JP7583232B2 - ROBOT DEVICE AND MOVING METHOD - Google Patents

Description

The present invention relates to a robot device and a method of movement using the device.

When inspecting the condition of high-altitude structures such as utility poles, steel towers, chimneys, and bridges, there is a growing trend to develop a technology that allows workers to safely inspect structures by remotely controlling a robot equipped with a hammering inspection device and a camera, instead of having to climb into a gondola or high-altitude work vehicle. Patent Document 1 discloses a robot device that can move along the length of a pole-like structure such as a utility pole by pinching the structure between a lifting roller and a guide roller, without straying from the structure.

JP 2021-109286 A

If there are protrusions such as road signs or bolts on the columnar structure, the protrusions will interfere with the rollers and hinder the movement of the robot device.

The present invention was made in consideration of these problems, and aims to provide a robot device that can move along a columnar structure even if there are obstacles, and a method of moving along a columnar structure using the robot device.

A robot device according to one aspect of the present invention includes a main body, a moving means capable of moving the main body, and a plurality of hands that can be switched between a holding state in which the gap between the main body and the columnar structure is smaller than a predetermined value and a released state in which the gap between the main body and the columnar structure is larger than a predetermined value, and is configured to move the main body by the moving means and/or gravity while some or all of the plurality of hands are in the holding state, restricting radial movement of the main body away from the columnar structure.

According to this embodiment, since there are multiple hands, the hand that interferes with the obstacle can be put into a released state with a large gap between it and the columnar structure to avoid the obstacle, and the remaining hands can be put into a holding state with a small gap between it and the columnar structure to restrict radial movement. Even if there is an obstacle protruding radially from the columnar structure, it is possible to move along the columnar structure.

In the above embodiment, when some of the multiple hands interfere with an obstacle protruding radially from the columnar structure, the main body may be moved with some of the hands in a released state and the remaining hands that are not some of the hands in a held state.

According to this embodiment, some of the hands that avoid obstacles are in a released state with a large gap between them and the columnar structure, while the remaining hands that restrict radial movement are in a holding state with a small gap between them and the columnar structure.

In the above embodiment, the multiple hands may include a first hand and a second hand, or may be composed of only a first hand and a second hand.

According to this aspect, the robot device is configured with the minimum number of hands required to avoid obstacles, which makes it possible to reduce weight and manufacturing costs.

In the above aspect, the multiple hands include a first hand and a second hand, the main body includes a first frame to which the first hand is attached and a second frame to which the second hand is attached, and a connecting portion connecting the first frame and the second frame may be configured to be switchable between a locked state in which the first frame is fixed relative to the second frame and an unlocked state in which the first frame can swing relative to the second frame.

According to this aspect, the first frame can swing relative to the second frame to match the shape of the columnar structure, so the robot device can move along the columnar structure even if the columnar structure is curved. When avoiding an obstacle, the connection part can be switched between a locked state and an unlocked state so that the first frame does not swing and interfere with the obstacle.

In the above aspect, each of the multiple hands may be configured to be deformable into multiple shapes including a first shape and a second shape, and may be configured such that when any hand transforms from the second shape to the first shape, the state of the hand is switched from a released state to a held state, and when any hand transforms from the first shape to the second shape, the state of the hand is switched from a held state to a released state.

According to this aspect, any hand can be transformed to switch the state of that hand between a held state and a released state.

In the above aspect, the multiple hands include a first hand and a second hand, the main body includes a first frame to which the first hand is attached and a second frame to which the second hand is attached, and the connecting portion connecting the first frame and the second frame includes a drive mechanism for moving the second frame and the first frame relatively, and may be configured to switch the state of the first hand from the held state to the released state when the second hand is in the held state, and the drive mechanism moves the first frame away from the columnar structure, and after the drive mechanism moves the first frame closer to the columnar structure after obstacle avoidance, switch the state of the first hand from the released state to the held state, and to switch the state of the second hand from the held state to the released state when the first hand is in the held state, and after the drive mechanism moves the second frame away from the columnar structure and moves the second frame closer to the columnar structure after obstacle avoidance, switch the state of the second hand from the released state to the held state.

According to this aspect, the first hand attached to the first frame is moved along with the first frame, and the second hand attached to the second frame is moved along with the second frame, so that even obstacles with a large protruding amount can be avoided.

A method for moving a columnar structure according to another aspect of the present invention is a method for moving a columnar structure using a robot device, the robot device comprising a main body, a moving means capable of moving the main body, and a plurality of hands attached to the main body. The moving method includes: placing each of the plurality of hands in a holding state in which the gap between the main body and the columnar structure is smaller than a predetermined value; moving the robot device in a state in which the radial movement of the main body away from the columnar structure is restricted by the plurality of hands to the columnar structure by the moving means and/or gravity; detecting whether the plurality of hands interfere with an obstacle protruding in the radial direction from the columnar structure; placing the some of the hands in a released state in which the gap between the some of the hands and the columnar structure is larger than a predetermined value when it is detected that some of the hands interfere with the obstacle; and moving the robot device in a state in which the radial movement of the main body away from the columnar structure is restricted by the remaining hands that are not some of the hands along the columnar structure by the moving means and/or gravity.

According to this aspect, when some of the hands interfering with an obstacle are in a released state with a large gap between them and the columnar structure to avoid the obstacle, the remaining hands can maintain a state in which radial movement is restricted. Even if there is an obstacle protruding from the columnar structure, the robot device can move along the columnar structure.

In the above aspect, the main body may include a first frame to which some of the hands are attached, and a second frame to which the remaining hands are attached. The movement method may include switching from an unlocked state in which the first frame can swing relative to the second frame to a locked state in which the first frame is fixed relative to the second frame, releasing some of the hands that are interfering with the obstacle, and moving the robot device to a position where the some of the hands do not interfere with the obstacle while maintaining the locked state.

According to this aspect, the first frame remains in a fixed locked state relative to the second frame and some of the hands move to a position where they do not interfere with the obstacle, so that the first frame can be prevented from swinging and interfering with the obstacle when avoiding the obstacle.

The above embodiment may further include detecting whether or not some of the hands in the released state will interfere with an obstacle, and moving the main body in a circumferential direction around the columnar structure as an axis if it is detected that some of the hands will interfere with an obstacle even in the released state.

According to this aspect, even if some of the hands are released, when they interfere with an obstacle, they can search for a path that does not interfere with the obstacle by moving circumferentially around the columnar structure as an axis.

The present invention provides a robot device capable of moving along a columnar structure even if there are obstacles, and a method of moving along a columnar structure using the device.

FIG. 1 is a perspective view illustrating an example of a robot device according to a first embodiment of the present invention. FIG. 2 is a bottom view showing the first hand in a held state and a released state. FIG. 3 is a side view showing the configuration of a drive wheel, which is an example of a moving means. FIG. 4 is a front view showing the connecting portion in a locked state and an unlocked state. FIG. 5 is a side view showing an example of a robot device that moves along a columnar structure. FIG. 6 is a plan view showing a sensing area for detecting whether or not the first hand can avoid the obstacle before the obstacle is avoided. FIG. 7 is a plan view showing a sensing area for detecting whether or not the first hand, which is avoiding an obstacle, has been able to avoid the obstacle. FIG. 8 is a plan view showing a sensing area for detecting whether or not the first hand comes into contact with an obstacle when moving in the circumferential direction. FIG. 9 is a flow diagram showing an example of a method for moving on a columnar structure using a robot device. FIG. 10 is a flow diagram for explaining the flow shown in FIG. 9 in more detail. FIG. 11 is a side view showing an example of a robot device according to the second embodiment of the present invention that moves along a columnar structure. FIG. 12 is a bottom view illustrating an example of a robot device according to a third embodiment of the present invention.

A preferred embodiment of the present invention will be described with reference to the attached drawings. In each drawing, parts with the same reference numerals have the same or similar configuration. FIG. 1 is a perspective view showing an example of a robot device 1 according to a first embodiment of the present invention. The robot device 1 includes a main body 2, moving means 34, 35, 44, 45 capable of moving the main body 2 against gravity, and a plurality of hands 3, 4.

In the illustrated example, the robot device 1 is equipped with drive wheels 34, 35, 44, and 45 that are driven by a motor as a means of movement. The means of movement is not limited to the illustrated example, and may be a propeller that generates lift, or a combination of a drive wheel and a propeller.

In the illustrated example, the main body 2 is divided into a first frame 21 and a second frame 22. The configuration of the main body 2 is not limited to the illustrated example, and may be an integral structure or may be divided into three or more frames. The first frame 21 and the second frame 22 are connected by a connecting portion 23.

The connecting portion 23 includes a locking mechanism and is configured to be switchable between a locked state in which the first frame 21 is fixed relative to the second frame 22 and an unlocked state in which the first frame 21 can swing relative to the second frame 22. The locking mechanism will be described in detail later with reference to FIG. 4.

In the illustrated example, the multiple hands are composed of only a first hand 3 and a second hand 4. The number of hands is not limited to the illustrated example and may be three or more. Some of the multiple hands are attached to the first frame 21, and the remaining hands are attached to the second frame 22.

In the illustrated example, the first hand 3 is attached to the first frame 21, and the second hand 4 is attached to the second frame 22. The second hand 4 has substantially the same shape and function as the first hand 3. Therefore, the first hand 3 will be described in detail as a representative example, and redundant descriptions of the second hand 4 will be omitted.

Figure 2 is a plan view showing the holding state and the release state of the first hand 3. Each of the multiple hands is configured to be switchable between a holding state in which the gap X1 with the columnar structure P is smaller than a predetermined value, and a release state in which the gap X2 with the columnar structure P is larger than a predetermined value. The gap X1 in the holding state may be zero when in contact with the columnar structure P. Each of the multiple hands is configured to be deformable into multiple shapes including a first shape and a second shape.

When the first hand 3 is transformed from the second shape shown by the two-dot chain line in FIG. 2 to the first shape shown by the solid line in FIG. 2, the state of the first hand 3 can be switched from a released state to a held state. Conversely, when the first hand 3 is transformed from the first shape shown by the solid line to the second shape shown by the two-dot chain line, the state of the first hand 3 can be switched from a held state to a released state. The first shape may be called the held shape, and the second shape may be called the released shape.

Similarly, although not shown, the second hand 4 is configured to be deformable into a plurality of shapes including a first shape and a second shape, and is configured to be able to switch between a held state in which the gap X1 with the columnar structure P is smaller than a predetermined value and a released state in which the gap X2 with the columnar structure P is larger than a predetermined value by deforming into the first shape and the second shape.

In the illustrated example, the first hand 3 is configured to clamp the columnar structure P by opening and closing a pair of clamp arms 30L, 30R that rotate around an axis 39. The first hand 3 includes a pair of clamp arms 30L, 30R, a pair of driven wheels 31L, 31R, a pair of link mechanisms 32L, 32R, a pair of servo cylinders 33L, 33R, etc.

A driven wheel 31L, 31R that rolls along the axial direction Dz of the columnar structure P is attached to the rotating end (tip) of each clamp arm 30L, 30R. The servo cylinder 33L drives one clamp arm 30L via a link mechanism 32L, and the servo cylinder 33R drives the other clamp arm 30R via a link mechanism 32R.

As long as the gaps X1 and X2 can be changed to switch between the held state and the released state, the configuration of the hand is not limited to the example shown in the figure. For example, the hand may be configured to change the gaps X1 and X2 by driving multiple link mechanisms with the same servo cylinder.

The robot device 1 is equipped with a number of hands 3, 4, ... arranged in series in the axial direction Dz of the columnar member P. When some (e.g., one of the first and second hands 3, 4) or all (e.g., both the first and second hands 3, 4) of the multiple hands are in a holding state, the movement of the main body 2 in the radial direction Dr away from the columnar structure P is restricted.

The robot device 1 is configured to be able to move the main body 2 by the driving force of the drive wheels 34, 35, 44, 45, which are the moving means, the lift force of the propellers, or by falling due to gravity, while maintaining a state in which the movement of the columnar structure P in the radial direction Dr is restricted.

Figure 3 is a side view showing the configuration of drive wheels 34, 35, which are an example of a means of transportation. Drive wheels 44, 45 attached to second frame 22 via brackets have substantially the same shape and function as drive wheels 34, 35 attached to first frame 21 via bracket 24. Therefore, drive wheels 34, 35 will be described in detail as representatives, and duplicate descriptions of drive wheels 44, 45 will be omitted.

As shown in FIG. 3, one of the drive wheels 34 is a means for moving the columnar structure P in the axial direction Dz. The drive wheel 34 is arranged so that its rotation axis is perpendicular to the axial direction Dz, and moves the main body 2 along the axial direction Dz of the columnar structure P by the rotational driving force of an attached motor. The other drive wheel 35 is a means for moving the columnar structure P in the circumferential direction Dθ. The drive wheel 35 is arranged so that its rotation axis is parallel to the axial direction Dz, and moves the main body 2 along the circumferential direction Dθ of the columnar structure P by the rotational driving force of an attached motor.

The drive wheels 34 and 35 are omni-wheels and have multiple rollers attached to their outer periphery. The rotation axis of the drive wheel 34 and the rotation axis of each roller attached to the drive wheel 34 are not parallel but are in a twisted position that does not intersect. Similarly, the rotation axis of the drive wheel 35 and the rotation axis of each roller attached to the drive wheel 35 are not parallel but are in a twisted position that does not intersect.

The drive wheels 34, 35 are connected to the servo cylinder 37 via a link mechanism 36 and are configured to be movable between a traveling position where they abut against the columnar structure P and a retracted position where the gap X3 between them and the columnar structure P is greater than a predetermined value. The gap X3 between the drive wheels 34, 35 and the columnar structure P in the retracted position is approximately the same as the gap X2 between the first hand 3 and the columnar structure P in the released state. The aforementioned driven wheel 31L is arranged so that its rotation axis is perpendicular to the axial direction Dz. Similarly, the driven wheel 31R, not shown, is arranged so that its rotation axis is perpendicular to the axial direction Dz.

Figure 4 is a front view showing the locked and unlocked states of the connecting part 23. In the illustrated example, the connecting part 23 includes a hinge including a first connecting arm 51, a second connecting arm 52, a bearing 53, etc., and a locking mechanism including brake plates 54L, 54R, linings 55L, 55R, link mechanisms 56L, 56R, servo cylinders 57L, 57R, etc.

The first connecting arm 51 is fixed to the first frame 21, and the second connecting arm 52 is fixed to the second frame 22. The first connecting arm 51 and the second connecting arm 52 are connected so as to be able to swing in all directions including forward/backward and left/right around the spherical bearing 53. Each of the brake plates 54L, 54R is formed in a spherical crown shape and is fixed to the first frame 21.

The linings 55L, 55R are formed in a shape that follows the brake plates 54L, 54R, and are attached to the link mechanisms 56L, 56R. The link mechanisms 56L, 56R and the servo cylinders 57L, 57R are attached to the second frame 22. The servo cylinders 57L, 57R can move the lining 55 via the link mechanisms 56L, 56R.

When the driving force of the servo cylinder 57 presses the lining (friction material) 55 against the brake plate 54, the first frame 21 is fixed to the second frame 22 in a locked state. When the linings 55L and 55R are released from the brake plates 54L and 54R, the first frame 21 is released from the second frame 22 in an unlocked state in which it can swing.

Figure 5 is a side view showing an example of a robot device 1 moving along a columnar structure P. As shown in Figure 5, the first frame 21 of the robot device 1 can swing relative to the second frame 22 to match the shape of the columnar structure P, so that the robot device 1 can move along the columnar structure even if the columnar structure P is curved.

The robot device 1 can be equipped with various sensors 19 for checking whether corrosion, loose bolts, etc. have occurred in the columnar structure P. The various sensors 19 are, for example, a hammering inspection device that collects hammering data and a camera that captures image data. The columnar structure P has protrusions such as road signs and cantilevers. These protrusions become obstacles Q, Q' that impede the movement of the robot device 1.

Figure 6 is a plan view showing sensing areas α and β that detect whether the first hand 3 can avoid the obstacle Q before avoiding the obstacle Q. The area α indicated by the diagonal lines going up to the right in Figure 6 is an area that the first hand 3 can pass through if it is in a released state, and the area β indicated by the diagonal lines going down to the right is an area that the first hand 3 cannot pass through even if it is in a released state. The illustrated first hand 3 is in the released state described above, and the illustrated drive wheels 34, 35 are in the retracted position described above.

The width Y2 of the curved band-like region α is equal to or smaller than the gap X2 between the first hand 3 in the released state and the columnar structure P, and the other width Y3 of region α is equal to or smaller than the gap X3 between the drive wheels 34, 35 in the retracted position and the columnar structure P. The curved band-like region β is located outside region α and overlaps with the first hand 3 in the released state and the drive wheels 34, 35 in the retracted position.

The first frame 21 is equipped with an obstacle sensor 11A (shown in FIG. 1) such as a laser distance measuring sensor. The obstacle sensor 11A, for example, irradiates a laser beam so as to be substantially parallel to the axial direction Dz or to intersect at an acute angle, and detects the presence or absence of an obstacle Q in each of the regions α and β. The second frame 22 is equipped with an obstacle sensor 11B (shown in FIG. 1) similar to the obstacle sensor 11A.

Figure 7 is a plan view showing a sensing area γ that detects whether the first hand 3 has been able to avoid the obstacle Q while avoiding the obstacle Q. The first frame 21 is equipped with an obstacle sensor 12A (shown in Figure 1) such as a laser length measurement sensor. As shown in Figure 7, a laser beam is emitted substantially parallel to the radial direction Dr to detect the presence or absence of the obstacle Q in the area γ. The second frame 22 is equipped with an obstacle sensor 12B (shown in Figure 1) similar to the obstacle sensor 12A.

Figure 8 is a plan view showing a sensing area δ that detects whether the first hand 3 comes into contact with an obstacle Q when moving in the circumferential direction Dθ. As shown in Figure 8, obstacle sensors 13L, 13R (shown in Figure 1), such as contact sensors, are attached to the tips of the clamp arms 30L, 30R.

Each of the obstacle sensors 13L, 13R detects the presence or absence of an obstacle Q in the area δ at the tip of the clamp arm 30L, 30R based on whether or not it has come into contact with the obstacle Q. The second frame 22 is equipped with obstacle sensors 14L, 14R (shown in FIG. 1) similar to the obstacle sensors 13L, 13R.

Figure 9 is a flow diagram showing an example of a method of movement on a columnar structure P using the robot device 1. In the method of movement using the robot device 1, each of the multiple hands 3, 4, ... is held (step S101). This restricts the movement of the main body 2 in the radial direction Dr away from the columnar structure P by the multiple hands 3, 4, ....

The robot device 1 in this state is moved along the columnar structure P by the moving means 34, 35, 44, 45 and/or gravity (step S102). The movement in step S102 and steps S107 and S110 described later may be a spiral movement that combines movement in the axial direction Dz and movement in the circumferential direction Dθ, or a movement that alternates between movement in only the axial direction Dz and movement in only the circumferential direction Dθ, or a movement in only the axial direction Dz without movement in the circumferential direction Dθ. However, the movement in step S111 described later is a movement in only the circumferential direction Dθ without movement in the axial direction Dz.

The obstacle sensors 11A, 11B, etc. detect whether the multiple hands 3, 4, ... in the holding state interfere with an obstacle Q on the path (step S103). If the multiple hands 3, 4, ... do not interfere with the obstacle Q (step S103: No), steps S102 and S103 are repeated.

If some of the hands (e.g., the first hand 3) interfere with the obstacle Q in the held state (step S103: Yes), it is further detected whether some of the hands will interfere with the obstacle Q even in the released state (step S104). If some of the hands do not interfere with the obstacle in the released state (step S104: No), the connecting portion 23 is switched from the unlocked state to the locked state (step S105), and some of the hands are released (step S106).

At this time, the robot device 1 maintains a state in which the remaining hands (e.g., the second hand 4) restrict the movement of the main body 2 in the radial direction Dr, and the locking mechanisms 54L, 54R, 55L, 55R, 56L, 56R, 57L, and 57R of the connecting portion 23 restrict the swinging of the first frame 21 relative to the second frame 22. The robot device 1 in this state is moved to a position where some of the hands do not interfere with the obstacle Q (step S107).

Some of the hands are returned to a held state (step S108), and the remaining hands are released (step S109). When the robot device 1 is moved to a position where the remaining hands do not interfere with the obstacle Q (step S110), avoidance of the obstacle Q is completed. In the above-mentioned step S104, if some of the hands interfere with the obstacle even in the released state (step S104: Yes), the main body 2 may be moved in the circumferential direction Dθ around the columnar structure P as an axis to search for a path that can avoid the obstacle Q (step S111).

Figure 10 is a flow diagram that explains the procedure shown in Figure 9 in more detail. The illustrated flow starts when the robot device (mobile body) 1 is attached to the columnar structure P by an operator. The robot device 1 collects inspection data of the columnar structure P using various sensors 19 while moving around the columnar structure P using the drive wheels 34, 35, 44, 45 (step S201). In the illustrated flow, the robot device 1 rises in a spiral shape to inspect the columnar structure P 360 degrees.

When the obstacle sensor 11A detects that there is no obstacle Q in the area α (step S202: No), the robot device 1 continues moving (step S201). When the obstacle sensor 11A detects that there is an obstacle Q in the area α (step S202: Yes), the robot device 1 determines whether or not it has reached the start position of the avoidance operation (step S203).

If the obstacle Q is too far away and the start position of the avoidance operation has not yet been reached (step S203: No), the robot device 1 repeats movement and sensing (steps S201, S202). If the obstacle Q is too close and the start position of the avoidance operation has been reached (step S203: Yes), the robot device 1 uses the obstacle sensor 11A to detect the presence or absence of the obstacle Q in the area β (step S204).

If the obstacle sensor 11A detects that there is no obstacle Q in the area β (step S204: No), the robot device 1 stops the revolution in the circumferential direction Dθ, continues the upward movement in the axial direction Dz, switches the connecting part 23 to the locked state, and transforms the first hand 3 into the released state (step S205).

The robot device 1 measures the distance to the obstacle Q using the obstacle sensor 12A and determines whether the first hand 3 has finished avoiding the obstacle Q (step S206). If the first hand 3 has finished avoiding the obstacle Q (step S206: Yes), the robot device 1 transforms the first hand 3 into a holding state and the second hand 4 into a released state (step S207).

The robot device 1 again detects the presence or absence of an obstacle Q in the areas α and β using the obstacle sensor 11A (step S208). If there is no new obstacle Q' on the path of the first hand 3 (step S208: No), the obstacle sensor 12B attached to the second frame 22 measures the distance to the obstacle Q and determines whether the second hand 4 has finished avoiding the obstacle Q (step S209).

When the second hand 4 has finished avoiding the obstacle Q (step S209: Yes), the second hand 4 is transformed into a holding state, the connecting portion 23 is switched to an unlocked state, and the revolution movement in the circumferential direction Dθ is resumed (step S210). Through these steps, the obstacle Q avoidance operation is completed.

In step S204 described above, if the obstacle sensor 11A detects that there is an obstacle Q in the area β (step S204: Yes), the robot device 1 stops moving in the axial direction Dz and continues the revolution movement in the circumferential direction Dθ (step S211).

If the obstacle sensors 13L and 13R do not come into contact with the obstacle Q (step S212: No), the obstacle sensor 11A again detects the presence or absence of the obstacle Q in the area β (step S213). If the obstacle Q is no longer detected after the movement in the circumferential direction Dθ (step S213: No), the range in which there is no obstacle Q is identified, and the robot device 1 is revolved so that it is directly below the center of that range (step S214), and the process proceeds to the above-mentioned step S205.

In the above-mentioned step S206, if the first hand 3 has not yet completed avoiding the obstacle Q (step S206: No), the obstacle sensor 12B attached to the second frame 22 measures the distance to the obstacle Q and determines whether the second hand 4 will interfere with the obstacle Q (step S215). If the second hand 4 will not interfere with the obstacle Q (step S215: No), the process returns to step S206 and repeats these steps.

In step S208 described above, if there is a new obstacle Q' on the path of the first hand 3 (step S208: Yes), the robot device 1 determines whether or not the start position of the avoidance operation has been reached (step S216). If the obstacle Q' is too far away and the start position of the avoidance operation has not been reached (step S216: No), the process proceeds to step S209.

There are also cases where it is determined that it is impossible to avoid obstacle Q no matter what you do. These include the case where, in step S212 described above, the obstacle sensors 13L, 13R come into contact with obstacle Q (step S212: Yes), the case where, in step S213 described above, obstacle Q is detected even when moving in the circumferential direction Dθ (step S213: Yes), the case where, in step S215 described above, the second hand 4 interferes with obstacle Q (step S215: Yes), and the case where, in step S216 described above, the distance to obstacle Q' has approached and the start position of the avoidance operation has been reached (step S216: Yes).

In these cases, the movement of the robot device 1 in the axial direction Dz is stopped, inspection by the various sensors 19 is stopped, and the operator is notified that the obstacle Q cannot be avoided (step S217).

According to the robot device 1 of the first embodiment configured as described above and the movement method using the robot device 1, each of the multiple hands can be switched between a holding state and a released state, and some of the hands 3 interfering with the obstacle Q can be put into a released state with a large gap X2 between them and the columnar structure P to avoid the obstacle Q. Since multiple hands 3, 4 are provided, when some of the hands 3 are in a released state to avoid the obstacle Q, the remaining hands 4 can maintain a state in which movement in the radial direction Dr is restricted. Even if there is an obstacle Q protruding from the columnar structure P, the robot device 1 can be moved along the columnar structure P.

Next, the robot device 1 of the second and third embodiments of the present invention will be described with reference to Figures 11 and 12. Note that configurations having the same or similar functions as those described in the first embodiment will be given the same reference numerals, and the corresponding descriptions of the first embodiment will be referred to, and descriptions thereof will be omitted here. Also, configurations other than those described below are the same as those of the first embodiment.

The robot device 1 of the second and third embodiments differs from the first embodiment in that the connecting portion 23 connecting the first frame 21 and the second frame 22 has a drive mechanism instead of a locking mechanism, and the first frame 21 can be moved relative to the second frame 22 in a direction including the radial direction Dr of the columnar structure P, and the second frame 22 can be moved relative to the first frame 21 in a direction including the radial direction Dr of the columnar structure P.

Figure 11 is a side view showing an example of a robot device 1 according to the second embodiment of the present invention moving along a columnar structure P. The columnar structure P shown in Figure 11 is provided with a horizontal support protruding perpendicularly to the page and an obstacle Q' in the vicinity of the horizontal support. As shown in Figure 11, in the third embodiment, when the second hand 4 is in a holding state, the state of the first hand 3 is switched from a holding state to a released state, and the drive mechanism of the connection part 23 moves the first frame 21 away from the columnar structure P, as shown in (a) and (b) of Figure 11.

As shown in (c) and (d) of FIG. 11, after the robot device 1 is moved to avoid the obstacle Q, the drive mechanism of the connection part 23 moves the first frame 21 closer to the columnar structure P, and then switches the state of the first hand 3 from the released state to the held state. Then, when the first hand 3 is in the held state, the state of the second hand 4 is switched from the held state to the released state, and the drive mechanism of the connection part 23 moves the second frame 22 away from the columnar structure P.

As shown in (e) and (f) of FIG. 11, after the robot device 1 has been moved to avoid the obstacle Q, the drive mechanism of the connection part 23 moves the second frame 22 closer to the columnar structure P, and then the state of the second hand 4 is switched from the released state to the held state. When multiple obstacles Q, Q' are lined up at approximately the same height, one of the obstacles Q' may limit movement in the circumferential direction Dθ, making it difficult to avoid the other obstacle Q. In particular, obstacles Q such as horizontal supports protrude significantly from the surface of the columnar structure P, making it difficult to avoid them when movement in the circumferential direction Dθ is limited.

According to the robot device 1 of the second embodiment and the movement method using the robot device 1, the drive mechanism of the connection part 23 moves the first hand 3 attached to the first frame 21 together with the first frame 21, and moves the second hand 4 attached to the second frame 22 together with the second frame 22, so that even an obstacle Q with a large protruding amount that is difficult to avoid in the first embodiment can be avoided.

Figure 12 is a bottom view showing an example of a robot device 1 according to a third embodiment of the present invention. As shown in Figure 12, in the third embodiment, when the second hand 4 is in a holding state, the second frame 22 to which the second hand 4 is attached is restricted from moving in the radial direction Dr away from the columnar structure P. When the first frame 21 is moved relative to the second frame 22, whose distance to the columnar structure P does not change in the radial direction Dr, the distance between the first frame 21 and the columnar structure P changes.

The clamp arms 30L, 30R constituting the first hand 3 are fixed in a shape in which the distance between them increases as they move away from the first frame 21. The driven wheel 31L provided at the tip of one clamp arm 30L protrudes toward the other clamp arm 30R. The driven wheel 31R provided at the tip of the other clamp arm 30R protrudes toward the one clamp arm 30L. Therefore, the distance W2 between the driven wheels 31L, 31R is smaller than the distance W1 between the tips of the clamp arms 30L, 30R.

When the first frame 21 moves from the second position shown by the two-dot chain line in FIG. 12 to the first position shown by the solid line in FIG. 12, and the drive wheels 34, 35 move from the retracted position described above to the traveling position, the state of the first hand 3 can be switched from the released state to the held state. Conversely, when the first frame 21 moves from the first position shown by the solid line to the second position shown by the two-dot chain line, and the drive wheels 34, 35 move from the traveling position described above to the retracted position, the state of the first hand 3 can be switched from the held state to the released state. The first position may be called the held position, and the second position may be called the released position.

Similarly, although not shown, the second frame 22 is configured to be displaceable relative to the first frame 21, and is configured to be able to switch the second hand 4 attached to the second frame 22 between a held state in which the gap X1 with the columnar structure P is smaller than a predetermined value, and a released state in which the gap X2 with the columnar structure P is larger than a predetermined value, by moving toward or away from the columnar structure P. According to the robot device 1 of the third embodiment and the movement method using the robot device 1, the first hand 3 attached to the first frame 21 can be moved together with the first frame 21, and each of the multiple hands can be switched between a held state and a released state without deformation to avoid the obstacle Q.

The above-described embodiments are intended to facilitate understanding of the present invention, and are not intended to limit the present invention. The elements of the embodiments, as well as their arrangements, materials, conditions, shapes, sizes, etc., are not limited to those exemplified, and may be modified as appropriate. Furthermore, configurations shown in different embodiments may be partially substituted or combined.

For example, various link mechanisms may be driven by a servo motor or the like instead of a servo cylinder. The columnar structure P on which the robot device 1 moves may be a bridge extending horizontally instead of a utility pole, steel tower, chimney, etc. extending vertically.

1...Robot device, 2...Main body, 3...First hand (an example of a part of the hand), 4...Second hand (an example of the remaining hand), 11A, 11B, 12A, 12B, 13L, 13R, 14L, 14R...Obstacle sensor, 19...Various sensors, 21...First frame, 22...Second frame, 23...Connecting portion, 24...Bracket, 30L, 30R, 40L, 40R...Clamp arm, 31L, 31R, 41L, 41R...Driven wheel, 32L, 32R, 36, 42L, 42R, 46, 56L, 56R...R Brake mechanism, 33L, 33R, 37, 43L, 43R, 47, 57L, 57R... servo cylinder, 34, 35, 44, 45... drive wheel (one example of a moving means), 39... shaft, 51... first connecting arm, 52... second connecting arm, 53... bearing, 54L, 54R... brake plate, 55L, 55R... lining, W1, W2... distance, X1, X2, X3... gap, Y2, Y3... width, Dr... radial direction, Dz... axial direction, Dθ... circumferential direction, P... columnar structure, Q, Q'... obstacle, α, β, γ, δ... area.

Claims (8)

The main body,
A moving means capable of moving the main body;
a plurality of hands capable of switching between a holding state in which a gap between the holding state and the columnar structure is smaller than a predetermined value and a released state in which a gap between the holding state and the columnar structure is larger than the predetermined value;
an obstacle sensor that detects whether the plurality of hands interfere with an obstacle protruding in a radial direction from the columnar structure,
moving the main body by the moving means and/or gravity in a state in which the radial movement of the main body away from the columnar structure is restricted by some or all of the plurality of hands being in the holding state ;
When the obstacle sensor detects that a part of the plurality of hands interferes with the obstacle, the part of the hands is put into a released state in which a gap between the part of the hands and the columnar structure is greater than a predetermined value, and the remaining hands other than the part of the hands are put into the held state, and the main body is moved by the moving means and/or gravity in a state in which the radial movement of the main body away from the columnar structure is restricted by the remaining hands .
Robotic device. The plurality of hands includes a first hand and a second hand, and is configured only with the first hand and the second hand.
The robotic device according to claim 1 . the plurality of hands includes a first hand and a second hand,
the main body includes a first frame to which the first hand is attached and a second frame to which the second hand is attached,
A connecting portion connecting the first frame and the second frame is configured to be switchable between a locked state in which the first frame is fixed to the second frame and an unlocked state in which the first frame is swingable relative to the second frame.
The robotic device according to claim 1 . Each of the plurality of hands is configured to be deformable into a plurality of shapes including a first shape and a second shape;
a state of a given hand is switched from the released state to the held state by the given hand being transformed from the second shape to the first shape;
A state of any hand is switched from the holding state to the release state by the deformation of the any hand from the first shape to the second shape.
The robotic device according to claim 1 . The main body,
A moving means capable of moving the main body;
a plurality of hands that are switchable between a holding state in which a gap between the holding state and the columnar structure is smaller than a predetermined value and a release state in which a gap between the holding state and the columnar structure is larger than the predetermined value;
the main body is moved by the moving means and/or gravity in a state in which the radial movement of the main body away from the columnar structure is restricted by some or all of the plurality of hands being in the holding state,
the plurality of hands includes a first hand and a second hand,
the main body includes a first frame to which the first hand is attached and a second frame to which the second hand is attached,
a connecting portion connecting the first frame and the second frame includes a drive mechanism for moving the second frame and the first frame relatively;
When the second hand is in the holding state, the state of the first hand is switched from the holding state to the released state;
The driving mechanism separates the first frame from the columnar structure, and after the obstacle is avoided ,
the driving mechanism is configured to switch the state of the first hand from the released state to the held state after the first frame has been brought close to the columnar structure, and when the first hand is in the held state, switch the state of the second hand from the held state to the released state; and after the driving mechanism moves the second frame away from the columnar structure and avoids an obstacle, the driving mechanism is configured to switch the state of the second hand from the released state to the held state after the second frame has been brought close to the columnar structure .
Robotic device. A method for moving on a columnar structure using a robot device, comprising the steps of:
The robot device includes a main body, a moving means capable of moving the main body, and a plurality of hands attached to the main body,
The moving method includes:
placing each of the plurality of hands in a holding state in which a gap between the hand and the columnar structure is smaller than a predetermined value;
moving the robot device, in a state in which the radial movement of the main body away from the columnar structure is restricted by the multiple hands, to the columnar structure by the moving means and/or gravity;
detecting whether the plurality of hands interfere with an obstacle protruding radially from the columnar structure;
When it is detected that a part of the plurality of hands interferes with the obstacle, the part of the hands is put into a released state in which a gap between the part of the hands and the columnar structure is larger than a predetermined value; and
and moving the robot device along the columnar structure by the moving means and/or gravity in a state in which the radial movement of the main body away from the columnar structure is restricted by the remaining hands that are not the part of the plurality of hands.
How to get around. The main body includes a first frame to which the part of the hands is attached and a second frame to which the remaining hands are attached,
The moving method includes:
switching from an unlocked state in which the first frame is swingable relative to the second frame to a locked state in which the first frame is fixed relative to the second frame;
putting the part of the hands that are interfering with the obstacle into the released state; and
and moving the robot device to a position where the part of the hands does not interfere with the obstacle while maintaining the locked state.
The method of claim 6 . detecting whether or not the part of the hands in the released state interferes with the obstacle;
The method further includes moving the main body in a circumferential direction around the columnar structure when it is detected that the main body interferes with the obstacle even in the released state.
The method of claim 6 .

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