JP2005238339A - Automatic traveling robot using hair-like body as propulsion - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To freely travel even in a complicated-shaped pipe and a narrow place, by using a bristle-like body having resiliency as a transmission means of propulsion force of a device. <P>SOLUTION: This automatic traveling robot has: a propulsion generating part 3 for generating the propulsion force in the predetermined direction when its deflection is restored when the bristle-like bodies 2 deflect by vibration by slantingly arranging a plurality of bristle-like bodies having resiliency; and a robot body 5 having a vibrating part 4 for vibrating the propulsion generating part 3, and generates the propulsion in the inclining direction of these bristle-like bodies 2 when the bristle-like bodies 2 deflect by the vibration, and when these bristle-like bodies 2 having resiliency are restored. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an automatic traveling robot that uses a ciliary body as a driving force that can automatically travel in a pipeline or a confined space and inspect, explore, clean, or clearly indicate the position.

  Various robots have been proposed for use in inspecting or cleaning pipes and narrow spaces. For example, Japanese Patent Application Laid-Open No. 6-191401 “In-pipe automatic traveling device” of Patent Document 1 proposes an in-pipe automatic traveling device used for inspection and repair inside a pipe such as a sewer pipe or an oil conduit.

JP-A-6-191401

  The automatic pipe traveling device described in Patent Document 1 includes an electric motor, a hydraulic pump, and a hydraulic tank that are housed in a housing having a plurality of drive wheels outside and connected to an external power supply device via an electric cable. A traveling drive means having a pressure source section, a hydraulic motor that rotates with hydraulic oil sent from the pressure source section, an output shaft of the hydraulic motor, and a gear group that connects between the axles of each drive wheel, and a pressure source section A solenoid valve block that controls the flow rate and direction of the hydraulic fluid to be sent is provided.

  In the in-pipe automatic traveling device that uses the rotation of the conventional driving wheel as a driving force, it can travel within a flat pipeline. However, when the pipeline has a complicated shape with unevenness and steps on the inner wall of the pipe, it is often impossible to smoothly travel in the pipeline, and it becomes impossible to advance or retreat in the middle of the pipeline. Moreover, the conventional automatic traveling device for rotating a driving wheel has a problem that the device itself is not practical because of its complicated structure.

  On the other hand, conventionally, exploration of old buried pipes under the road has been carried out by irradiating ultrasonic waves from the ground, but there have been problems such as accuracy, cost and traffic obstacles. Therefore, it has been desired to propose a device for self-propelled in this pipeline.

  The present invention has been developed to solve the above-described problems. That is, an object of the present invention is to use a hair that has elasticity as a means for transmitting the propulsive force of the apparatus, and to make the hair that can be freely driven even in a complicated-shaped pipe line as propulsive force. It is to provide an automatic traveling robot.

According to the vibration type automatic traveling robot of the present invention, a plurality of elastic hairs (2) are inclined, and the hairs (2) are bent by vibration, and are restored when they are restored. And a robot main body (5) including a propulsive force generating unit (3) that generates a propulsive force in a direction and a vibrating unit (4) that vibrates the propulsive force generating unit (3). An automatic traveling robot is provided that uses the ciliary body as a driving force.
When the inner surface of the traveling tube is very smooth and slippery, it is preferable to attach a non-slip (11) to a part or all of the tip of each hair (2).

The propulsive force generating section (3) has a plurality of bundles of hairs (2) planted around a rod-like hair support shaft (6) at a plurality of predetermined intervals. A bundle of bodies (2) is respectively protruded from a plurality of insertion holes (8) opened in the ciliary body guide tube (7) surrounding the ciliary body supporting shaft (6), and the ciliary body supporting shaft (6 ), The direction in which the bundle of the ciliary body (2) inclines is changed by moving the ciliary body guide tube (7) back and forth.
Alternatively, the hair support shaft (6) may be configured to move back and forth with respect to the hair guide tube (7).

  The vibrating part (4) is obtained by attaching an eccentric weight (14) to the rotating shaft (13) of the rotary drive machine (12).

  When it is necessary to support an accessory attached to the robot body (5) according to the purpose of use of the automatic traveling robot, it is used for supporting the robot body (5) around the robot body (5). It is preferable to plant the hair (15).

  A work device support tool (17) for supporting the work device (16) such as a camera, transmitter, cleaning brush, or keren device so as to attenuate the vibration can be attached to the robot body (5).

  According to the rotary type automatic traveling robot of the present invention, a plurality of elastic hairs (2) having anti-slip (11) attached to the tip are spirally wound around the hair support shaft (22). When the propelling force generating portion (23) inclined and the hair support shaft (22) are rotated, the hair (2) bends and returns to a predetermined direction when it is restored. Providing a robot body (25) having a rotation drive unit (24) for rotating the ciliary body support shaft (22) in order to generate a propulsive force, An automatic traveling robot is provided.

The propulsive force generating section (23) is a spirally planted bundle of a plurality of hair bodies (2) around a rod-like hair body support shaft (22), and each of the hair bodies (2). The bundle is protruded from a plurality of spiral insertion holes (27) opened in the capillary guide tube (26), and the capillary guide tube (26) is connected to the hair support shaft (22). By moving back and forth, the direction of inclination of the ciliary body (2) is changed.
Alternatively, the hair support shaft (22) can be configured to move back and forth with respect to the hair guide tube (26).

  In this vibration-type automatic traveling robot, the hair-like body (2) in which the propulsive force generating section (3) is inclined is bent by vibration from the vibration section (4), and the hair-like body (2) having this elasticity. Is restored, the tip of the ciliary body (2) hits the inner wall surface of the pipe (P) and the reaction can generate a propulsive force in the inclination direction of the ciliary body (2). . The robot body (5) can be made to travel by repeating the operation of the hair (2). Moreover, since the ciliary body (2) has both the function of determining the direction in which the robot body (5) travels and the function of supporting the robot body (5), the forward movement and the backward movement are surely performed in the pipe (P). It can be done, and it will not become impossible to advance and retreat.

  In particular, the propulsive force of the present invention is a hairy body (2) having elasticity, and since the hairy body (2) has a simple structure, the size and shape of the pipe (P) and space, The robot main body (5) can be made to travel in places with various conditions such as the installation status of other construction objects in the pipe (P).

  Furthermore, the propulsive force generating part (3) can be moved forward and backward by easily switching the direction of the tip of the ciliary body (2). Therefore, it is possible to accurately specify the inspection, cleaning, and pipe position in the pipe (P) at a low cost and safely in a relatively small-diameter pipe or a narrow space.

  The automatic traveling robot of the present invention uses a hairy body having elasticity as a propulsive force, and further, this hairy body has a function for determining the direction in which the robot body proceeds and a function for supporting the robot body. Thus, the device can move forward and backward without being able to advance and retract even in a complicatedly shaped pipe or in a narrow place with an uneven surface.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a side sectional view showing a first embodiment of the vibration type automatic traveling robot of the present invention.
The automatic traveling robot 1 according to the first embodiment of the present invention includes a propulsive force generation unit 3 in which a large number of elastic hairs 2 are inclined in a predetermined direction, and a vibration unit 4 that vibrates the propulsion force generation unit 3. And a robot main body 5 provided.

  The propulsive force generating unit 3 has a hair support shaft 6 made of a rod-shaped material, and is planted at a plurality of locations at predetermined intervals so that a bundle of a plurality of hair bodies 2 is, for example, a ring shape around the shaft. It is set up. In the illustrated example, four rings of the ciliary bodies 2 in five rows are provided, but the number is not limited to this value, and in the case of the large-sized automatic traveling robot 1, more rings of the ciliary bodies 2 are provided than this number. On the contrary, in the case of the compact automatic traveling robot 1, the number of rings of the hairs 2 can be reduced.

  It is not always necessary to plant the hair body 2 so as to form a complete ring shape with respect to the hair body support shaft 6. For example, when the automatic traveling robot 1 of the present invention is traveled on a flat place, or when it is desired to travel while keeping the vertical relationship of the automatic traveling robot 1 constant, the bundle of the hair bodies 2 on the lower surface is made slightly flat. Arrange them so that they are close to each other. Alternatively, the hair bodies 2 are arranged so that the position (center of gravity) of the hair body support shaft 6 is slightly shifted downward.

  Each bundle of the hair bodies 2 is protruded from a plurality of insertion holes 8 opened in the hair body guide tube 7. The hair-like body 2 can be any synthetic resin as long as it has elasticity and has water resistance in the pipe P such as a pipe having a lot of moisture. For example, any of polyethylene, acrylic resin, and vinyl chloride resin can be used. The hair 2 is not limited to a synthetic resin material, and a metal material can be used.

FIG. 2 is a sectional side view of the operating state of the propulsive force generator in the first embodiment, showing a forward state (a), a conversion time (b), and a reverse state (c).
The propulsive force generating unit 3 is configured to change the direction in which the bundle of the hair bodies 2 is inclined by moving the hair body guide tube 7 back and forth with respect to the hair body support shaft 6. In the illustrated example, a flat gear 9 is provided at one end of the ciliary guide tube 7, and this is configured to be moved back and forth by a drive gear 10.

  As shown in the “advanced state” in FIG. 2A, the ciliary body 2 in which a bundle of the ciliary bodies 2 is inclined (right side in the drawing) by the insertion holes 8 of the ciliary body guide tube 7 is formed. When the tip of the ciliary body 2 is bent by vibration and restored, the tip of the ciliary body 2 hits the inner wall surface of the pipe P or the like, and the reaction causes the ciliary body 2 to tilt in the opposite direction (left side in the figure). Propulsion can be generated. Since the anti-slip 11 is attached to the tip of the hairy body 2, the automatic traveling robot 1 can travel in the forward direction (left direction in the illustrated example). In addition, if it is a place with high frictional resistance, it is also possible to omit this anti-slip 11.

  As shown in “at the time of conversion” in FIG. 2B, when the automatic traveling robot 1 is moved backward, the spur gear 9 of the ciliary body guide tube 7 is shifted by the drive gear 10 (returns to the left in the illustrated example). . Further, as shown in the “retracted state” of FIG. 2C, when the ciliary body guide tube 7 is returned, the bundle of ciliary bodies 2 is inclined at the insertion hole 8 of the ciliary body guide tube 7 (illustrated). To the left). That is, the bundle of hairs 2 is inclined in the direction opposite to the “advanced state”. When the propulsive force generating unit 3 is vibrated in this state, the ciliary body 2 is bent by the vibration, and the automatic traveling robot 1 can be moved backward by the propulsive force generated by the restoring action (right direction in the illustrated example). . Thus, the inclination angle of the ciliary body 2 can be finely adjusted by advancing and retracting the ciliary body guide tube 7.

  It should be noted that an electromagnetic coil (not shown) can be used as long as it is simply two types of operations, “forward state” and “reverse state”. For example, a movable iron core is put in an electromagnetic coil, and the movable core is attracted or separated by an exciting current, so that the capillary guide tube connected to the movable iron core can be advanced and retracted. is there.

FIG. 3 is a side sectional view showing the robot body.
The vibration unit 4 provided in the robot body 5 is obtained by attaching an eccentric weight 14 to a rotation shaft 13 of a rotary drive machine 12 such as a motor. The vibration unit 4 vibrates by the rotation of the eccentric weight 14, and this vibration is transmitted to the propulsion force generation unit 3.
The vibration unit 4 is not limited to the illustrated configuration of the eccentric weight 14 and the rotary drive machine 12 as long as it can generate vibration and transmit the vibration to the propulsion force generation unit 3. It is also possible to configure to vibrate using the electromagnetic action of the electromagnet.

FIG. 4 is a side sectional view showing a state in which the automatic traveling robot of the first embodiment is traveling in the pipeline.
Thus, since the automatic traveling robot 1 according to the present invention has a structure that can freely change the direction in which the tip of the ciliary body 2 is inclined, it moves forward when the direction of the hair is set obliquely downward with respect to the traveling direction. If it is reversed, it will be backward, and forward and backward can be easily performed by switching the direction of the hair.

  A support hair 14 for supporting the robot body 5 is implanted around the robot body 5. In addition, the vibration that is a power source of the automatic traveling robot 1 and the power source that activates the propulsive force generation unit 3 can be an externally-supplied power source (not shown) such as an internal battery or a cable, and can be selectively used depending on the application.

FIG. 5 is a partial vertical cross-sectional view showing a state where the camera is mounted on the automatic traveling robot of the first embodiment.
The robot body 5 can be attached with a work device support 17 for supporting the work device 16 such as a camera, a transmitter, a cleaning brush, or a keren device. The work device support 17 is made of, for example, a coil spring and has a function of attenuating vibration from the vibration unit 4. At this time, the vibration is also transmitted to the camera, but the vibration is absorbed by the spring structure of the work device support 17 and the ciliary body 2 so as not to interfere with the photographing. Therefore, even a device that dislikes vibration, such as a camera, can accurately capture and capture images. The camera installation position may be behind the robot body 5, and the positions of other members are not limited to this shape.

  For example, when the automatic traveling robot 1 of the present invention is used for the inspection in the pipe P, the small-sized and light-weight robot using the camera-equipped mobile phone is used for the transmission / reception of images and operation commands of the small camera. A clear image can be taken by lighting such as a light emitting diode.

  In addition, by installing a cleaning brush and a cleansing device on the automatic traveling robot 1, easy cleaning is possible. When the amount of cleaning is large, it can be used when performing a reliable cleaning process by inspecting the pipe P, and can be dealt with by another method.

  For buried pipes under high-traffic roads, this automatic traveling robot 1 is equipped with a transmitter such as a small ultrasonic wave so that it can travel in the pipeline P and track it from the sidewalk. It can be performed.

FIG. 6 is a sectional side view of another embodiment of the propulsive force generator, showing a forward state (a), a conversion time (b), and a reverse state (c).
The propulsive force generating unit 3 may be configured to move the ciliary body support shaft 6 back and forth with respect to the ciliary body guide tube 7. As shown in the “advanced state” of FIG. 6A, when the bundle of the hair bodies 2 inclined at the insertion hole 8 of the hair body guide tube 7 is vibrated in this state, the hair body 2 The propulsive force in the inclination direction can be generated. That is, the automatic traveling robot 1 can travel in the forward direction (left direction in the illustrated example).

  When the automatic traveling robot 1 is retracted, the flat gear 18 of the hair support shaft 6 is shifted by the drive gear 10 as shown in “at the time of conversion” in FIG. 6B (push rightward in the illustrated example). . Further, as shown in the “retracted state” of FIG. 6C, when the hair support shaft 6 is pushed out, the bundle of hairs 2 is inclined at the insertion hole 8 of the hair guide tube 7. . That is, the bundle of hairs 2 is inclined in the direction opposite to the “advanced state”. When the propulsive force generating unit 3) is vibrated in this state, the hair 2 is bent by the vibration, and the automatic traveling robot 1 can be moved backward by the propulsive force generated by the restoring action.

FIG. 7 is a side sectional view showing a second embodiment of the rotating / spiral type automatic traveling robot of the present invention. FIG. 8 is a front sectional view showing a second embodiment of the rotating / spiral type automatic traveling robot of the present invention.
The automatic traveling robot 21 according to the second embodiment of the present invention is configured such that the hair 2 is formed in a spiral shape and the hair 2 is rotated. A propulsive force generator 23 in which a plurality of hairs 2 having elasticity similar to that of the first embodiment are arranged in a spiral manner around the hair support shaft 22, and the hair support shaft 22 is rotated. And a robot body 25 having a rotation drive unit 24 such as a motor to be driven.

  In the automatic traveling robot 21 according to the second embodiment, unlike the first embodiment, when the hair-like body 2 is bent when the hair-like body support shaft 22 is rotated, the hair-like body 2 is restored. A propulsive force in a predetermined direction is generated. The propulsive force generator 23 projects a bundle of the hair bodies 2 of the hair body support shaft 22 from a plurality of spiral insertion holes 27 opened in the hair body guide tube 25, respectively. The direction in which the ciliary body 2 inclines is changed by moving the ciliary body guide tube 26 back and forth with respect to the ciliary body support shaft 22. Conversely, the hair support shaft 22 can be configured to move back and forth with respect to the hair guide tube 26.

  In the above-described example, the structure provided with the elastic hair 2 as a means for transmitting the propulsive force has been described in detail. However, the hair 2 is bent during vibration or rotation, and the propulsive force is generated by the restoring force. However, the structure is not limited to the structure described above, and the propulsive force generators 3 and 23 may be configured in two places before and after the robot main bodies 5 and 25.

  Further, in the automatic traveling robots 1 and 21, the overall shape of the hairs 2 and the support hairs 15 is not limited to the substantially cylindrical shape in the illustrated example. Needless to say, various modifications can be made without departing from the scope of the present invention.

  The automatic traveling robot of the present invention can smoothly move forward and backward in a pipeline through which a cable is inserted. In addition, for the purpose of exploration, it is possible to run smoothly even in complicated shapes of pipes such as old buried pipes under roads where there are irregularities and steps, and even in the rubble space of disaster areas. Can be used.

1 is a side sectional view showing a first embodiment of a vibration type automatic traveling robot of the present invention. FIG. It is a sectional side view which shows the operation state of the thrust generation part in Example 1, and is a forward state (a), the time of conversion (b), and a reverse state (c). It is a sectional side view which shows a robot main-body part. It is a sectional side view which shows the state which the automatic traveling robot of Example 1 is drive | working the inside of a pipe line. It is a fragmentary longitudinal cross-section which shows the state which mounted | wore the automatic traveling robot of Example 1 with the camera. It is a sectional side view which shows other embodiment of a thrust generation part, and is a forward state (a), the time of conversion (b), and a reverse state (c). It is a sectional side view which shows Example 2 of the rotation and spiral type automatic traveling robot of this invention. It is a front sectional view showing Example 2 of the rotation / spiral type automatic traveling robot of the present invention.

Explanation of symbols

1 Automatic traveling robot (Example 1)
DESCRIPTION OF SYMBOLS 2 Hairy body 3 Propulsion force generation part 4 Vibration part 5 Robot main body 6 Hairy body support shaft 7 Hairy body guide tube 8 Insertion hole 11 Anti-slip 12 Rotation drive machine 13 Rotating shaft 14 Eccentric weight 15 Hair support body 16 Work device (camera, transmitter, cleaning brush, keren device, etc.)
17 Working device support 21 Automatic traveling robot (Example 2)
DESCRIPTION OF SYMBOLS 22 Ciliary body support shaft 23 Propulsion force generation part 24 Rotation drive part 25 Robot main body 26 Ciliary body guide tube 27 Spiral insertion hole

Claims (10)

Propulsive force generator (2) that has a plurality of elastic hairs (2) inclined and generates a driving force in a predetermined direction when the hairs (2) are bent by vibration and restored. 3) and
A robot body (5) having a vibration part (4) for vibrating the propulsion force generation part (3);
An automatic traveling robot using a ciliary body as a driving force. The automatic traveling robot using the ciliary body as a driving force according to claim 1, wherein a slip stopper (11) is attached to the tip of each ciliary body (2). The propulsive force generating section (3) is a plurality of bristles (2) bundled around a rod-like hair support shaft (6) at a plurality of predetermined intervals.
Each bundle of hairs (2) protrudes from a plurality of insertion holes (8) opened in the hair guide tube (7) surrounding the hair support shaft (6),
A configuration in which the direction in which the bundle of the hair bodies (2) inclines and the angle thereof are changed by moving the hair body guide tube (7) back and forth with respect to the hair body support shaft (6). The automatic traveling robot according to claim 1 or 2, wherein The propulsive force generating section (3) is a plurality of bundles of hairs (2) around a rod-like hair support shaft (6) and planted at a plurality of predetermined intervals.
Each bundle of hairs (2) protrudes from a plurality of insertion holes (8) opened in the hair guide tube (7) surrounding the hair support shaft (6),
By moving the hair support shaft (6) back and forth with respect to the hair guide tube (7), the direction in which the bundle of hairs (2) inclines is changed. The automatic traveling robot according to claim 1, wherein the automatic traveling robot is provided. The automatic traveling robot according to claim 1, wherein the vibration section (4) has an eccentric weight (14) attached to a rotation shaft (13) of a rotary drive machine (12). A plurality of supporting hairs (15) for supporting the robot body (5) are implanted around the robot body (5). 4 or 5 automatic traveling robots. The robot body (5) is provided with a work device support (17) for supporting the work device (16) such as a camera, transmitter, cleaning brush, or keren device so as to attenuate the vibrations. The automatic traveling robot according to claim 1. A propulsive force generating section (23) in which a plurality of elastic hair bodies (2) each having a slip stopper (11) attached at the tip thereof are arranged in a spiral fashion around the hair body support shaft (22); ,
When the hair support shaft (22) is rotated, the hair support body (2) bends and generates a driving force in a predetermined direction when it is restored. A robot body (25) having a rotation drive unit (24) for rotating (22);
An automatic traveling robot using a ciliary body as a driving force. The propulsive force generating section (23) is a spirally planted bundle of a plurality of hair bodies (2) around a rod-like hair body support shaft (22).
Each bundle of hairs (2) protrudes from a plurality of spiral insertion holes (27) opened in the hair guide tube (26),
The ciliary body guide tube (26) is moved back and forth with respect to the ciliary body support shaft (22) to change the direction in which the ciliary body (2) is inclined. The automatic traveling robot according to claim 8, wherein: The propulsive force generating section (23) is a spirally planted bundle of a plurality of hair bodies (2) around a rod-like hair body support shaft (22).
Each bundle of hairs (2) protrudes from a plurality of spiral insertion holes (27) opened in the hair guide tube (26),
By moving the hair support shaft (22) back and forth with respect to the hair guide tube (26), the direction in which the hair (2) is inclined is changed. The automatic traveling robot according to claim 8, wherein:

Images