JP2000117665A - Inspection robot drive mechanism - Google Patents

Abstract

(57) [Problem] To provide a drive mechanism that can be applied under conditions that are greatly restricted by a robot, such as in a narrow or high-temperature atmosphere environment. SOLUTION: Two suction mechanisms that suction / release from a moving surface by pressure control of a negative pressure chamber, and suction mechanisms are respectively connected to ends, and are rotated about a fulcrum to make the two suction mechanisms orthogonal to each other. Two operating levers for moving the operating levers in the directions, and a pressure bladder for driving the operating levers. The pressure in the negative pressure chamber is controlled to attract / detach the suction mechanism to / from the moving surface to expand / shrink the pressure bladder. Thus, the operation lever is rotated to move each suction mechanism in a direction orthogonal to each other.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive mechanism incorporated in a remote control device, a robot, and the like, and more particularly, to a drive mechanism that can be used for an inspection robot or the like that requires reduction in size and weight.

[0002]

2. Description of the Related Art
A robot that moves on a wall or the like supports the robot's own weight by inserting the robot between the wall and a structure wall on the opposite side (opposite side), and pressing both walls in such a way that their arms are extended by hydraulic pressure etc. The method was adopted, but depending on the condition of the wall, it was dropped or slipped. Also, in this type of robot, hydraulic pressure and spring force are used because the pressing force between the walls needs to be increased, but high rigidity due to the large force and the increase in robot weight due to it are problems. .

[0003] In addition, although a suction mechanism to a wall surface is also used, a power source such as electric power or hydraulic pressure is used for driving the suction plate. However, it cannot be applied to a robot or the like used in a high-temperature atmosphere because a driving mechanism such as a motor does not withstand high temperatures. In this case, it is conceivable to combine with a cooling facility. However, the facility becomes complicated and bulky, and the miniaturization and weight reduction which are essential conditions for a robot to be applied to a narrow environment cannot be achieved. Therefore, a simple, small, and lightweight drive mechanism that replaces a motor or the like has been desired.

An object of the present invention is to solve the above-mentioned problems, and an object of the present invention is to provide a drive mechanism that can be applied under conditions that are greatly restricted by a robot, such as in a narrow or high-temperature atmosphere environment.

[0005]

SUMMARY OF THE INVENTION The present invention is directed to a narrow part,
A robot driving mechanism capable of accessing a small-diameter hole or the like, which is connected to a negative pressure chamber by a flexible tube, and which suctions / releases a moving surface according to pressure; Two operating levers respectively connected to the suction mechanisms and rotating about the fulcrum to move the two suction mechanisms in directions orthogonal to each other; pressure bladders arranged on both sides of each of the operation levers; And a movable range control mechanism for adjusting the movable range of the operating lever, and controlling the pressure of the negative pressure chamber to attract / separate the suction mechanism to / from the moving surface, By inflating / contracting the pressure bladder, the operating lever is rotated in the movable range to move the suction mechanisms in directions orthogonal to each other. Further, the present invention is characterized in that a bag is placed outside the pressure bag. Also, the present invention
One of the pressure bladders arranged on both sides of the operation lever is replaced with a spring.

[0006]

Embodiments of the present invention will be described below. FIG. 1 is a view for explaining an example of an inspection robot driving mechanism of the present invention. FIG. 1 (a) is a plan view seen from a direction perpendicular to a floor or a wall surface, and FIG. 1 (b) is a moving surface (floor or floor). (A wall surface). In addition,
In FIG. 1A, the pedestal and the suction mechanism are not shown. The drive mechanism according to the present invention is a mechanism in which the robot is moved by being attracted to and detached from a moving surface (floor, wall surface, or the like) by the two attracting mechanisms 1, 2. The suction mechanisms 1 and 2 are connected to the negative pressure chambers 3 and 4 by flexible tubes 5 and 6, and the constituent materials thereof are appropriately selected depending on the use environment, for example, the ambient temperature, the presence or absence of radiation, and the intensity. . Connection pipes 31 and 32 are connected to the negative pressure chambers 3 and 4, respectively.
Gas is sucked or supplied from the negative pressure chambers 3 and 4 by a pump (not shown) through 32, and as a result, pipes 5 and 6
The suction and the desorption are performed by changing the pressure in the suction mechanism through the.

The structure of the suction mechanism will be described with reference to FIG.
As shown in FIG. 2 (a) (perspective view), it is made of a bellows-shaped suction plate made of a cylindrical or conical soft material.
(B) As shown in (longitudinal section), the gas is sucked from the negative pressure chamber to be adsorbed on the moving surface, and as shown in FIG. 2 (c) (longitudinal section), the suction is stopped by the negative pressure chamber. Alternatively, it is controlled so as to be separated from the moving surface by gas release.

Two operating levers 7 and 8 are provided on both sides of the negative pressure chambers 3 and 4, and the suction mechanisms 1 and 2 operate the operating levers 7 and 8.
And the operating levers 7, 8 have their fulcrum 9,
At 10, the pedestal 11 is attached. The tip of the operating lever 7 rotates in the direction of arrow A about the fulcrum 9, and the point at which the operating lever 8 is bent as an L-shape is the fulcrum 10, so that the tip is in the direction of arrow B about the fulcrum 10 ( (A direction orthogonal to the arrow A direction). Therefore, the way of movement of this mechanism is to move the suction mechanism 1 in the vertical direction (arrow A direction) on the paper by the movement of the operating lever 7 and to move the suction mechanism 2 in the horizontal direction (arrow B direction) on the paper by the operating lever 8. This is done by: The movement of the arc by the operating lever is regulated by the movable range control mechanisms 12, 13, 14, 15, and the movable range can be adjusted by adjusting the position.

Next, the driving mechanism of the operating lever will be described.
The pressure operating plates 16, 17, 18, and 19 constitute a driving mechanism in pairs (16 and 18, 17 and 19), and gas bags 20 and 22 are arranged on both sides of the operating lever 8 to perform pressure operation. The plate 16 is in the gas bag 22 and the pressure actuated plate 18 is in the gas bag 2
0, and a gas bag 2
1 and 23 are disposed, and the pressure actuating plate 17 is
The pressure operation plates 19 are attached to the gas bags 21 respectively. Supply and discharge of gas to and from the gas bag are performed by a small pump or the like. The pressure actuating plates 16, 17, 18, 19 are fixed in position and act against the pressure when the gas bag is deflated / inflated. Each gas bag has a discharge pipe 24,
25, 26, and 27 are respectively attached to the operating levers in the vicinity of the gas bag.
0 is attached.

When the operating lever 7 is rotated clockwise, the gas bag 21 is inflated and the gas bag 23 is contracted. When the operating lever 7 is rotated counterclockwise, the gas bag 21 is contracted. This is performed by inflating the gas bag 23 and pressing the movable plate 29 in each direction.

When the operating lever 8 is rotated clockwise, the gas bag 20 is contracted and the gas bag 22 is inflated. When the operating lever 8 is rotated counterclockwise, the gas bag 20 is inflated. This is performed by contracting the bag 22 and pressing the movable plate 30 in each direction.

The gas bag is made of a material having tension and excellent heat resistance. Further, depending on the use environment, the basic material of the gas bag may be reinforced with a fiber material such as glass, carbon, and Kepler. In addition, the environment resistance may be improved by putting a bag on the outside of a conventional fiber reinforcement technique or a gas bag. By providing such a bag, the allowable gas pressure of the gas can be increased, and there is also an effect of preventing leakage of the gas bag. Ideally, the shape should be such that when the gas bag is inflated, it matches the shape of the space between the gas bag and the gas pressure operation plate.

Next, an operation method of the drive mechanism of the present invention will be described. [Movement in the longitudinal direction of the paper] The gas in the negative pressure chambers 3 and 4 is sucked, the pressure of the suction mechanisms 1 and 2 is reduced, and the suction mechanism is brought into close contact with the moving surface. The suction mechanism 1 stops sucking gas from the negative pressure chamber 3 and leaves the surface by sending gas. The operating lever 7 controls the supply and discharge of gas with pipes 25 and 27,
1. By contracting one of the gas bags 23 and inflating the other, the suction mechanism 1 is rotated around the fulcrum 9 clockwise or counterclockwise until it comes into contact with the movable range control mechanism 13 or 15, and the suction mechanism 1 is Move vertically. At this time, the entire device is supported by the suction mechanism 2.

By sucking the gas in the negative pressure chamber 3,
The suction mechanism 1 is adsorbed to the moving surface, the suction of the gas in the negative pressure chamber 4 is stopped, and the gas is supplied to separate the suction mechanism 2 from the moving surface.

When one of the gas bag 21 and the gas bag 23 is contracted and the other is inflated so that the operating lever 7 is rotated in the direction opposite to the step, the suction mechanism 1 supports the entire apparatus in the vertical direction on the paper. Then, the entire apparatus moves within the range permitted by the movable range control mechanism.

Subsequently, in the case of performing the movement in the vertical direction on the paper, the suction mechanism 2 is suctioned to the moving surface, and thereafter, steps 1 to 3 are performed.
Repeat the above steps.

[Movement in the lateral direction of the paper] 'The gas in the negative pressure chambers 3 and 4 is sucked, the pressure of the suction mechanisms 1 and 2 is reduced, and the suction mechanism is brought into close contact with the moving surface. 'The suction mechanism 2 stops the suction of gas from the negative pressure chamber 4 and leaves the surface by sending gas in reverse. The operating lever 8 is
The supply and discharge of gas are controlled by the pipes 24 and 26, and one of the gas bag 20 and the gas bag 22 is contracted and the other is inflated, so that the gas bag 20 and the gas bag 22 are rotated clockwise or counterclockwise around the fulcrum 10. The suction mechanism 2 is moved in the horizontal direction of the drawing. At this time, the entire apparatus is supported by the suction mechanism 1.

The suction mechanism 2 is sucked on the moving surface by sucking the gas in the negative pressure chamber 4, and the suction mechanism 1 is separated from the moving surface by stopping the suction of the gas in the negative pressure chamber 3 and supplying the gas.

When one of the gas bag 20 and the gas bag 22 is contracted and the other is inflated so as to rotate the operation lever 8 in the direction opposite to the step, the suction mechanism 2 supports the entire apparatus and The entire apparatus moves in the lateral direction within the range permitted by the movable range control mechanism.

Subsequently, when the paper is to be moved in the horizontal direction on the paper, the suction mechanism 1 is sucked on the moving surface, and thereafter, step '
To ′ are repeated.

In this manner, the movement of the stroke permitted by the movable range control mechanism is repeated, and the movement is performed in the vertical direction on the paper and the horizontal direction on the paper. In addition, by combining the movements in both directions, it can be moved in an arbitrary direction by an arbitrary distance.

Note that the present invention is not limited to the above description, and various modifications are possible. For example, replacing one of two gas bags for driving one operating lever with a spring (either a tension or a compressive force) and controlling the rotation of the operating lever by controlling one gas bag. Can be. With such a configuration, the device can be further simplified. It is also possible to use liquid instead of gas.

[0023]

As described above, the robot driving mechanism of the present invention uses a small pump or the like to supply / discharge gas or liquid to suck / release and move the suction mechanism without using a motor or a large hydraulic pressure. Especially, it is most suitable for narrow space in high temperature atmosphere or radiation environment, and also for driving (switching) mechanism of robot and other devices, driving of devices and sensors mounted on robot and driving of switch It is also applicable as a mechanism. In addition, the drive capacity can be easily increased by enlarging the pressure bag and the operation lever. It is also applied to remote inspection and restoration work that involves danger to human access, and is also suitable for inspection, inspection and restoration work in, for example, the nuclear power, chemical, biotechnology, marine and space industries.

In addition, the manufacturing cost is lower than the conventional electric drive method using a motor or the like, and a method for accessing a narrow portion or a small-diameter hole (inspection of infectious diseases, poisonous spiders, fungi, spoils, etc.). It can also be used for cleaning pools and storage ponds.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating an example of an inspection robot driving mechanism according to the present invention.

FIG. 2 is a diagram illustrating a suction mechanism.

[Explanation of symbols]

1, 2, suction mechanism, 3, 4, negative pressure chamber, 5, 6, flexible tube, 7, 8, operating lever, 9, 10, fulcrum, 11 pedestal, 12-15 movable range control mechanism , 16 to 19 pressure operating plate, 20 to 23 gas bag, 24 to 27 discharge pipe,
29, 30: movable plate, 31, 32: connection piping.

Claims (3)

[Claims] 1. A drive mechanism for a robot capable of accessing a narrow portion, a small-diameter hole, etc., connected to a negative pressure chamber by a flexible tube, and adsorbing / separating from a moving surface according to pressure. One suction mechanism, two suction levers each connected to an end of the suction mechanism, and two operating levers for rotating the two suction mechanisms in directions orthogonal to each other by rotating about a fulcrum; A pressure bag disposed therein, a pressure operating plate attached to each of the pressure bags, a movable range control mechanism for adjusting a movable range of the operating lever,
And controlling the pressure of the negative pressure chamber to cause the suction mechanism to be suctioned / released from the moving surface and expanding / contracting the pressure bladder to rotate an operation lever in the movable range, thereby allowing each suction mechanism to be moved. An inspection robot driving mechanism characterized by being moved in directions orthogonal to each other. 2. The inspection robot driving mechanism according to claim 1, wherein a bag is placed outside the pressure bag. 3. The inspection robot driving mechanism according to claim 1, wherein one of the pressure bladders arranged on both sides of the operation lever is replaced with a spring.