JPH0523917B2 - - Google Patents

Description

[Detailed description of the invention] [Industrial application field]

The present invention can be used for environmental measurements such as cleanliness distribution, airflow distribution, and temperature distribution in clean rooms, or for environmental measurements such as temperature, humidity, and airflow in large spaces such as theaters, halls, gymnasiums, atriums, and air domes. The present invention relates to an environmental measuring robot that has a lifting mechanism mounted on a self-propelled cart.

[Conventional technology]

Conventional robots of this type have a lifting mechanism as disclosed in, for example, Japanese Patent Application Laid-open No. 159305/1983 and
An antenna type like the one described in 210720, a multi-joint arm type like the one published in Utility Model Application Publication No. 159305/1983, and a telescope type with multiple telescoping arms. What I did was hot.

[Problem to be solved by the invention]

However, these methods had the following problems. The maximum lifting height (maximum extension height) of the lifting mechanism is about 3 m at most, and the measurement range in the height direction is narrow, making it impossible to measure the environment in a large space. In the case of the multi-joint arm type, not only is the structure mechanically complex, but the positioning control of the sensor is also complex and expensive. Since the elevating mechanism is integrated with the self-propelled trolley, it is inconvenient to transport to the site, and it takes time to assemble even if disassembled. Because the lifting mechanism swings, especially when measuring airflow distribution, the lifting mechanism and the sensor support arm supported by it may disturb the airflow around the sensor.
Accurate measurements cannot be made. The present invention eliminates these problems and allows the entire structure to be extended much higher and more stable with a single short vertical screw shaft, and the lifting speed due to contraction is faster and the drive mechanism is faster. The aim is to provide a simple environmental measurement robot.

[Means to solve the problem]

The environmental measuring robot according to the present invention will be described with reference to the drawings of the embodiment. A tower device 4 and a motor 17 for driving the tower device 4 are mounted on a self-propelled cart 1. This tower device 4 each has at least three
It is composed of a plurality of upper and lower frames 8 that frame a vertical book guide rod 11 and upper and lower support plates 9 and 10. These frames can be vertically expanded and contracted as a whole by slidably fitting the fitting portions 12 of each support plate and the guide rod 11, and the lowermost frame 81 is the self-propelled frame ₈₁ . The second-stage frame 8 ₂ is fixed on the truck 1 and has a screw receiving portion 15 provided on the lower support plate 10 ₂ connected to a vertical screw shaft 14 rotated by the motor 17. It is directly raised and lowered by the rotation of the screw shaft. In addition, for the frames of the third stage and above, one end is fixed to the support plate 10 on the lower side of the frame, and a pulley 19 is pivotally supported on the upper support plate 9 of the frame one stage below. The timing belt 20 has its other end fixed to the support plate ₉ on the upper side of the frame two stages below. A notch 10a through which the screw shaft 14 can pass through the support plate 10 on the lower side of each frame of the tiers and above.
has been established. and at least one of them
The environmental measurement sensor is supported on two frames. A height detecting means for detecting the expansion/contraction height of the tower device based on the amount of rotation of the screw shaft, a digital display for digitally displaying the detected height, a display surface thereof, and a self-propelled carriage are provided on the self-propelled cart. It can be equipped with a television camera that takes pictures of the area around the trolley.

[Effect]

In such a configuration, when the screw shaft 14 is rotated forward or reverse by the motor 17, the second stage frame 82 is directly propelled by the screw shaft 14, and the first stage frame ₈₂ is directly propelled by the screw shaft 14. It ascends or descends along the guide rod 11 ₁ of the frame 8 ₁ (lowest stage). When this second-stage frame ₈₂ rises or falls, the pulley 1 that is pivotally supported on it
9 rises or descends together with this, the timing belt 20 ₃ passing through the pulley pulls up or suspends the third stage frame 8 ₃ relative to the first stage frame 8 ₁ . become a state. In this case, since one end of the timing belt 20 ₃ is fixed to the upper support plate 9 ₁ of the first stage which does not move, the frame 8 ₃ of the third stage is lower than the frame 8 ₂ of the second stage. also doubles the distance to ascend or descend.
Thereafter, in the same manner, the upper frame increases or lowers simultaneously while doubling the distance from the one lower frame, and the entire tower device 4 expands and contracts up and down. Along with this, the height of the environmental measurement sensor is adjusted. Even if the length (height) of the screw shaft 14 is short enough to raise and lower the frame body ₈₂ of the second stage, the frame bodies of the third stage and higher stages cannot be moved by the screw shaft. The screw shaft 14 can be raised to a height greater than 14, and multiple frames can be raised and lowered at the same time using only one screw shaft 14. In addition, since the support plate 10 on the lower side of each frame of the third stage and above is provided with a notch 10a through which the screw shaft 14 can pass, the upper and lower support plates of the frame of multiple stages can be The entire tower device 4 can be put into a shortened and stored state as if stacked. The height of expansion and contraction of the tower device 4 is detected from the amount of rotation of the screw shaft 14, and displayed digitally on the automatic trolley, which is then photographed along with the surrounding situation using the television camera 6, and then displayed on the monitor TV screen. It can be controlled remotely while also monitoring the height.

【Example】

Hereinafter, one embodiment of the present invention will be described in detail based on the drawings. FIG. 1 is an overall schematic perspective view of an environmental measuring robot according to the present invention. In the figure, a self-propelled trolley 1 is equipped with wheels 3 on the front, rear, left and right sides of the lower surface of its housing 2, and is self-propelled by controlling the rotation and operation of these wheels 3 by a traveling and operating device (not shown) installed in the housing 2. do. This self-propelled trolley 1 includes a tower device 4 and a tower drive device 5 (a fifth
), a television camera 6, and various communication and control equipment shown in the block diagram of FIG. As shown in FIGS. 2 to 4, the tower device 4 is a unit independent of the self-propelled cart 1, and is vertically mounted on a flat gear box 7 fixed on the bottom plate 2a of the housing 2. It largely protrudes upward from the opening on the top surface of the housing 2. In the illustrated example, the tower device 4 includes a four-stage frame 8 ₁ ,
It consists of 8 ₂ , 8 ₃ , and 8 ₄ . These frames are
Both have upper and lower support plates 9, 10 connected by three equally spaced pipe-shaped guide rods 11, but the size (three guide rods 11)
1) are different from each other, and those in the upper row are gradually smaller than those in the lower row. For convenience of explanation, when the upper and lower support plates and guide rods of the four-stage frames 8 ₁ , 8 ₂ , 8 ₃ , and 8 ₄ are collectively referred to, the common symbols 9 and 1 are used, respectively.
0, 11, and each frame is designated by a separate code 9 ₁ , 9 ₂ , 9 ₃ , 9 ₄ , 10 ₁ , 10 ₂ , as shown in the drawing.
It will be expressed as 10 ₃ , 10 ₄ , 11 ₁ , 11 ₂ , 11 ₃ , and 11 ₄ . Support plate 10 ₁ on the lower side of the first stage frame 8 ₁
is fixed on the gear box 7, and this frame 8 ₁
The frame body 8 ₂ of the second stage and above does not move up and down.
I support 8 ₃ and 8 ₄ . Since the support plate 10 ₁ on the lower side of the first stage frame 8 ₁ is fixed in this manner, only it has a rectangular shape, but all the other support plates have a triangular shape. Among the triangular support plates, the upper support plates 9 ₁ , 9 ₂ , 9 ₃ of the first, second and third stages, and the lower side of the frame 8 ₂ of the second stage. The support plate 10 ₂ has sleeves 12 that serve as fitting parts at three locations, respectively.
is fixed through. Furthermore, auxiliary plates 13 1 and 13 ₂ are fixed on the upper support plates _{9 1} and 9 ₂ of the first and second stages, which are fixed through the same sleeve 12 at six locations. The second stage frame 8 ₂ connects the guide rod 11 ₂ to the first stage frame 8 ₁ and the auxiliary plate 1.
By fitting the sleeve 12 of 3 ₁ and the sleeve 12 of the lower support plate 10 ₂ with the guide rod 11 ₁ so as to be slidable, the frame 8 ₁ of the first stage can be slid up and down. It is mounted freely. Further, the third stage frame 8 ₃ has its guide rod 11 ₃
By fitting into the sleeve 12 of the upper support plate 9 ₂ of the second stage and the sleeve 12 of the auxiliary plate 13 ₁ , it is mounted on the frame 8 ₂ of the second stage so as to be vertically slidable. ing. Furthermore, the frame ₈₄ of the fourth stage is connected to the third stage by fitting its guide rod ₁₁₄ into the sleeve ₁₂ of the upper support plate ₉₃ of the third stage and the auxiliary plate 132. It is mounted on the eye frame ₈₃ so as to be slidable up and down. Note that in the center of the upper support plate 9 ₁ and the auxiliary plate 13 ₁ of the first stage, there are notches 9 a and 9 a, respectively, in order to allow the guide rod 11 ₄ of the fourth stage to pass through as shown in FIG. 13a is formed. A screw shaft 14 is vertically supported on the gear box 7. This screw shaft 14 protrudes directly onto the lower support plate 10 ₁ of the first stage, and is attached to a central screw receiving portion of the lower supporting plate 10 ₂ of the second stage, that is, a cylindrical screw receiver fixed to the center thereof. 15, and further passes through the cutouts 10a of the lower support plates 10 ₃ and 10 ₄ of the third and fourth stages as they are to connect the upper support plate 9 ₁ of the first stage.
It extends to the notch 9a. The lower end of the screw shaft 14 is connected to the belt or chain 1 in the gearbox 7 as shown in FIG.
A tower drive motor 17 that can be rotated in forward and reverse directions via 6.
It is connected to a motor shaft 18 (FIG. 6) and rotates forward or reverse. When this rotates in the normal direction, the frame ₈₂ of the second stage is propelled upward and rises along the guide rod ₁₁₁ of the first stage, and when it rotates in the reverse direction, it descends. In conjunction with the lifting and lowering of this second stage frame ₈₂ , the third
In order to raise and lower the frames 8 ₂ and 8 ₄ of the 4th and 4th stages at the same time, the following interlocking mechanism is installed between the frames. A recess is provided at the center of each of the three sides of the upper support plate 9 ₂ of the second stage and at the center of each of the three sides of the upper support plate 9 ₃ of the third stage. It is rotatably supported. Regarding the third stage frame ₈₃ ,
The lower support plate 10 ₃ is connected to the upper support plate 9 ₁ of the first stage via three timing belts 20 ₃ passing through pulleys 19 on three sides of the second stage. Both ends of the timing belt 20 ₃ are fixed to the support plates 10 ₃ and 9 ₁ using appropriate anchors. Regarding the fourth stage frame body ₈₄ , the lower support plate ₁₀₄ is connected to the second stage via three timing belts ₂₀₄ passing through pulleys 19 on three sides of the third stage.
It is connected to the support plate ₉₂ on the upper side of the tier.
Both ends of the timing belt 20 ₄ are also fixed to the support plates 10 ₄ , 9 ₂ using anchors. Therefore, when the frame body ₈₂ of the second stage rises as described above, the pulleys 19 on the three sides also rise together with it, but one end of the three timing belts ₂₀₃ does not move. Upper eye support plate 9
₁ , the lower support plate 10 ₃ of the third stage is pulled up by these three timing belts 20 3 , and the third stage frame 8 ₃ is pulled up by these three timing belts 20 ₃ .
rises along the sleeve 12 twice as far as the second stage frame 8 ₂ . When the frame ₈₃ of the third stage rises in this way, the pulleys 19 on its three sides rise twice as far as the upper support plate ₉₂ of the second stage. The support plate 10 ₄ is pulled up by three timing belts 20 ₄ , and the fourth stage frame 8 ₄ is pulled up by the sleeve 12 .
The frame body ₈₃ rises twice as far as the third stage frame 83. In this way, as the second stage frame body ₈₂ rises, the third stage frame body ₈₃ and the fourth stage frame body ₈₄ move up simultaneously and by doubling the distance. The entire tower device 4 is expanded as shown in FIGS. 3 and ₄ from the contracted state shown in FIG. increases in proportion to On the other hand, when the second stage frame 8 ₂ descends, the third stage frame 8 ₃ and the fourth stage frame 8 ₄ lower in conjunction with each other in the opposite relationship to the above, and the tower device 4 as a whole contracts, and the height of the uppermost support plate ₉₄ decreases in proportion to the amount of rotation (reverse rotation) of the screw shaft 14. Therefore, as shown in FIG. 1, for example, a horizontal sensor support arm 21 is removably installed on the uppermost support plate ₉₄ using an appropriate fixture 22, and an environmental measurement sensor is attached to this arm 21. 23, the height of the sensor 23 can be adjusted as desired. In FIG. 5, the rotation of the screw shaft 14 is caused by a shaft 31 through a plurality of large and small gears 24 to 31.
The amount of rotation is transmitted to the rotary encoder 32, which rotates around , and the amount of rotation is detected as a corresponding number of pulses. Then, this number of pulses is added or subtracted according to forward or reverse rotation by the height display CPU 33 shown in _FIG . 23 height). This digital display 34 is attached to the housing 2 at a position within the field of view of the television camera 6, as shown in FIG.
The display is photographed together with the scene around the self-propelled trolley 1. Further inside the housing 2 are a control receiver 35 shown in FIG.
9, 40, a positioning sensor 41 for positioning the self-propelled cart 1, and the like are mounted. The environment measuring robot configured in this way is used, for example, in a clean room, and is wirelessly and remotely controlled by a transmitting/receiving controller 42 outside the clean room. The display on the digital display 34 is displayed at the top of the screen of a monitor television built into the transmitting/receiving controller 42. Note that it is convenient to prepare several types of sensor support arms 21 that support the environmental measurement sensor 23 depending on the type of the sensor 23, etc., and use them depending on the sensor to be used, the object to be measured, etc.
The sensor support arm 21a shown in FIG. 7 is L-shaped so that it can support the sensor at a lower position than the sensor support arm 21 shown in FIG. Furthermore, if a planar grid-shaped arm is used and a large number of sensors are supported on this arm, simultaneous observation of multiple points can be achieved. In addition, although the tower device 4 described above has four stages of frames, the number of stages may be arbitrary, and the number of guide rods 11 of each frame is four or more, and the shape of the support plates 9, 10 is adjusted to the number of stages. It may be made into a polygon according to. Furthermore, the sensor support arm 21 does not necessarily have to be attached to the uppermost support plate, and may be attached to any other support arm that moves up and down. Furthermore, with regard to the timing belts 20 ₃ and 20 ₄ , highly accurate elevation control can be achieved by using them, but ordinary belts, wires, etc. may also be used.

【Effect of the invention】

The environmental measuring robot of the present invention has the following effects. The tower device is constructed by slidingly connecting a frame consisting of three or more guide rods and upper and lower support plates in multiple stages, and has a stable structure even when extended to a high place (even about 10 meters). Therefore, measurements can be made over a wide range in the height direction. Therefore, it can be used not only for environmental measurements such as cleanliness distribution, airflow distribution, and temperature distribution in clean rooms, but also for environmental measurements such as temperature, humidity, and airflow in large spaces such as theaters, halls, gymnasiums, atriums, and air domes. can. The length (height) of the screw shaft is
Even if it is short enough to raise and lower the frames of each stage, it is possible to raise the frames of the third and higher stages above the height of the screw shaft. You can extend and raise the tower device to much higher heights with a lift. Since multiple frames can be raised and lowered simultaneously using only one screw shaft, the structure of the drive mechanism can be simplified. Since the frames of the third and higher stages are raised and lowered by doubling the distance relative to the frames of the one stage below, the entire tower device can be telescopically raised and lowered at high speed with less rotation of the screw shaft. The support plate on the lower side of each frame from the third stage onwards is provided with a notch through which the screw shaft can pass, allowing the tower device to stack the upper and lower support plates of multiple stages of frames. The whole can be stored in a low and shortened state. The tower device uses a screw shaft and a timing belt to raise and lower multiple frames at the same time to expand and contract vertically, and has a stable structure as described above, so it has high positioning accuracy and does not disturb the airflow. Since there are few amounts, highly accurate measurements can be performed. Since the tower device is made into a unit and can be separated from the self-propelled trolley, it is convenient to transport and handle, and it is also easy to manufacture and maintain. Since the tower device has a simple structure as a whole, it can be provided at a lower cost than a conventional multi-joint arm structure. If the height of the tower device is detected from the amount of rotation of the screw shaft and digitally displayed on the self-propelled trolley, and then photographed along with the surrounding conditions with a television camera, the height can also be monitored on the monitor TV screen. It can be controlled remotely.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention, in which Fig. 1 is a schematic perspective view of the entire environmental measurement robot, Fig. 2 is a partially cutaway front view thereof, and Figs. 3 and 4 are a perspective view and cross section of the tower device. Figure 5 is a simplified plan view of a device for rotating the scree shaft of the tower device and a device for detecting its rotation speed, Figure 6 is a block diagram of the electrical system, and Figure 7 is another example of the sensor support arm. FIG. 1... Self-propelled trolley, 4... Tower device, 6... Television camera, 8 ₁ to 8 ₄ ... Frame, 9 ₁ to 9 ₄
... Upper support plate, 10 ₁ to 10 ₄ ... Lower support plate, 10a... Notch opening, 11 ₁ to 1
1 ₄ ... Guide rod, 12 ... Sleeve (fitting part), 14 ... Screw shaft, 15 ... Screw receiver (screw receiver), 17 ... Tower drive motor, 19 ... Pulley, 20 ₃ ,20 ₄ ...Timing belt, 32...Rotary encoder, 33
...CPU for height display, 34...Digital display.

Claims (1)

[Claims] 1. A tower device 4 and a motor 17 for driving the tower device 4 are mounted on the self-propelled truck 1, and each tower device 4 has at least three vertical guide rods 11 and upper and lower horizontal support plates. It is composed of a plurality of upper and lower frames 8 that frame 9 and 10, and these frames are constructed by slidingly fitting the fitting portions 12 of each support plate and the guide rod 11, so that the frames 8 are vertically arranged as a whole. It is expandable and retractable, and the lowermost frame 8 ₁
is fixed on the self-propelled trolley 1, and the second stage frame ₈₂ connects the screw receiving part 15 provided on the lower support plate ₁₀₂ to a vertical shaft rotated by the motor 17. It is screwed onto the screw shaft 14 and is directly raised and lowered by the rotation of the screw shaft, and one end of the frame of the third stage and above is fixed to the support plate 10 on the lower side of the frame.
A timing belt 20 whose other end is fixed to the upper support plate 9 of the frame two stages below, passes through a pulley 19 pivotally supported by the upper support plate 9 of the frame one stage below. It has a structure that moves up and down in conjunction with the frame bodies ₈₂ of the tiers, and a notch is provided in the lower support plate 10 of each frame body of the third tier and above, through which the screw shaft 14 can pass. An environmental measuring robot characterized by having a mouth 10a and supporting an environmental measuring sensor on at least one of the frames of the third and higher stages. 2. On the self-propelled trolley 1, a height detection means for detecting the expansion/contraction height of the tower device 4 from the amount of rotation of the screw shaft 14, a digital display 34 for digitally displaying the detected height, and 2. The environment measuring robot according to claim 1, further comprising a television camera 6 for photographing the display surface and the surrounding area of the self-propelled cart.