates as a result of the movement of the device 1 on the inner tube wall 3, are mounted so as not to be aligned in a straight line. Furthermore, a rotatable sol screw 7 is connected to the lifting motor 5 attached to the device IK via a gear 6, and an arm pinned to a carriage 9 fixed to a pole nut 8 moves back and forth by rotation of the hol screw 7. A pedestal 11 that is vertically movable is connected via 10. The pedestal 11 has three turning wheels 4a that abut the outer tube wall 12 on the ascending side of the pedestal 11 and can rotate around the inner circumference of the outer tube wall 12 as the device 1 moves. installed. Therefore, by placing this device 1 in the gap between the outer tube and the inner tube, rotating the N-ru screw 7, and moving the goal nut 8 to the left in FIG. is raised and the turning wheel 4a is pressed against the inner periphery of the outer tube wall 12.

この装ｆ１１を前後進させる場合は、２つの駆動ローラ
２を同一方向に同期回転すれば良く、また方向転換をさ
せる場合は、転換しようとする側の駆動ローラ２を停止
若しくは逆回転させ、反対側の駆動ロー２２を正転させ
れば良い。このとき転向車輪４は、装置１の移動方向に
追従して回転する。When moving this device f11 forward and backward, the two drive rollers 2 should be rotated synchronously in the same direction, and when changing direction, the drive roller 2 on the side to be changed should be stopped or rotated in the opposite direction, and the drive roller 2 should be rotated in the opposite direction. It is sufficient to rotate the drive row 22 on the side in the normal direction. At this time, the turning wheel 4 rotates following the moving direction of the device 1.

〈発明が解決しようとする問題点〉 このような従来の装置では、装置の方向転換の行なえる
スペースが隙間内になければならず、また２重管の隙間
に入って検査する場合に管壁が曲面である為、その曲率
が小さ過ぎると方向転換ができなくなることがらシ、非
常に不便であった。また９０度位の方向転換には、時間
がかがυ非能率的でもあシ、能率的な方向変換を行なり
には変換部では第４図（ｏ）の軌跡Ａに示すように円弧
とならざるを得す、走行位置に厳密さが要求される検査
等には不向きであった。<Problems to be Solved by the Invention> In such conventional devices, there must be space within the gap for changing the direction of the device, and when inspecting by entering the gap between double pipes, the pipe wall Since it is a curved surface, if the curvature is too small, it becomes impossible to change direction, which is extremely inconvenient. In addition, it may take a long time to change the direction of about 90 degrees, but in order to perform an efficient direction change, the conversion section will create a circular arc as shown in locus A in Figure 4(o). As a result, it was unsuitable for inspections, etc., which required precision in the traveling position.

そこで、本発明は上述した欠点を解消し、狭隘な二重壁
間における前後移動及び左右移動、更には定位置におけ
る旋回等の動作が容易かつ迅速に行えるとともに壁面間
の間隔が変化したり、壁面に段差がある場合でも安定し
九走行が得られる狭隘空間移動装置の提供を目的とした
ものである。Therefore, the present invention solves the above-mentioned drawbacks, and allows operations such as back-and-forth movement and left-right movement between narrow double walls, as well as turning in a fixed position, to be performed easily and quickly, and the distance between walls can be changed. The object of the present invention is to provide a device for moving in a narrow space, which is stable and can move easily even when there is a step on the wall surface.

く問題を解決するための手段〉 上述の如き問題点を解決し、所期の目的を達成するため
本発明は、略十字状配置に耳いに交差した一対のフレー
ムと、その一方のフレームに対し、他方のフレームを一
定圧力で押し出す押付機構と、前記両フレームの内の一
方側フレームの両端背面に取付けたステアリング機能を
有する一対の駆動輪と、前記両フレームの内の他方側フ
レームの両端背面に取付けたステアリング機能を有する
従動輪とを備えてなる狭隘空間移動装置を構成したので
ある。Means for Solving the Problems> In order to solve the above-mentioned problems and achieve the intended purpose, the present invention comprises a pair of frames arranged in a substantially cross-like arrangement, and one of the frames. On the other hand, a pair of driving wheels having a steering function are attached to the rear surfaces of both ends of one of the two frames, a pushing mechanism that pushes out the other frame with a constant pressure, and a pair of drive wheels having a steering function attached to the back of one of the frames, and both ends of the other frame of the two frames. A device for navigating through a narrow space was constructed, which included a driven wheel with a steering function attached to the back.

く作用〉 かかる構成の狭隘空間移動装置は押付機構による押出力
によって各車輪の壁面に対する接触圧が得られ走行する
二重壁面間の間隔が変化してもその変化に追従して常に
一定の接触圧が維持される。In the narrow space moving device with such a configuration, contact pressure is obtained against the wall surface of each wheel by the pushing force of the pushing mechanism, and even if the distance between the traveling double walls changes, it follows the change and always maintains a constant contact. pressure is maintained.

各車輪の向きをそれぞれに具備したステアリング機構に
より調整することにより走行中の方向変換及び定位１ｔ
での旋回がなされる。Direction change and localization while driving by adjusting the direction of each wheel with its own steering mechanism
A turn is made.

〈実施例ン 次に本発明の実施例を第１図〜第４図について説明する
。<Example> Next, an example of the present invention will be described with reference to FIGS. 1 to 4.

この装置は細長の主動側フレーム２１とその略中央位置
に十字状配置に交差した細長の従動側フレーム２２を有
している。主動側フレーム２１の背面（第１図において
下面）両端部には一対の１駆動輸２３．２４が取付けら
れている。この駆動輪２３．２４はフレーム２１に固定
した走行駆動用モータ２５の回転がスゲロケット及びチ
ェーンを介して伝えられるようにしているとともにそれ
ぞれステアリング用モータ２６，２７によシ転勤方向が
変更されるようにしている。This device has an elongated driving side frame 21 and an elongated driven side frame 22 that intersects in a cross-like arrangement approximately at the center thereof. A pair of single drive shafts 23 and 24 are attached to both ends of the rear side (lower surface in FIG. 1) of the main drive side frame 21. The drive wheels 23 and 24 transmit the rotation of the travel drive motor 25 fixed to the frame 21 via the sedge rocket and chain, and the direction of rotation is changed by the steering motors 26 and 27, respectively. That's what I do.

一方、従動側フレーム２２はその中央部分に枝状部２２
ａを有し、主動側フレーム２１の中央部分をまたぐよう
に配置され、その枝状部２２２Ｌの内側面には支軸２８
が突設されている。On the other hand, the driven side frame 22 has a branch portion 22 in its center portion.
a, and is arranged so as to straddle the central portion of the driving side frame 21, and a support shaft 28 is provided on the inner surface of the branch portion 222L.
is installed protrudingly.

この支軸２８は主動側フレーム２１の中央部に備えた摺
動用囁部２９内に挿入されている。更に支軸２８と間部
２９は相互に形成したスプラインにより結合され、相互
間の回転は不能であるが軸方向には摺動できるように互
いに組み合わされている。Ｍ部２９には押付機構３０が
備えられている。This support shaft 28 is inserted into a sliding part 29 provided at the center of the main drive side frame 21. Further, the support shaft 28 and the intermediate portion 29 are coupled by mutually formed splines, and are assembled to each other so that they cannot rotate but can slide in the axial direction. The M section 29 is equipped with a pressing mechanism 30.

この押付機構３０は支軸２８を常に一定の圧力によって
突出方向に附勢するようにしているものであり、押付用
のモータ３１の回転をトルクコンバータを介して支軸２
８を押し出し方向に作用させるようにしている。This pressing mechanism 30 is configured to always urge the support shaft 28 in the protrusion direction with a constant pressure, and the rotation of the pressing motor 31 is transferred to the support shaft 28 through a torque converter.
8 is made to act in the extrusion direction.

従動側フレーム２２の背面第１図において上面の両端に
は従動輪３２．３３がそれぞれ自由に回転できるように
支承されておシ、またその伝動方向もそれぞれのステア
リング用モータによって自由に変更できるようにしであ
る。In FIG. 1, the rear side of the driven side frame 22, driven wheels 32 and 33 are supported at both ends of the upper surface so as to be able to rotate freely, and the direction of transmission can also be freely changed by each steering motor. It's Nishide.

更に、この装置には溶接部の目視検査及び超音波検査を
行うためのファイバスコーグ４０及び超音波七ンサ４１
が搭載されている。なお、図中４２はリモートコントロ
ール用のケーブルである。Furthermore, this device is equipped with a fiber scog 40 and an ultrasonic sensor 41 for visual inspection and ultrasonic inspection of welded parts.
is installed. Note that 42 in the figure is a cable for remote control.

このように構成される狭隘空間移動装置は押付機構３０
によって従動側フレームを主動側フレーム２１から離れ
る方向に押し出すことによって第３図に示すごとき二重
壁５０．５１に対する駆動輪２３．２４及び従動輪３２
．３３の接触圧が得られ、各車輪と壁酊との摩擦力によ
り自重を保持し、垂直上昇走行あるいは傾斜走行等あら
ゆる向きの走行が可能となシ、駆動輪２３．２４の強制
回転駆動によって走行力が得られる。各輪２３，２４，
３２．３３の転勤方向の向きは自在に変化させることが
でき、第３図にその形態を示している。The narrow space moving device configured in this way has a pressing mechanism 30.
By pushing the driven side frame away from the main driving side frame 21 with
．． A contact pressure of 33 is obtained, the weight is held by the frictional force between each wheel and the wall, and it is possible to run in any direction, such as vertically climbing or inclining. Provides running power. Each wheel 23, 24,
The transfer directions of 32 and 33 can be changed freely, and the configuration thereof is shown in FIG.

図中（１）は車輪２３，２４，３２．３３をすべて前後
方向に向は前後に動く場合を示す。(1) in the figure shows the case where all the wheels 23, 24, 32, 33 move in the front and back direction.

（２）は車輪２３，２４，３２．３３をすべて左右方向
に向は左右方向に動く場合を示す。(2) shows the case where all the wheels 23, 24, 32, 33 move in the left-right direction.

（３）は全車輪２３，２４，３２．３３を任意の同方向
に向けて任慧の方向へ進む場合（広義には（１）　、　
（２）もこの運動形態に入る。）′ｆ：示す。(3) is a case where all wheels 23, 24, 32.
(2) also falls into this form of motion. )'f: Show.

（４）は従動輪３２．３３を前後方向に向け、駆動輪２
３．２４を片仮名のノ・の字状に調節し、壁土の一点Ｏ
を中心に円弧移動を行う場合を示すＯ 以上（１）〜（４）の動作により当該検査機は自由に進
行方向を変更でき、第４図（イ）に示すように曲率半径
のない方向変換軌跡Ｂのような走行も可能である。In (4), the driven wheels 32 and 33 are directed in the front-rear direction, and the driving wheels 2
3.Adjust 24 to the shape of the katakana ノ・, and place one point O on the wall soil.
The inspection machine can freely change the direction of travel by the operations (1) to (4) above, and as shown in Figure 4 (a), the direction change without a radius of curvature is Traveling like trajectory B is also possible.

また（５）は姿勢を変更する際に行うもので、従動輪３
２．３３は前後方向、駆動輪２３　、２４は左右方向（
回転方向が逆になるようにする。In addition, (5) is performed when changing the posture, and the driven wheel 3
2.33 is the front and back direction, drive wheels 23 and 24 are the left and right direction (
Make sure the direction of rotation is reversed.

広義には（４）に含まれる。）にして車輪を駆動させ、
その場にて旋回を行う場合をそれぞれ示している。In a broad sense, it is included in (4). ) to drive the wheels,
Each figure shows a case where a turn is made on the spot.

〈発明の効果〉 本発明の狭隘空間移動装置は上述の如く構成され、略十
字状に交差させて配置した一対のフレームの両端背面に
四個の車輪を設けた構造であるため、装置の小形軽量化
が図れ、壁間の間隔が小さい場合でも使用でき、また四
個の車輪それぞれに転勤方向を変更できるステアリング
機能をもたせたため、方向の変換に際し、曲率半径のな
い方向変換が可能となり、従来の走行＋ｉｌＬ跡のもの
に比べ超音波探傷を行う際に極めて有利となるとともに
方向変し）が容易かつ迅速になし得る。更にまた、両フ
レームは押付機構により一定圧で互いに離反する方向に
附勢されているため壁面間の間隙に変化があったり、段
差がある場合でもこれに適格に追従し、安定した走行が
得られる。<Effects of the Invention> The narrow space moving device of the present invention is constructed as described above, and has a structure in which four wheels are provided on the rear surfaces of both ends of a pair of frames arranged to intersect in a substantially cross shape, so that the device can be made compact. It is lightweight, can be used even when the distance between walls is small, and since each of the four wheels has a steering function that can change the direction of transfer, it is possible to change direction without a radius of curvature, compared to conventional It is extremely advantageous when carrying out ultrasonic flaw detection compared to the one with running +IL traces, and the direction can be changed easily and quickly. Furthermore, since both frames are urged away from each other with a constant pressure by the pressing mechanism, even if there is a change in the gap between the walls or there is a difference in level, the frames can be properly followed and stable running can be achieved. It will be done.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は本発明に係るＳ　ｆｆｆｉの実施の一例を承引
装置及び従来装置の走行軌跡線図、第５図は従来の装置
の部分正面断面図、第６図はその側面図、第７図は第６
図のＡ−Ａ矢視断面図である。 図面中、 ２１は主動側フレーム、 ２２は従動側フレーム。 ２３．２４は駆動輪、 ２８は支軸、 ２９は摺動用筒部。 ３０は押付機構。 ３２．３３は従動輪である。Fig. 1 shows an example of the implementation of the S fffi according to the present invention, and a travel locus diagram of the acceptance device and the conventional device, Fig. 5 is a partial front sectional view of the conventional device, Fig. 6 is a side view thereof, and Fig. 7 The figure is number 6
It is a sectional view taken along the line A-A in the figure. In the drawing, 21 is a driving side frame, and 22 is a driven side frame. 23 and 24 are drive wheels, 28 is a support shaft, and 29 is a sliding cylinder. 30 is a pressing mechanism. 32 and 33 are driven wheels.

Claims (1)

【特許請求の範囲】[Claims] 略十字状配置に互いに交差した一対のフレームと、その
一方のフレームに対し、他方のフレームを一定圧力で押
し出す押付機構と、一方のフレームの両端背面に取付け
たステアリング機能を有する一対の駆動輪と、他方のフ
レームの両端背面に取付けたステアリング機能を有する
従動輪とを備えてなる狭隘空間移動装置。A pair of frames intersecting each other in a substantially cross-shaped arrangement, a pushing mechanism that pushes out the other frame with a constant pressure against one frame, and a pair of drive wheels with a steering function attached to the back of both ends of one frame. , and driven wheels having a steering function attached to the back side of both ends of the other frame.