JPH08229877A - Explosion-proof self-propelled work equipment - Google Patents

Abstract

(57) [Summary] [Purpose] It is not necessary to fill the non-combustible gas for internal pressure and to stop the work. [Structure] A movable drive wheel 31 and a motor 1 which is in the explosion-proof container 13 and generates a driving force capable of driving the drive wheel 31.
9 and the drive wheel 3 passing through the through hole 25 of the explosion-proof container 13.
1 is provided with a transmission mechanism 15 having a rotating shaft 23 for transmitting the driving force of the motor 19, and the rotating shaft 25 and the transmitting mechanism 15 are provided.
An explosion-proof self-propelled working device that moves in an explosive atmosphere by rotation of a drive wheel 31 via a through hole, in which a gap between an inner circumference of a through hole 25 and an outer circumference of a rotary shaft 23 is sufficiently small, and the through hole. The axial total length of 25 is made sufficiently large.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an explosion-proof self-propelled work for performing work such as self-propelled in a place filled with an explosive atmosphere inside a thermal power plant, a gas plant, an oil plant, etc. to monitor various devices. Regarding the device.

[0002]

2. Description of the Related Art As a conventional explosion-proof self-propelled work device, for example, one disclosed in Japanese Patent Laid-Open No. 4-331091 is known. As shown in FIG. 6, this explosion-proof self-propelled working device is mainly equipped with a mobile device (T
V camera 3), Dewar bottle 5 filled with liquid nitrogen,
A control circuit 7 for recognizing the amount of liquid nitrogen in the Dewar bottle 5 and controlling the traveling of the entire apparatus is built in. By filling the explosion-proof container 1 with the non-combustible gas obtained by vaporizing the liquid nitrogen in the Dewar bottle 5, it is possible to prevent the external explosive atmosphere from coming into the explosion-proof container 1, and thereby various electric parts in the explosion-proof container 1 can be obtained. It is intended to prevent the explosion due to the ignition of. On the other hand, when the amount of liquid nitrogen in the Dewar bottle 5 falls below a predetermined value, the control circuit 7 is operated to move the entire apparatus to a filling unit (not shown), and the liquid nitrogen is replenished between the apparatus side and the filling section side. By connecting the connectors of pipes or hoses that enable (circulation) and opening the solenoid valve on the pipes or hoses, the liquid nitrogen tank on the filling part side is filled with liquid nitrogen in the Dewar bottle 5 in the device. carry out. After the liquid nitrogen filling operation, the control circuit 7 is actuated to open the connector and move the entire apparatus to its original position again to continue the monitoring operation.

[0003]

Conventionally, since the liquid nitrogen in the Dewar bottle 3 decreases with time, it is necessary to return to the filling section every predetermined time, and the work must be interrupted each time. is there. Also, a seal is required at the location where the power shaft is pulled out from the explosion-proof container, but the structure becomes complicated to improve the sealing performance of the seal,
There is a drawback that the entire device becomes large and heavy.

The present invention has been made in order to solve the above-mentioned problems, and it is not necessary to fill an incombustible gas for internal pressure,
It is an object of the present invention to provide an explosion-proof self-propelled work device that does not require interruption of work.

[0005]

According to the first aspect of the present invention,
A wheel that can travel, a motor that is in the explosion-proof container and that generates a driving force that can drive the wheel, and a rotating shaft that penetrates a through hole of the explosion-proof container and that transmits the driving force of the motor to the wheel, An explosion-proof self-propelled working device that moves in an explosive atmosphere by rotation of the wheel via a rotating shaft, wherein the gap between the inner circumference of the through hole and the outer circumference of the rotating shaft is sufficiently small, and the penetration The feature is that the axial total length of the hole is sufficiently large.

According to a second aspect of the present invention, there is provided a TV camera in the explosion-proof container, a first motor in the other explosion-proof container for generating a driving force for changing the direction of the TV camera, and the other explosion-proof container. A working device including a first transmission part including a first rotation shaft for transmitting the driving force of the first motor to an explosion-proof container penetrating the first through hole and containing the TV camera; A second motor in another explosion-proof container or in yet another explosion-proof container that may be integrated with the working device and that generates a driving force for driving the wheel; and a second motor of the other explosion-proof container or the further explosion-proof container. A second through which the driving force of the second motor is transmitted to the wheel through the second through hole;
An explosion-proof self-propelled work device comprising: a second transmission part including a rotation shaft; and a moving means for moving the entire work device in an explosive atmosphere by rotation of the wheels via the second rotation shaft, A gap between the inner circumference of the first through hole and the outer circumference of the first rotating shaft, and the inner circumference of the second through hole and the second
It is characterized in that the gap between the outer circumference of the rotary shaft and the outer circumference of the rotary shaft is made sufficiently small, and the total length of the first through hole and the second through hole in the axial direction is made sufficiently large.

According to a third aspect of the present invention, there is provided a TV camera in an explosion-proof container, a first rotary shaft in another explosion-proof container, which penetrates a first through hole of the other explosion-proof container and is hollow in the axial direction. Motor for rotating a shaft portion via a gear, and a bevel gear that penetrates the inside of the first rotating shaft portion in the axial direction thereof and meshes with a bevel gear of a tilt shaft disposed at the tip end side of the first rotating shaft portion. A second drive shaft configured to rotate a second rotation shaft including a second drive shaft, and a working device including a connection part that connects the explosion-proof container and the tilt shaft, a travelable wheel, and the other. A third motor in the explosion-proof container or in another explosion-proof container that may be integrated with the working device, and generates a driving force that can drive the wheel, and a second penetration of the other explosion-proof container or the further explosion-proof container. The third motor through the hole to the wheel. Explosion-proof vehicle, comprising: a transmission portion including a third rotation shaft portion for transmitting the drive of the vehicle, and moving means for moving the entire working device in an explosive atmosphere by rotation of the wheel via the third rotation shaft portion. A running work device, comprising: a gap between an inner periphery of the first through hole and an outer periphery of the first rotating shaft portion; an inner periphery of the first rotating shaft portion and an outer periphery of the second rotating shaft portion. The gap between them and the gap between the second through hole and the outer circumference of the third rotating shaft portion, and the axial total length of the first through hole, the first and second rotating shaft portions. The axial total length and the axial total length of the second through hole are sufficiently large.

According to a fourth aspect of the present invention, there is provided a first motor for rotating the first rotating shaft portion, which is in the explosion-proof container, penetrates the first through hole of the explosion-proof container, and has a shaft mounting portion at a tip thereof, and another explosion-proof container. The TV camera inside the shaft, and the shaft mount corresponding to the center axis of the first tilt shaft penetrating from the outer surface of the other explosion protection container to the through hole at one end of the shaft mounting portion from the outer surface of the other explosion protection container. A second motor that rotates a gear that meshes with a gear at the tip of a second tilt shaft that penetrates the second through hole of the other explosion-proof container toward the inside from the other inner end of the portion;
A movable wheel, a third motor in another explosion-proof container that can be integrated with the working device, and a driving force that can drive the wheel, and a third through hole of the further explosion-proof container, The wheel is provided with a transmission portion including a third rotation shaft portion for transmitting the driving force of the third motor, and rotation of the wheel through the third rotation shaft portion moves the entire working device in an explosive atmosphere. An explosion-proof self-propelled working device, comprising: a gap between an inner circumference of the first through hole and an outer circumference of the first rotating shaft portion; an inner circumference of the second through hole and the second tilt. The gap between the outer circumference of the shaft and the gap between the inner circumference of the third through hole and the outer circumference of the third rotating shaft portion are sufficiently small, and the entire axial length of the first through hole is Second
It is characterized in that the axial total length of the through hole and the axial total length of the third through hole are sufficiently large.

According to a fifth aspect of the present invention, there is provided a TV camera in an explosion-proof container and a first explosion-proof container in another explosion-proof container.
A first motor that rotates a first rotary shaft portion that penetrates the through hole and has a shaft mounting portion at the tip, and further penetrates one end of the shaft mounting portion from one side of the outer surface of the explosion-proof container in the other explosion-proof container. The other side of the outer surface of the explosion-proof container, which corresponds to the center axis of the first tilt shaft passing through the hole and penetrates the through-hole at the other end of the shaft attachment portion and the second through-hole of the further explosion-proof container. And a working device including a second motor for rotating a second tilt shaft connected to the working device, a wheel that can travel, and a driving force that can drive the wheel in another explosion-proof container that can be integrated with the working device. Third motor and third of the further explosion-proof container
The transmission part including a third rotating shaft part that penetrates the through hole and transmits the driving force of the third motor to the wheel.
An explosion-proof self-propelled working device, comprising: a moving unit that moves the entire working device in an explosive atmosphere by rotating the wheels via a rotating shaft portion, wherein the inner periphery of the first through hole and the first
A gap between the outer periphery of the rotating shaft portion, a gap between the inner periphery of the second through hole and the outer periphery of the second tilt shaft, and an inner periphery of the third through hole and the third rotating shaft portion. The clearance between the outer periphery and the outer circumference is sufficiently small, and the axial total length of the first through hole, the axial total length of the second through hole, and the axial total length of the third through hole are sufficiently large. Is characterized by.

According to a sixth aspect of the present invention, a work body performing an operation according to its own function, an operation according to a preset program, or an operation according to a command from the outside, or the work body in the explosion-proof container, and the direction of the work body is changed. And a first motor for transmitting a driving force for transmitting the driving force of the first motor to the work body through a first through hole of the explosion-proof container.
A working device including a first transmission portion including a rotating shaft, and a driving wheel that is capable of driving the wheel that is capable of traveling and that is in the explosion-proof container or in another explosion-proof container that can be integrated with the working device. The second motor and the second through hole of the explosion-proof container or the other explosion-proof container penetrates the wheel to the second through hole.
An explosion-proof self-propelled working device, comprising: a second rotating shaft for transmitting a driving force of a motor; and a moving means for moving the entire working device in an explosive atmosphere by rotation of the wheels via the first rotating shaft. Therefore, the gap between the inner periphery of the first through hole and the outer periphery of the first rotating shaft and the gap between the inner periphery of the second through hole and the outer periphery of the second rotating shaft are sufficiently small. In addition, the overall length of the first through hole and the second through hole in the axial direction is sufficiently large.

A seventh aspect of the present invention is characterized in that the wheels of each of the explosion-proof self-propelled work devices described above rotate along the rails or below the rails.

[0012]

According to the first aspect of the present invention, the gap between the inner circumference of the through hole of the explosion-proof container and the outer circumference of the rotation shaft of the motor penetrating the through hole is sufficiently small, and therefore the outside is provided through the through hole. Even if the explosive atmosphere that entered the explosion-proof container from the
Of the total thermal power of the explosion, the thermal power transmitted to the outside through the through hole is extremely small. Moreover, since the overall length of the through hole in the axial direction is made sufficiently large, the heat power is cooled and weakened while being transmitted through the through hole, becomes lower than the ignition point temperature of the external explosive atmosphere, and is ejected from the through hole to the outside. Therefore, it does not ignite the external explosive atmosphere.
By using this function, it is not necessary to fill the non-combustible gas in the explosion-proof container that houses the ignitable motor or the like.

According to the invention of claim 2, in addition to the operation of the invention of claim 1, the inner circumference of the first through hole of another explosion-proof container and the first rotating shaft penetrating the first through hole. Since the gap with the outer circumference is made sufficiently small, the explosive atmosphere that has infiltrated into the other explosion-proof container from the outside through the first through hole ignites, for example, a spark or the like driven by the first motor and explodes. Even if it does, of the total thermal power of the explosion, the thermal power transmitted to the outside through the first through hole is extremely small. Moreover, since the overall length of the first through hole in the axial direction is made sufficiently large, the thermal power thereof does not ignite the external explosive atmosphere by the same action as described above. By using this action, it becomes completely unnecessary to fill the non-combustible gas in the other explosion-proof container that houses the ignitable motor or the like.

According to the invention of claim 3, in addition to the operation of the invention of claim 1, the inner circumference of the first through hole in the other explosion-proof container and the first motor penetrating the first through hole. Since the gap between the outer periphery of the first rotating shaft portion and the outer periphery of the first rotating shaft portion is made sufficiently small, the explosive atmosphere that has entered the other explosion-proof container is, for example, the first explosive atmosphere.
Even if a spark or the like caused by driving a motor ignites and explodes, only a small amount of the total thermal power of the explosion is transmitted to the outside through the first through hole. Moreover, since the overall length of the first through hole in the axial direction is made sufficiently large, the thermal power thereof does not ignite the external explosive atmosphere by the same action as described above.

On the other hand, the inner circumference of the first rotating shaft portion and the first rotating shaft portion
Since the distance between the outer periphery of the second rotating shaft portion of the second motor that penetrates the rotating shaft portion is also sufficiently small, the explosive atmosphere that has penetrated into the other explosion-proof container may cause sparks due to the driving of the second motor, for example. Even if it ignites and explodes, only a small amount of the total thermal power of the explosion is transmitted to the outside through the first rotating shaft portion. Moreover, since the entire axial length of the first rotary shaft portion is sufficiently large, the thermal power thereof does not ignite the external explosive atmosphere by the same action as described above.

By using the above operation, it is not necessary to fill the non-combustible gas in the other explosion-proof container for housing the first drive portion. Therefore, even if the interior of the other explosion-proof container explodes due to the drive of the first and second motors, the TV can be freely rotated around the Z axis by the first motor without causing the explosion to ignite the external explosive atmosphere. In addition, the second motor can freely rotate the TV camera about the X axis, the Y axis, and the like.

According to the invention of claim 4, in addition to the operation of the invention of claim 1, in addition to the inner periphery of the first through hole of the explosion-proof container and the first rotation of the first motor penetrating the first through hole. Since the gap between the shaft portion and the outer circumference is made sufficiently small, even if the explosive atmosphere that has penetrated into the explosion-proof container ignites, for example, a spark generated by the drive of the first motor and explodes, the total power of the explosion Of these, the heat power transmitted to the outside through the first through hole is extremely small. Moreover, since the overall length of the first through hole in the axial direction is made sufficiently large, the thermal power thereof does not ignite the external explosive atmosphere by the same action as described above.

On the other hand, the distance between the inner circumference of the second through hole of the other explosion-proof container for housing the TV camera and the outer circumference of the second tilt shaft penetrating the second through hole toward the inside is sufficiently small. , Explosive atmosphere that has penetrated into the other explosion-proof container,
For example, even if a spark or the like caused by driving the second motor in the other explosion-proof container is ignited and exploded, only a small amount of the total power of the explosion is transmitted to the outside through the second through hole. Moreover, since the overall length of the second through hole in the axial direction is made sufficiently large, its thermal power does not ignite the external explosive atmosphere by the same action as described above.

By using the above operation, it is not necessary to fill the non-combustible gas in the explosion-proof container containing the first motor and the other explosion-proof container containing the second motor. Therefore, even if the explosion-proof container and other explosion-proof containers explode due to the driving of the first and second motors, the explosion does not ignite the external explosive atmosphere,
The motor can freely rotate the TV camera around the Z axis, and the second motor can freely rotate the TV camera around the X axis and the Y axis.

According to a fifth aspect of the present invention, in addition to the operation of the first aspect of the present invention, the inner periphery of the first through hole of another explosion-proof container and the first through hole extending through the first through hole toward the outside may be penetrated. Since the gap between the outer periphery of the first rotating shaft portion of the one motor is made sufficiently small, the explosive atmosphere that has entered the other explosion-proof container is
For example, even if a spark or the like driven by the first motor ignites and explodes, only a small amount of the total power of the explosion is transmitted to the outside through the first through hole. Moreover, since the overall length of the first through hole in the axial direction is made sufficiently large, the thermal power thereof does not ignite the external explosive atmosphere by the same action as described above.

On the other hand, the inner periphery of the second through hole of the further explosion-proof container and the second motor of the second motor penetrating the second through hole.
Since the gap between the outer periphery of the tilt shaft and the outer periphery of the tilt shaft is made sufficiently small, even if the explosive atmosphere that has entered the other explosion-proof container ignites a spark or the like driven by the second motor, for example, the explosion Of all the thermal power, the thermal power transmitted to the outside through the second through hole is extremely small. Moreover, since the overall length of the second through hole in the axial direction is made sufficiently large, its thermal power does not ignite the external explosive atmosphere by the same action as described above.

By using the above operation, it is not necessary to fill the other explosion-proof container containing the first motor and the further explosion-proof container containing the second motor with the incombustible gas. Therefore, other explosion-proof containers,
And, even if the inside of another explosion-proof container explodes due to the driving of the first and second motors, the TV motor can be freely rotated around the Z-axis by the first motor without causing the explosion to ignite the external explosive atmosphere. In addition, the second motor can freely rotate the TV camera about the X axis, the Y axis, and the like.

According to the invention of claim 6, in addition to the operation of the invention of claim 1, the inner periphery of the first through hole of the explosion-proof container and the first motor penetrating the first through hole toward the outside. Since the gap between the outer circumference of the first rotating shaft of and was made sufficiently small,
The explosive atmosphere that has entered the explosion-proof container is, for example,
Even if a spark or the like caused by driving a motor ignites and explodes, only a small amount of the total thermal power of the explosion is transmitted to the outside through the first through hole. Moreover, since the overall length of the first through hole in the axial direction is made sufficiently large, the thermal power thereof does not ignite the external explosive atmosphere by the same action as described above.

By using the above action, it is not necessary to fill the explosion-proof container with a nonflammable gas. Therefore, even if the explosion-proof container explodes due to the drive of the first motor, the direction of the work body can be freely changed by the first motor without causing the explosion to ignite an external explosive atmosphere.

According to the seventh aspect of the invention, since the wheels rotate along the rails or below the rails, it is easy to make the working device self-propelled.

[0026]

Embodiments of the present invention will be described below with reference to the illustrated embodiments. 1 is an explanatory view for explaining the configuration of an embodiment according to the invention described in claim 1, and FIG. 2 is a partially enlarged view of FIG. In these drawings, reference numeral 1 is a rail, and driven wheels 9 and 1 that are rotatable via a support portion 7 that is pulled out upward from a structure 5 that constitutes the mother body of the explosion-proof self-propelled work device 3.
1 is placed. The rail 1 is provided with a member that regulates the rolling directions of the driven wheels 9 and 11. On the lower surface side of the structure 5, an explosion-proof container 13, a transmission mechanism 15, and a working device 17 are provided.
Are integrated. A motor 19 is housed in the explosion-proof container 13 and can be driven by a command from a control circuit 21 in the explosion-proof container 13. Rotating shaft 2 of motor 19
3 is a transmission mechanism 15 which penetrates the through hole 25 of the explosion-proof container 13.
Is connected to a gear (not shown) accommodated in the box body, the drive wheel 27 is rotated through the gear when driving, the belt 29 is rotated through the rotation of the drive wheel 27, and The drive wheel 31 is rotated through the rotation of the belt 29, and thereby the entire explosion-proof self-propelled work device 3 is moved along the rail 1.

The drive wheel 31 rotating via the transmission mechanism 15 is connected to the drive wheel 27 via the frame 33, and the contracting force of the spring 35 applied between the structure 5 and the frame 33 causes the drive wheel 31 to contract. It is pressed against the lower surface side of the rail 1.

On the other hand, the rotary shaft 23 of the motor 19 penetrates the through hole 37 of the explosion-proof container 13, and the gap between the inner circumference of the through hole 37 and the outer circumference of the rotary shaft 23 rotates the rotary shaft 23. Is small enough to allow Moreover, the through hole 37 is formed in a tubular shape with a portion projecting in and out of the explosion-proof container 13, and the entire length in the axial direction thereof is the explosion-proof container 13.
It is constructed long enough that the flame generated by the internal explosion does not squirt outside.

On the other hand, the concrete structure of the working device 17 has a structure corresponding to claims 3, 4 and 5, which will be clarified in the description from FIG. 3 onward.

Next, the operation of the above configuration will be described.
When the motor 19 is driven by a command from the control circuit 21, the rotation shaft 23 of the motor 19 rotates to rotate gears and the like in the transmission mechanism 15 and rotate the drive wheels 27. When the drive wheel 27 rotates, the belt 29 rotates and the drive wheel 31 rotates. Since the drive wheel 31 is pressed under the rail 1 by the spring 35, when the drive wheel 31 rotates, the entire explosion-proof self-propelled work device 3 moves forward or backward along the rail 1.

On the other hand, during the movement of the explosion-proof self-propelled work device 3, an external explosive atmosphere penetrates into the explosion-proof container 13 through the through hole 25 of the explosion-proof container 13, which causes the motor 19 or When a spark or the like of the control circuit 21 ignites and explodes, among the flames of the explosion, the flame transmitted to the outside through the through hole 25 is the inner periphery of the through hole 25 of the explosion-proof container 13 and the outside through the through hole 25. The gap between the outer periphery of the rotary shaft 23 of the motor 19 penetrating toward the side is sufficiently small, and thus is extremely small. Moreover, since the overall length of the through hole 25 in the axial direction is sufficiently large, the flame is cooled and weakened by the through hole 25 and the rotary shaft 23 while being transmitted through the through hole 25, and is lower than the ignition point temperature of the external explosive atmosphere. It will be low and will not be ejected from the through hole 25 to the outside, so that it will not ignite the external explosive atmosphere.

In the present embodiment, the gap between the inner circumference of the through hole 25 of the explosion-proof container 13 and the outer circumference of the rotary shaft 23 of the motor 19 penetrating the through hole 25 toward the outside is sufficiently small. Moreover, since the axial length of the through hole 25 is made sufficiently large, it is not necessary to fill the explosion-proof container 13 with the nonflammable gas in advance, and therefore, the work of filling the nonflammable gas at every predetermined time is completely unnecessary. Therefore, it is not necessary to frequently interrupt the work of the working device 17. In addition, the through hole 2 having the above-described configuration
Since No. 5 is used, it is not necessary to use a seal member at that position, and it is possible to avoid increasing the size and weight of the device.

FIG. 3 is an explanatory view for explaining the construction of an embodiment of a working device of the explosion-proof self-propelled working device according to the invention of claim 3. Here, the structure of the moving means, that is, the structure of the motor, the further explosion-proof container housing the control circuit, and the transmitting part is the same as that shown in FIGS. 1 and 2, and therefore the illustration and description thereof are omitted. . In the explosion-proof container 41, a TV driven in response to activation of the control circuit 21 in the explosion-proof container 13
A camera 43 is housed. The first and second motors 47 and 49 are housed in another explosion-proof container 45 integrated with the structure 5. In the other explosion-proof container 45, a spur gear 53 is mounted on the rotary shaft 51 of the first motor 47, and the spur gear 53 has a hollow first axial shaft through the spur gear 55.
The rotating shaft portion 57 is rotatably combined. The first rotation shaft portion 57 has a tilt shaft attachment portion 57a formed at the tip thereof, and a tilt shaft 59 is connected to the inside thereof.
A bevel gear 61 is arranged at 9. Also, the tilt axis 59
A rod-shaped connecting portion 63 is connected to the connecting portion 6 and the connecting portion 6
3 is connected to the upper surface side of the explosion-proof container 41.

In another explosion-proof container 45, the second motor 4
The second rotating shaft portion 65 of 9 rotatably passes through the inside of the first rotating shaft portion 57 and has a bevel gear 6 meshing with the bevel gear 61 at its tip.
7 are arranged.

On the other hand, the first rotating shaft portion 57 is the other explosion-proof container 4
5 through the first through hole 69, the gap between the inner circumference of the first through hole 69 and the outer circumference of the first rotary shaft portion 57 is such that the rotation of the first rotary shaft portion 57 is allowed. It is small enough. Moreover, the first through hole 69 is provided with a portion projecting in and out of the other explosion-proof container 45, and is configured long enough so that the flame of the explosion in the other explosion-proof container 45 does not eject to the outside. Further, the second rotary shaft portion 65 penetrates the first rotary shaft portion 57 in the axial direction thereof, but the gap between the inner circumference of the first rotary shaft portion 57 and the outer circumference of the second rotary shaft portion 65 is It is configured to be small enough to allow relative rotation of the second rotating shaft portion 65. Moreover, the total length of the first rotating shaft portion 57 is the same as that of the other explosion-proof container 4.
It is constructed long enough so that the flame of the explosion in 5 does not squirt to the outside.

Next, the operation of this embodiment will be described.
When the first motor 47 in another explosion-proof container 45 is driven in response to the activation of the control circuit 21 in the explosion-proof container 13, the rotating shaft 5
The first rotating shaft portion 57 rotates through the rotation of the spur gear 53 and the spur gear 53, and the connecting portion 63 rotates due to the rotation of the tilt shaft 59 due to the rotation of the tip of the first rotating shaft portion 57, and explosion-proof. The container 41 rotates, which causes the TV camera 43 to rotate. When the second motor 49 in another explosion-proof container 45 is driven in response to the activation of the control circuit 21 in the explosion-proof container 13, the second rotary shaft portion 65 rotates, and the bevel gear 6 at the tip thereof.
7 and the rotation of the bevel gear 61 rotate the tilt shaft 59, which causes the connecting portion 63 to rotate and the tilt shaft 59 to rotate.
The explosion-proof container 41 rotates around, and the TV camera 43 rotates.

For example, when only the first rotary shaft portion 57 is rotated, if the second rotary shaft portion 65 is stopped, the first rotary shaft portion 65 is stopped.
As the rotating shaft 57 rotates, the bevel gear 61 relatively rotates, which tends to rotate the explosion-proof container 41 around the tilt shaft 59 through the rotation of the tilt shaft 59. It is necessary to rotate the part 65 relatively in the opposite direction.

On the other hand, the first through hole 6 of the other explosion-proof container 45.
The external explosive atmosphere penetrates into the other explosion-proof container 45 through the first rotating shaft portion 57 and the first rotation shaft portion 57.
When the first and second motors 47 and 49 in 5 are ignited to explode by sparks or the like, among the flames of the explosion, the flame transmitted to the outside through the first through hole 69 is the other flame of the other explosion-proof container 45. The gap between the inner periphery of the first through hole 69 and the outer periphery of the first rotating shaft portion 57 that penetrates the first through hole 69 toward the outside, and the first
Since the gap between the inner circumference of the rotary shaft portion 57 and the outer circumference of the second rotary shaft portion 65 is sufficiently small, it is extremely small. Moreover, the overall length of the first through hole 69 in the axial direction and the first rotating shaft portion 57.
Since the axial total length of both is sufficiently large, the flame is
While being transmitted through the through hole 69 and the first rotating shaft portion 57, the first
Cooled by the through-hole 69 and the first and second rotating shaft parts 57 and 65, the temperature is lowered and becomes lower than the ignition point temperature of the external explosive atmosphere, and the outside from the first through-hole 25 and the first rotating shaft part 57. It does not squirt into and therefore does not ignite an external explosive atmosphere.

In the present embodiment, between the inner circumference of the first through hole 69 of the other explosion-proof container 45 and the outer circumference of the first rotating shaft portion 57 penetrating the first through hole 69 toward the outside. And the gap between the inner circumference of the first rotary shaft portion 57 and the outer circumference of the second rotary shaft portion 65 are sufficiently small, or the entire axial length of the first through hole 69, and the first rotary shaft portion. Since the total length of 57 is made sufficiently large, it is not necessary to fill the other explosion-proof container 45 with the non-combustible gas in advance, and therefore, the work of filling the non-combustible gas at every predetermined time is completely unnecessary. It is not necessary to frequently interrupt the monitoring work by the TV camera 43. Further, since the first through hole 25 and the first and second rotating shaft portions 57 and 65 having the above-described configuration are used, it is not necessary to use a seal member at those positions, and it is possible to avoid an increase in size and weight of the device.

FIG. 4 is an explanatory view for explaining the construction of an embodiment of a working device of the explosion-proof self-propelled working device according to the invention of claim 4. Here, the structure of the moving means, that is, the structure of the motor, the further explosion-proof container housing the control circuit, and the transmitting part is the same as that shown in FIGS. 1 and 2, and therefore the illustration and description thereof are omitted. . A first motor 73, which is driven in response to the activation of the control circuit 21 in the explosion-proof container 13, is housed in the explosion-proof container 71 integrated with the structure 5. The rotation shaft of the first motor 73, that is, the first rotation shaft portion 75, penetrates the first through hole 77 of the explosion-proof container 71, and a shaft mounting portion (large diameter portion) 79 having a U-shape in front view is attached to the tip. . A TV camera 83 and a second motor 85 are housed in the other explosion-proof container 81.

On the other hand, a through hole 87 is formed at one end on the left side of the shaft mounting portion 79 in the drawing, and a shaft 89 mounted on the side surface of another explosion-proof container 81 is rotatably penetrated. Another explosion-proof container 81 is provided inside one end on the right side of the shaft mounting portion 79 in the figure.
2nd which penetrates the inside of the container 81 through the 2nd through-hole 91 of
The tilt shaft 93 is non-rotatably penetrated, and a spur gear 95 is attached to the tip of the second tilt shaft 93 in the other explosion-proof container 81. On the other hand, in the other explosion-proof container 81, a spur gear 99 is mounted on the rotary shaft 97 of the second motor 85 and meshes with the spur gear 95.

On the other hand, the first rotating shaft portion 75 penetrates the first through hole 77 of the explosion-proof container 71.
The gap between the inner periphery of the first rotation shaft portion 75 and the outer periphery of the first rotation shaft portion 75 is configured to be sufficiently small to allow the rotation of the first rotation shaft portion 75. Moreover, the first through hole 77 is provided with a portion projecting in and out of the explosion-proof container 71, and is configured long enough so that the flame of the explosion in the explosion-proof container 71 does not eject to the outside. Further, the second tilt shaft 93 penetrates the second through hole 91 of the other explosion-proof container 81, but the gap between the inner circumference of the second through hole 91 and the outer circumference of the second tilt shaft 93 is the second. It is configured to be small enough to allow the rotation of the second through hole 91 around the tilt shaft 93. Moreover, the entire length of the second through hole 91 is configured to be sufficiently long so that the flame of the explosion in the other explosion-proof container 81 does not eject to the outside.

Next, the operation of this embodiment will be described.
When the first motor 73 in the explosion-proof container 71 is driven in response to the activation of the control circuit 21 in the explosion-proof container 13, the first rotating shaft portion 7
5, the other explosion-proof container 81 is rotated through the rotation of the shaft mounting portion 79, which causes the TV camera 83 to rotate. When the second motor 85 in the other explosion-proof container 81 is driven in response to the activation of the control circuit 21 in the explosion-proof container 13, the spur gear 95 is fixed in a non-rotational manner, so that the rotation shaft of the second motor 85 is rotated. The spur gear 99 at the tip of 97 rotationally moves on the outer periphery of the spur gear 95, whereby the second motor 85 turns and the second motor 8
With the turning of 5, the other explosion-proof container 81 rotates around the shaft 89 and the second tilt shaft 93.

On the other hand, from the first through hole 77 of the explosion proof container 71 and the second through hole 91 of the other explosion proof container 81, the external explosive atmosphere penetrates into the explosion proof container 71 and the other explosion proof container 81, When these are ignited by the sparks of the first motor 73 and the second motor 85 to explode, among the flames of the explosion, the flame transmitted to the outside through the first through hole 77 and the second through hole 91 is The gap between the inner circumference of the first through hole 77 of the explosion-proof container 71 and the outer circumference of the first rotating shaft portion 75 penetrating the first through hole 77 toward the outside, and the second explosion-proof container 81 Since the gap between the inner circumference of the through hole 91 and the outer circumference of the second tilt shaft 93 is sufficiently small, it is extremely small. In addition, since the axial total length of the first through hole 77 and the axial total length of the second through hole 91 are both sufficiently large, the flame is generated by the first through hole 7
7 and the first through hole 7 while being transmitted through the second through hole 91.
7, the first rotating shaft portion 75 is cooled, and the second through hole 9
The first and second tilt shafts 93 are cooled and weakened, both become lower than the ignition point temperature of the external explosive atmosphere, and are not ejected to the outside from the first through hole 77 and the second through hole 91. Does not ignite external explosive atmospheres.

In this embodiment, the first explosion-proof container 71 is
A gap between the inner circumference of the through hole 77 and the outer circumference of the first rotating shaft portion 75 penetrating the first through hole 77 toward the outside, and the inner circumference of the second through hole 91 and the second tilt shaft 93. Since the gap between the outer periphery and the outer periphery is sufficiently small and the axial total length of the first through hole 69 and the axial total length of the second through hole 91 are sufficiently large, the explosion-proof container 71 and the other explosion-proof container 81 are provided. It is not necessary to fill the inside with non-combustible gas in advance, so that the work of filling the non-combustible gas at every predetermined time is completely unnecessary, and it is necessary to frequently interrupt the monitoring work by the TV camera 83 as a working device. There is no. Further, since the first through hole 77 and the second through hole 91 having the above structure are used, it is not necessary to use a seal member at that position, and it is possible to avoid an increase in size and weight of the device.

FIG. 5 is an explanatory view for explaining the construction of an embodiment of the working apparatus of the explosion-proof self-propelled working apparatus according to the fifth aspect of the invention. Since the structure of the moving means, that is, the structure of the motor, the further explosion-proof container housing the control circuit, and the transmitting portion is the same as that shown in FIGS. 1 and 2, illustration and description thereof will be omitted. . There is a T inside the explosion-proof container 101.
The V camera 103 is housed. A first motor 107 that is driven in response to the activation of the control circuit 21 in the explosion-proof container 13 is housed in the other explosion-proof container 105 integrated with the structure 5. The rotation shaft of the first motor 107, that is, the first rotation shaft portion 109 penetrates the first through hole 111 of the other explosion-proof container 105, and the shaft attachment portion 113 having a U-shape in front view is attached to the tip thereof. A second motor 117 is housed in the other explosion-proof container 115.

On the other hand, a through hole 119 is formed at one end on the left side of the shaft mounting portion 113 in the figure, and a shaft 121 mounted on the side surface of the explosion-proof container 101 is rotatably penetrated.
The second tilt shaft 1 that penetrates the second through hole 123 of the other explosion-proof container 115 at one end on the right side of the shaft mounting portion 113 in the figure.
A through hole 127 is formed so as to rotatably pass through 25. The tip of the second tilt shaft 125 of the second motor 117 is integrated with the side surface of the explosion-proof container 105.

On the other hand, the first rotary shaft portion 109 penetrates the first through hole 111 of the other explosion-proof container 105.
The gap between the inner circumference of the through hole 111 and the outer circumference of the first rotation shaft portion 109 is configured to be small enough to allow the rotation of the first rotation shaft portion 109. Moreover, the first through hole 111 is provided with a portion projecting in and out of the other explosion-proof container 105,
The other explosion-proof container 105 is configured to have a sufficiently long length so as not to be ejected to the outside. In addition, the second tilt axis 1
Reference numeral 25 further penetrates the second through hole 123 of the other explosion-proof container 115, and the gap between the inner circumference of the second through hole 123 and the outer circumference of the second tilt shaft 125 is the second tilt shaft 125.
It is small enough to allow the rotation of. Moreover, the second through hole 125 has a portion projecting inwardly of the further explosion-proof container 115, and the second through hole 125 is provided.
The total length of the above is sufficiently long so that the flame of the explosion inside the other explosion-proof container 115 does not jet to the outside.

Next, the operation of this embodiment will be described.
When the first motor 107 in the other explosion-proof container 105 is driven in response to the activation of the control circuit 21 in the explosion-proof container 13, the explosion-proof container 101 is rotated by the rotation of the first rotating shaft portion 109 and the shaft mounting portion 113. This causes the TV camera 83 to rotate. When the second motor 117 in the other explosion-proof container 115 is driven in response to the activation of the control circuit 21 in the explosion-proof container 13, the explosion-proof container 101 is rotated by the rotation of the second tilt shaft 125 of the first motor 117. 121 and the second tilt axis 1
Rotate around 25.

On the other hand, the first through hole 1 of the other explosion-proof container 105.
11, and the second through hole 12 of the explosion-proof container 115.
When the external explosive atmosphere intrudes into the other explosion-proof container 105 and the further explosion-proof container 115 from 3, and these are ignited by the sparks of the first motor 107 and the second motor 117 and exploded, Of the flame of the explosion, the first through hole 11
The flame transmitted to the outside through the first and second through holes 123 is the inner circumference of the first through hole 111 of the other explosion-proof container 105 and the first rotating shaft portion 109 that penetrates the first through hole 111 toward the outside.
Between the outer circumference and the other explosion-proof container 11
Since the gap between the inner circumference of the second through hole 123 and the outer circumference of the second tilt shaft 125 is sufficiently small, it is extremely small.
Moreover, the entire length of the first through hole 111 in the axial direction, and the second
Since the axial total length of the through hole 123 is sufficiently large, the flame is cooled by the first through hole 111 and the first rotating shaft portion 109 while being transmitted through the first through hole 111 and the second through hole 123. Further, the second through hole 123 and the second tilt shaft 125 cool and weaken, both become lower than the ignition point temperature of the external explosive atmosphere, and jet from the first through hole 111 and the second through hole 123 to the outside. And therefore does not ignite external explosive atmospheres.

In this embodiment, another explosion-proof container 105 is used.
Between the inner periphery of the first through hole 111 and the outer periphery of the first rotating shaft portion 109 that penetrates the first through hole 111 toward the outside, and the inner periphery of the second through hole 123 and the second tilt. Axis 12
Since the gap between the outer circumference of the first through hole 111 and the outer circumference of the first through hole 111 and the second through hole 123 are sufficiently large, the other explosion-proof containers 105, and It is not necessary to fill the non-combustible gas in the other explosion-proof container 115 in advance, and therefore, the work of filling the non-combustible gas at every predetermined time is completely unnecessary, and the T as a working device is not required.
It is not necessary to frequently interrupt the monitoring work by the V camera 103. In addition, the first through hole 111, the second
Since the through hole 123 is used, it is not necessary to use a seal member at that position, and it is possible to avoid an increase in size and weight of the device.

In each of the above embodiments, the TV camera, the first
Although the description of the wiring to the second motor etc. is omitted, the wiring is according to the generally known explosion-proof specifications, and the power supply is also provided according to the normal explosion-proof specifications of the battery, the cabtire cable, etc. You can think of it.

In each of the above embodiments, the pulse motor is assumed for the motor, and the speed reducer is not described. However, it is not possible to use the motor alone such as a DC motor or an AC motor, or in combination with the speed reducer. Of course.

In each of the above-described embodiments, the case where the TV camera is mainly used as the work device has been described as an example. However, in addition to this, for example, according to a preset program or according to an external command. Of course, a hand mechanism or the like for performing various operations may be used.

In each of the above embodiments, the case where the explosion-proof self-propelled work device moves along the rail has been described, but the direction of the wheels is changed according to a preset program or according to a command from the outside. Needless to say, it may be configured so as to have a function and thereby freely move on the floor in a desired direction.

[0056]

According to the invention described in claim 1, the inner circumference of the through hole of the explosion proof container and the outer circumference of the rotation shaft of the motor in the explosion proof container which rotates the external wheel through the through hole. Since the gap between them is made sufficiently small and the overall length of the through hole is made sufficiently large, even if the inside of the explosion-proof container explodes, the flame does not ignite the external explosive atmosphere, and therefore the inside of the explosion-proof container It is not necessary to fill the non-combustible gas in advance. Therefore, it is not necessary to interrupt the work by filling the non-flammable gas every predetermined time, and it is possible to freely run by itself indefinitely until the intended work is completed. Moreover, since it is not necessary to use a seal member, it is possible to avoid an increase in size and weight of the device.

According to the second aspect of the present invention, in addition to the effect of the first aspect of the invention, the inner periphery of the first through hole of another explosion-proof container and the TV camera of the first through hole are penetrated. Since the gap between the outer periphery of the first rotation shaft of the first motor in the other explosion-proof container whose direction is changed is made sufficiently small and the total length of the first through hole is made sufficiently large, Even if the explosion occurs, the flame does not ignite the external explosive atmosphere, and therefore it is not necessary to fill the non-combustible gas in the other explosion-proof container in advance. Therefore, it is not necessary to interrupt the work by filling the nonflammable gas every predetermined time, and the monitoring work by the TV camera can be continued indefinitely until the intended work is completed. Moreover, since it is not necessary to use a seal member, it is possible to avoid an increase in size and weight of the device. The monitoring work by the TV camera can be continued indefinitely.

According to the third aspect of the invention, in addition to the effect of the first aspect of the invention, the inner periphery of the first through hole of another explosion-proof container and the TV camera of the first through hole are penetrated. The first motor in the other explosion-proof container that changes the direction of the explosion-proof container
A bevel gear that meshes with the bevel gear of the tilt shaft at the tip of the first rotating shaft portion at the tip through the gap between the outer periphery of the rotating shaft portion and the inner periphery of the first rotating shaft portion and the first rotating shaft portion. A gap between the outer periphery of the second rotating shaft portion of the second motor in the other explosion-proof container that is provided is sufficiently small, and the entire length of the first through hole and the first
Since the total length of the rotating shaft is sufficiently large, even if the inside of the other explosion-proof container explodes, the flame does not ignite the explosive atmosphere outside, and therefore the direction of the TV camera is changed. It is not necessary to fill the non-combustible gas in advance in the other explosion-proof container that houses the motor. Therefore, it is not necessary to interrupt the work by filling the nonflammable gas every predetermined time, and the monitoring work by the TV camera can be continued indefinitely until the intended work is completed. Moreover, since it is not necessary to use a seal member, it is possible to avoid an increase in size and weight of the device.

According to the invention of claim 4, in addition to the effect of the invention of claim 1, a TV camera is provided at the tip of the inner periphery of the first through hole of the explosion-proof container and through the first through hole. A clearance between the outer periphery of the first rotating shaft portion of the first motor in the explosion-proof container, and an inner periphery of the second through-hole of the other explosion-proof container, which has a shaft mounting portion to be attached to another explosion-proof container to be housed. The gap between the inner side of the shaft mounting portion and the outer periphery of the second tilt shaft having the spur gear at the tip penetrating the second through hole inward is sufficiently small, and the entire length of the first through hole and the second Even if the explosion-proof container that houses the first motor and another explosion-proof container that houses the second motor having the spur gear that meshes with the spur gear at the tip of the second tilt shaft explode, since the entire length of the through hole is made sufficiently large. , The flames do not ignite the explosive atmosphere of the outside, therefore TV cameras First, the explosion 爆容 device that houses the second motor, and there is no need to is filled beforehand incombustible gas to another explosion 爆容 the device varied. Therefore, it is not necessary to interrupt the work by filling the nonflammable gas every predetermined time, and the monitoring work by the TV camera can be continued indefinitely until the intended work is completed. Moreover, since it is not necessary to use a seal member, it is possible to avoid an increase in size and weight of the device.

According to the invention of claim 5, in addition to the effect of the invention of claim 1, a TV is provided at the tip through the inner periphery of the first through hole of another explosion-proof container and the first through hole. A clearance between the outer periphery of the first rotating shaft portion of the first motor in the other explosion-proof container having a shaft attachment portion attached to the explosion-proof container for housing the camera, and the second through hole of the further explosion-proof container. The outer periphery of the second tilt shaft of the second motor in the further explosion-proof container, the tip of which is attached to the explosion-proof container housing the TV camera by penetrating through the inner periphery, the second through-hole, and the through-hole of the shaft mounting portion. The gap between and is sufficiently small, and the total length of the first through hole,
Also, since the total length of the second through-hole is made sufficiently large, even if the inside of another explosion-proof container housing the first motor and the inside of another explosion-proof container housing the second motor explode, the flame thereof will cause an external explosion. It is necessary to pre-fill the non-flammable gas in the other explosion-proof container for accommodating the first and second motors for changing the direction of the TV camera, which does not ignite the volatile atmosphere, and in the other explosion-proof container. Absent. Therefore, it is not necessary to interrupt the work by filling the nonflammable gas every predetermined time, and the monitoring work by the TV camera can be continued indefinitely until the intended work is completed. Moreover, since it is not necessary to use a seal member, it is possible to avoid an increase in size and weight of the device.

According to the invention of claim 6, in addition to the effect of the invention of claim 1, the inner periphery of the first through hole of the explosion-proof container and the direction of the working body penetrating the first through hole are directed. Since the gap between the outer periphery of the first rotation shaft of the first motor in the explosion-proof container to be changed is made sufficiently small and the total length of the first through hole is made sufficiently large, the explosion-proof container containing the first motor explodes. However, the flame does not ignite the explosive atmosphere outside, and therefore it is not necessary to fill the non-combustible gas in advance in the explosion-proof container that houses the first motor that changes the direction of the work body. Therefore, it is not necessary to interrupt the work by filling the nonflammable gas every predetermined time, and the work by the work body can be continued indefinitely until the intended work is completed. Moreover, since it is not necessary to use a seal member, it is possible to avoid an increase in size and weight of the device.

According to the invention described in claim 7, since the wheels rotate along the rails, it is not necessary to use a mechanism for forcibly changing the direction of the wheels as the explosion-proof self-propelled working device, and the device can be simplified. Can be planned.

[Brief description of drawings]

FIG. 1 is an explanatory diagram illustrating a configuration of an embodiment according to the invention described in claim 1.

FIG. 2 is a partially enlarged view of FIG.

FIG. 3 is an explanatory diagram illustrating a configuration of an embodiment of a working device of the explosion-proof self-propelled working device according to the invention of claim 3;

FIG. 4 is an explanatory diagram illustrating a configuration of an embodiment of a working device of the explosion-proof self-propelled working device according to the invention of claim 4;

FIG. 5 is an explanatory diagram illustrating a configuration of an embodiment of a working device of the explosion-proof self-propelled working device according to the fifth aspect of the present invention.

FIG. 6 is an explanatory diagram illustrating a configuration of a conventional explosion-proof self-propelled work device.

[Explanation of symbols]

1 rail, 3 explosion-proof self-propelled work equipment, 5 structures, 9,
11 driven wheels, 13, 41, 71, 101 explosion-proof container, 15 transmission mechanism, 17 working device, 19 motor,
21 control circuit, 23 rotary shaft, 25 through hole, 27
Drive wheels, 29 belts, 31 drive wheels, 35 springs, 43, 83, 103 TV cameras, 47, 73,
107 1st motor, 49, 85, 117 2nd motor, 53, 55 spur gear, 57, 75, 109 1st rotating shaft part, 59 tilt shaft, 61, 67 bevel gear, 63
Connection part, 65 Second rotating shaft part, 69, 77, 111 First through hole, 79, 113 Shaft mounting part, 81, 105 Other explosion-proof container, 91, 123 Second through hole, 93, 125
Second tilt axis, 95,99 spur gear, 115 Still other explosion-proof container.

Claims (7)

[Claims] 1. A movable wheel, a motor in the explosion-proof container for generating a driving force capable of driving the wheel, and a rotary shaft penetrating a through hole of the explosion-proof container and transmitting the driving force of the motor to the wheel. An explosion-proof self-propelled working device that is configured to move in an explosive atmosphere by rotation of the wheel via the rotating shaft, and a gap between an inner circumference of the through hole and an outer circumference of the rotating shaft is sufficiently small. In addition, the explosion-proof self-propelled working device is characterized in that the overall length of the through hole in the axial direction is sufficiently large. 2. A TV camera in an explosion-proof container, a first motor in another explosion-proof container for generating a driving force for changing the direction of the TV camera, and a first through hole of the other explosion-proof container. A working device including a first transmission part including a first rotation shaft for transmitting the driving force of the first motor to an explosion-proof container containing the TV camera, a wheel that can travel, and the other explosion-proof container or A second motor in a further explosion-proof container which can be integrated with the working device, which emits a driving force capable of driving the wheel, and a second through hole of the other explosion-proof container or the further explosion-proof container. A second transmission unit including a second rotation shaft for transmitting the driving force of the second motor to the wheel is provided, and the entire working device is moved in an explosive atmosphere by rotation of the wheel via the second rotation shaft. Explosion-proof with moving means A self-propelled working device, comprising: a gap between an inner circumference of the first through hole and an outer circumference of the first rotation shaft, and an inner circumference of the second through hole and an outer circumference of the second rotation shaft. Of the first through hole,
And an explosion-proof self-propelled working device, wherein the axial length of the second through hole is sufficiently large. 3. A TV camera in an explosion-proof container, and a first rotary shaft part in another explosion-proof container, which penetrates a first through hole of the other explosion-proof container and is hollow in the axial direction, via a gear. A first motor for rotating, and a second rotating shaft provided with a bevel gear penetrating in the first rotating shaft portion in its axial direction and meshing with a bevel gear of a tilt shaft arranged at the tip end on the tip side of the first rotating shaft portion. A working unit including a first drive unit including a second motor that rotates the unit, a connecting unit that connects the explosion-proof container and the tilt shaft, a travelable wheel, inside the other explosion-proof container, or the work. A third motor in a further explosion-proof container which can be integrated with the device and which emits a driving force capable of driving the wheel, and the wheel which penetrates through the second through hole of the other explosion-proof container or the further explosion-proof container. The third for transmitting the drive of the third motor to An explosion-proof self-propelled work device comprising: a transmission unit including a rotation shaft unit; and a moving unit that moves the entire work device in an explosive atmosphere by rotation of the wheels via the third rotation shaft unit, A gap between the inner periphery of the first through hole and the outer periphery of the first rotating shaft portion, a gap between the inner periphery of the first rotating shaft portion and the outer periphery of the second rotating shaft portion, and The gap between the two through holes and the outer periphery of the third rotating shaft portion is sufficiently small, and
An explosion-proof self-propelled working device, wherein the axial total length of the through hole, the axial total length of the first and second rotary shaft portions, and the axial total length of the second through hole are sufficiently large. 4. A first motor, which is in the explosion-proof container, rotates a first rotary shaft portion which penetrates a first through hole of the explosion-proof container and has a shaft mounting portion at a tip thereof, and a TV camera in another explosion-proof container,
And the other end of the inner side of the shaft mounting portion that matches the middle axis of the first tilt shaft that is in the other explosion-proof container and penetrates from the outer surface of the other explosion-proof container to the through hole at one end of the shaft mounting portion. A working device including a second motor that rotates a gear that meshes with a gear at the tip of a second tilt shaft that penetrates the second through hole of the other explosion-proof container toward the inside, a travelable wheel, and the working device. A third motor in another explosion-proof container that can be integrated and emits a driving force capable of driving the wheel, and a driving force of the third motor that passes through a third through hole of the other explosion-proof container and is applied to the wheel. Explosion-proof self-propelled work, comprising: a transmission portion including a third rotation shaft portion for transmitting the electric field, and moving means for moving the entire working device in an explosive atmosphere by rotation of the wheel via the third rotation shaft portion. A device, wherein the inner circumference of the first through hole Between the outer circumference of the first rotating shaft portion and the outer circumference of the first rotating shaft portion, a clearance between the inner circumference of the second through hole and the outer circumference of the second tilt shaft, and the inner circumference of the third through hole and the third.
The gap between the outer circumference of the rotating shaft portion and the outer circumference of the rotating shaft portion is sufficiently small, and the total length of the first through hole in the axial direction, the total length of the second through hole in the axial direction, and the total length of the third through hole in the axial direction. Explosion-proof self-propelled work device characterized by being made sufficiently large. 5. A TV camera in an explosion-proof container, a first motor in another explosion-proof container, which rotates a first rotary shaft portion which penetrates a first through hole of the explosion-proof container and has a shaft mounting portion at its tip,
Further, it is in another explosion-proof container and penetrates the other end of the shaft mounting part in line with the center axis of the first tilt shaft that penetrates from one side of the outer surface of the explosion-proof container to the through hole at one end of the shaft mounting part. Working device including a second motor that rotates a second tilt shaft that penetrates the hole and the second through hole of the further explosion-proof container and is connected to the other side of the outer surface of the explosion-proof container; ,
A third motor that is in another explosion-proof container that can be integrated with the working device and that emits a driving force that can drive the wheel, and a third motor that penetrates a third through hole of the further explosion-proof container and is provided to the wheel. A moving unit that includes a transmitting unit that includes a third rotating shaft unit that transmits the driving force of the motor, and a moving unit that moves the entire working device in an explosive atmosphere by rotation of the wheels through the third rotating shaft unit. An explosion-proof self-propelled working device, comprising: a gap between an inner circumference of the first through hole and an outer circumference of the first rotating shaft portion; an inner circumference of the second through hole and an outer circumference of the second tilt shaft. And the inner circumference of the third through hole and the third
The gap between the outer circumference of the rotating shaft portion and the outer circumference of the rotating shaft portion is sufficiently small, and the total length of the first through hole in the axial direction, the total length of the second through hole in the axial direction, and the total length of the third through hole in the axial direction. Explosion-proof self-propelled work device characterized by being made sufficiently large. 6. A work body performing an operation according to its own function, an operation according to a preset program, or an operation according to an external command, and a driving force which is in an explosion-proof container and changes the direction of the work body. A working device including a first motor and a first transmission portion including a first rotation shaft that penetrates a first through hole of the explosion-proof container and transmits the driving force of the first motor to the working body, Wheel, a second motor in the explosion-proof container or another explosion-proof container that can be integrated with the working device, and a driving force for driving the wheel, and a second penetration of the explosion-proof container or the other explosion-proof container A movement that includes a second rotation shaft that penetrates the hole and transmits the driving force of the second motor to the wheel, and moves the entire working device in an explosive atmosphere by rotation of the wheel through the first rotation shaft. Means and An explosion-proof self-propelled working device comprising: a gap between an inner circumference of the first through hole and an outer circumference of the first rotating shaft; and an inner circumference of the second through hole and an outer circumference of the second rotating shaft. The gap between the first through hole and
And an explosion-proof self-propelled working device, wherein the axial length of the second through hole is sufficiently large. 7. The explosion-proof self-propelled work device according to claim 1, wherein the wheels rotate along rails or below the rails.