JPS60218122A - Mobile robot - Google Patents

Abstract

PURPOSE:To prevent a robot body or the like from damage at the generation of an upset by detecting that the inclined angle of the body reaches a prescribed angle and supplying a high-pressure gas into an air bag fitted to a required position. CONSTITUTION:The air bag 2 coverting a part of the mobile robot body 1 is fitted to the outside of the body 1 so that its volume is compressed to its minimum. A gas cylinder 4 filled with high-pressure gas is stored in the body 1 and the gas is supplied from the cylinder 4 to said air bag 2 through a pipe 3 and a solenoid valve 5. A control device 6 constitutes an inclined angle detecting means together with said cylinder 4, the solenoid value 5 and an inclinometer 7, and when the inclined angle of the body 1 reaches the prescribed angle, generates an upset predicating signal to open said solenoid valve 5. Even if the body 1 upsets, the peripheral apparatus or the body 1 can be prevented from damage.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a mobile rodent that prevents damage to the main body or peripheral equipment when it falls over.

A mouth that is not or cannot be fixed to the floor, wall, etc.? For example, an inspection port inside the reactor containment vessel? With mobile rodents, there is always the possibility of them falling over due to earthquakes, road surface conditions, erroneous operations, malfunctions, etc. If the mobile robot falls near equipment related to hazardous materials, the impact C: damage not only the body of the robot but also equipment around it. There is also the risk of causing a major disaster. In order to prevent such shock from falling.

Conventionally, for this purpose, an elastic body such as foam or foamed resin was attached to the outside of the main body of the movable robot. However, in order to absorb a large amount of impact energy with these elastic bodies, it is necessary to install an elastic body with a large volume, which has the disadvantage that it is difficult to store and handle moving loggets, especially in narrow spaces. 〇Therefore, it is possible to attach an elastic body to the floor or outside of peripheral equipment within the range of movement of the mobile robot, but if the movement range of the mobile robot is wide (- or unspecified) In such cases, it is impossible to attach an elastic body to the entire area.Furthermore, it is practically difficult to attach an elastic body to each piece of equipment, and what is more, it is difficult to handle the equipment. It also happens.

The present invention was made based on these circumstances, and
The purpose is to provide a mobile robot that can prevent the main body or peripheral equipment from being damaged in the event of a fall without increasing the size of the main body.

In order to achieve the above object, the mobile robot of the present invention includes an airbang attached to one or a plurality of locations on the outside of the main body, and when the inclination angle of the main body reaches a predetermined angle before the main body falls over. The device is comprised of a tilt angle detecting means for generating a fall prediction signal, and a high pressure gas supply means attached to the main body and supplying high pressure gas into the air puncture based on the output signal of the tilt angle detecting means.

Examples of the present invention will be described below.

First, FIGS. 1 and 2 show a first embodiment of the present invention, which is attached to the outside of a mobile robot main body 1 by a sleeve. One end of each airbang 2 and tube 3 is connected.

On the other hand, a pump 4 filled with high-pressure gas with no risk of explosion is housed inside the main body 1, and the other end of the pipe 3 is connected to the pump 4 via a solenoid valve 5. The solenoid valve 5 is normally held in a closed state, and is opened by a signal from a control device 6 provided inside the main body 1.

The control device 6 constitutes an inclination angle detection means together with the pump 4, electromagnetic valve 5, and inclinometer 7 installed in the main body 1, and inputs the signal from the inclinometer 7 to detect the inclination angle of the main body I. When the inclination angle reaches a predetermined angle before the main body falls over as shown in FIG. 2, a fall prediction signal is generated, thereby opening the electromagnetic valve 5.

With the above configuration, the mobile robot main body 1 does not become large, and the air band 2 expands just before it falls, so that even if the main body 1 falls, the shock energy of the air band 2 can prevent damage to the main body 1 and peripheral equipment. This can be prevented by absorption.

3- In addition, explosives are used in place of the solenoid valve 5 and the high-pressure pump 4, and a large amount of gas is instantaneously generated by exploding the explosives in response to the fall forecast signal from the control device 6.
may be expanded.

FIG. 3 shows a second embodiment, in which the mobile robot main body 2
1 is moved by legs 22, and on the upper part of the main body 21 there is an external equipment accommodating section 23 for accommodating external equipment such as a surveillance camera and a manipulator. They are connected via a continuous mechanism 24 such as a bolt. Inside the mobile robot main body 21, an inclinometer 25 and a control device 26 are provided, as in the previous embodiment. Further, inside the main body 21 and the external equipment housing section 23, guns 227, 2 are filled with high pressure gas and constitute a tilt angle detection means together with the inclinometer 25 and the control device 26.
8 are provided respectively, the main body 21 and the external device housing section 23.
It is connected via tubes 31.32 to air bungs 29.30 attached to each outer side of the. In addition, 6 pipes 31,
Electromagnetic valves 33 and 34 are inserted in 32, and these valves 33 and 34 are opened by a fall prediction signal from the control device 26.

The inclinometer 25 constantly detects the inclination angle of the mobile robot main body 21 and outputs the detection signal to the control device 26. On the other hand, the control device 26 outputs a fall forecast signal when the inclination angle of the main body 2 reaches a predetermined angle before the main body falls, and at the same time opens the electromagnetic valves 33 and 34, the connecting mechanism 24 is broken and the external Separate the device housing section 23 from the main body 21.

According to the above configuration, when the mobile robot is about to fall while moving on the floor or stairs, a fall forecast signal is generated from the control device 26. Then, in response to this signal, the solenoid valves 33 and 34 are opened, and high pressure gas is supplied into the air bungs 29 and 30, and these air buns 29 and 30 instantly expand, and at the same time, the coupling mechanism 24 is ruptured by an explosion, and the external equipment is The housing portion 23 is separated from the main body 21.

Therefore, according to a conventional example, when a movable logget with a large overall mass falls over, the impact at the time of the fall is alleviated by dividing it into pieces of appropriate size, and the impact energy is further absorbed by air buns 29.30 inflated with gas. The effect is that damage to the main body 21 and peripheral devices can be prevented.

As described in detail above, according to the present invention, it is possible to provide a mobile logent that can prevent damage to the main body or peripheral equipment when it falls over without increasing the size of the main body.

[Brief explanation of drawings]

1 and 2 are schematic cross-sectional views showing a first embodiment of the present invention, and FIG. 3 is a schematic cross-sectional view showing a second embodiment of the present invention. 1.21...Main body, 2,29.30...Air bang, 4,27.28...Gonpe, 6,26...Control device, 7.25...Inclinometer. Applicant's sub-agent Patent attorney Takehiko Suzue-7 = Figure 1 ζ Figure 2

Claims (1)

[Claims] an air bang attached to one or a plurality of locations on the exterior of the main body; an inclination angle detection means attached to the main body for generating a fall forecast signal when the inclination angle of the main body reaches a predetermined angle C twice before the main body falls over; A movable port, characterized in that it is equipped with a high-pressure gas supply means attached to a main body and supplies high-pressure gas into the air bank based on an output signal of an inclination angle detection means.