JP5726655B2 - Conveying device, work system, and conveying method - Google Patents

Description

  The present invention relates to a transfer device that moves a work machine such as an unmanned work robot to an upper floor, a work system using the transfer device, and a transfer method.

  In buildings where it is difficult for humans to grasp the situation (for example, a nuclear power plant building with a high radiation dose due to an accident event or a chemical plant where chemical substances are scattered), the building environment is monitored by an unmanned robot or unmanned vehicle. And work is done. This robot performs a required work by moving horizontally in the floor or moving up and down between the floors.

  When raising and lowering a work machine between floors, stairs and elevators installed in a building are used. 2. Description of the Related Art Conventionally, a mobile work robot that can move a building environment such as stairs is known (see, for example, Patent Document 1).

Japanese Patent Laid-Open No. 2002-264061

However, if the working machine is provided with a mechanism for moving up and down the stairs, the apparatus becomes complicated and large. Further, in the case of a building in which some accident event occurs in the work environment, it may be assumed that the stairs cannot be used due to debris or the like, the elevator cannot be used due to loss of the power system, failure of the elevator, or the like. Therefore, when each floor of the building faces the outside, or when there is an atrium in the building, it is conceivable to send the work machine using these as access routes. In this case, depending on the situation, it is conceivable that the number of times the work machine is input increases, such as when the work machine is input a plurality of times, when a plurality of types of work machines are input, and when the work machine is input to a plurality of floors. Also, the collection work accompanying the input increases. Therefore, there is a need for ensuring the working machine input and recovery work and shortening the time.
Further, when the work machine is moved from the basement, the movement distance from the movement start position to the arrival destination position becomes long, and the cable length extending from the robot may be insufficient. It may also happen that the robot cannot withstand the cable pulling weight.

  The present invention has been made in consideration of such circumstances, and includes a transfer device, a work system, and a transfer method capable of allowing a work machine to access an upper floor in a short time without using lifting equipment such as stairs. The purpose is to provide.

  The transport device according to each embodiment of the present invention is a transport device that transports a load from a lower floor below the upper floor to an open floor that passes through a plurality of floors of the building or to the upper floor facing outward. A platform having a moving device that moves up and down between the lower floor and the upper floor and translates the mounted load, and the upper floor is translated by the moving device on the platform. It has a fixed part fixed by making contact with the structure of the floor or the upper floor, and a passage part that forms a passage, and includes a cross board as the mounted object.

  According to the transfer device, the work system, and the transfer method according to each embodiment of the present invention, it is possible to shorten the time required for the work machine to access the upper floor.

The block diagram which shows 1st Embodiment of the conveying apparatus and work system which concern on this invention. Explanatory drawing of operation | movement of the work robot conveyance system at the time of installing a cross board on an upper floor. Explanatory drawing of operation | movement of the work robot conveyance system at the time of mounting a robot on a mount frame. Explanatory drawing of operation | movement of the work robot conveyance system at the time of installing a robot on an upper floor. Explanatory drawing of operation | movement of the work robot conveyance system at the time of installing a crossing board on the upper floor without a handrail. The block diagram which shows 2nd Embodiment of the conveying apparatus and work system which concern on this invention.

[First Embodiment]
1st Embodiment of the conveying apparatus, work system, and conveying method which concern on this invention is described based on an accompanying drawing. In each embodiment, a description will be given on the assumption that a work robot is sent into the nuclear reactor plant interior.

  FIG. 1 is a configuration diagram showing a first embodiment of a transport apparatus and a work system according to the present invention.

  A work robot transfer system 1 as a work system includes a floor 3 (lower floor) having an entrance 7 that can pass inside and outside a building, and a height of several meters to several tens of meters (for example, around 40 m) with respect to the floor 3. It is used for a building 2 having an upper floor 4 having a height. The building 2 has a vent 5 extending from the floor 3 to the upper floor 4. A handrail 6 is provided around the edge of the upper floor 4 where the blowout 5 is formed.

  The work robot transfer system 1 is a device for moving the work robot (robot) 11 to a place where it is difficult for a person to grasp the situation in a building of a nuclear power plant, for example, and raises the robot to the upper floor 4 in particular. It is a device used for.

  The work robot transfer system 1 mainly includes a control vehicle 12, a relay vehicle 13, a robot 11, a lifting machine 14 as a transfer device, and a cross board 15.

  The control vehicle 12 has a control device and a media converter. The control device transmits a control signal to the robot 11 to remotely control each part of the robot 11. The media converter converts a control signal (electric signal) into an optical signal. The control vehicle 12 is connected to the relay vehicle 13 via the optical cable 17 and transmits a control signal to the relay vehicle 13.

  The relay vehicle 13 has a generator and a media converter. The media converter converts an optical signal and an electric signal. The generator generates power to be supplied to the robot 11. The relay vehicle 13 is connected to the robot 11 via the communication cable 18 and the power cable 19, and supplies electric signals and power to the robot 11.

  The robot 11 mainly includes work equipment, traveling wheels 32, and a cable winding device 33. The work equipment is a camera, a dosimeter, etc., and performs necessary work such as environmental monitoring in the building. The traveling wheel 32 is driven by a remote operation and causes the robot 11 to travel on the floor. The cable winding device 33 winds the communication cable 18 and the power cable 19.

  The lifting machine 14 includes a base 41, a telescopic mast 42, a gantry 43, a slope base 44, and a cable winding device 45. The base 41 has traveling wheels 46 and outriggers 47. The lifting machine 14 travels on the floor with traveling wheels 46 when moving, and is fixed on the floor with an outrigger 47 when stopped. The telescopic mast 42 is provided vertically upward with respect to the base 41 and expands and contracts in the vertical direction.

  The gantry 43 is provided horizontally on the telescopic mast 42 and moves up and down between the floor 3 and the upper floor 4 according to the expansion and contraction of the telescopic mast 42. A belt conveyor 48 is detachably disposed on the surface of the gantry 43 (see FIG. 2). The belt conveyor 48 translates the crossing board 15 (mounted object) mounted on the gantry 43. The belt conveyor 48 may be fixed to the gantry 43 at all times.

  The slope base 44 has a slope surface 44 a having a slope connecting the floor 3 and the mount 43. The slope base 44 is connected to the base 41 and has wheels to follow the traveling of the lifting machine 14.

  The traveling wheel 46, the telescopic mast 42, and the belt conveyor 48 operate appropriately based on the operation of the worker.

  The crossing plate 15 has a flat plate 15a and a protrusion 15b. The flat plate 15a has a size that allows the robot 11 to travel. The flat plate 15a functions as a passage portion that forms a passage for the work robot. The protrusion 15b is provided on the surface of the flat plate 15a opposite to the traveling surface of the robot 11 so as to protrude substantially perpendicular to the flat plate 15a. The protrusion 15b functions as a fixing portion that is fixed in contact with the handrail 6 (structure) on the upper floor 4. The protrusion 15b only needs to be in contact with and supported by the handrail 6 from the blowout 5 side, and the shape of the protrusion 15b is not limited thereto.

  Next, the operation of the work robot transfer system 1 in the first embodiment will be described.

  First, an operation of moving the lifting machine 14 into the building 2 is performed.

  The lifting machine 14 is moved from the doorway 7 into the building 2 by an operator. At this time, the relay vehicle 13 is disposed outside the building 2, and the control vehicle 12 is installed outside the building 2 further away from the relay vehicle 13. The cable winding device 45 winds or opens unnecessary cables 18 and 19 as necessary so that the lifting machine 14 can move smoothly.

  The lifting machine 14 is fixed and installed by the outrigger 47 when it moves below the blowout 5. At this time, the telescopic mast 42 is in a contracted state. A belt conveyor 48 is stacked on the gantry 43, and the transfer plate 15 is stacked on the belt conveyor 48. The belt conveyor 48 and the cross board 15 may be loaded on the frame 43 outside the building 2 or may be loaded inside the building 2.

  Next, an operation for installing the cross board 15 on the upper floor 4 is performed.

  FIG. 2 is an explanatory diagram of the operation of the work robot transfer system 1 (transfer device) when the cross board 15 is installed on the upper floor 4.

  The telescopic mast 42 extends to a height at which the gantry 43 exceeds the height of the handrail 6 of the upper floor 4 and the end of the protrusion 15 b does not exceed the height of the handrail 6.

  The belt conveyor 48 is driven based on the operation of the worker, and translates the cross board 15 from the gantry 43 toward the upper floor 4. The cross board 15 falls toward the upper floor 4 while inclining, and brings the protrusion 15 b and the handrail 6 into contact with each other. The bridging plate 15 is supported by the handrail 6 and the upper floor 4 by being caught by the protrusion 15b and the handrail 6 to form a path of the robot 11 in a slope shape.

  The expansion / contraction mast 42 contracts again to a height substantially equal to the height of the slope base 44 when the cross board 15 is installed on the upper floor 4.

  Next, an operation for installing the robot 11 on the upper floor 4 is performed.

  FIG. 3 is an explanatory diagram of the operation of the work robot transfer system 1 (transfer device) when the robot 11 is mounted on the gantry 43.

  FIG. 4 is an explanatory diagram of the operation of the work robot transport system 1 when the robot 11 is installed on the upper floor 4.

  Based on the control of the control device of the control vehicle 12, the robot 11 travels on the slope surface 44 a of the slope base 44 and moves to the mount 43. Note that the cable winding device 33 winds or opens unnecessary cables 18 and 19 as necessary so that the robot 11 can move smoothly.

  The robot 11 may be connected to the relay vehicle 13 or the like after the installation work of the cross board 15 is completed, or may be moved into the building 2 together with the movement of the lifting machine 14 to the building 2. Moreover, the belt conveyor 48 used at the time of the installation work of the crossing board 15 may be installed, or may be removed.

  The telescopic mast 42 extends to a height at which the gantry 43 and the cross board 15 come into contact with each other. The robot 11 drives the traveling wheel 32 based on the control of the control device, and moves to the upper floor 4 through the flat plate 15a of the slope-shaped crossing plate 15.

  The robot 11 performs necessary work such as environmental monitoring in the building 2 including the upper floor 4 with work equipment.

  This work robot transfer system 1 is used in a building 2 where it is difficult to grasp the situation by humans, when the use risk of the lifting equipment to the upper floor 4 such as the stairs is high, that is, the use of the stairs is the moving distance or cable length. Even if there is a problem of cable weight, the robot 11 can be moved smoothly to the upper floor 4.

  In addition, since the work robot transfer system 1 can be installed simply by dropping the mounted cross board 15 onto the end of the upper floor 4, the floor of the gantry 43 is extended or brought close to or in contact with high accuracy. Thus, it is not necessary to communicate with the upper floor 4, and after installing the cross board 15, the robot 11 can be loaded and collected simply by bringing the mount 43 close to the cross board 15. For this reason, it is possible to perform the loading / recovering operation of the robot 11 reliably and in a short time with a simple mechanism.

  The work robot transport system 1 can similarly move the robot 11 to the upper floor 4 even when the upper floor 4 has no handrail 6.

  FIG. 5 is an explanatory diagram of the operation of the work robot transfer system 1 (transfer device) when the cross board 15 is installed on the upper floor 4 without a handrail.

  The telescopic mast 42 extends so that the gantry 43 is almost the same height as the upper floor 4. The belt conveyor 48 is driven based on the operation of the worker, and moves the cross board 15 from the gantry 43 toward the upper floor 4 in parallel with the upper floor 4. Then, the protrusion 15b comes into contact with the surface 4a in the height direction of the upper floor 4 (the structure of the upper floor 4), and the cross board 15 is fixed on the upper floor 4.

  The expansion / contraction mast 42 contracts again to a height substantially equal to the height of the slope base 44 when the cross board 15 is installed on the upper floor 4.

  The operation of installing the robot 11 on the upper floor 4 is substantially the same as the operation described in FIGS. 3 and 4 except that the cross board 15 is installed in parallel to the upper floor 4. Description is omitted.

  As described above, the work robot transport system 1 according to the first embodiment can move the robot 11 to the upper floor 4 without being affected by the presence or absence of the handrail 6 on the upper floor 4.

  Moreover, you may install the work apparatus (for example, laser cutting device) for removing a handrail in the mount frame 43. FIG. If there is a wreckage of the wrecked handrail 6, if the handrail 6 is damaged or the strength of the handrail 15 cannot withstand the weight of the robot and the cross board 15, or an obstacle (rubble, When there are pillars, glass, etc. arranged in a lattice shape, the handrails or obstacles are removed by the machine device, and then the cross board 15 is installed. Thereby, it is possible to ensure the access route of the robot 11 reliably.

[Second Embodiment]
2nd Embodiment of the conveying apparatus, work system, and conveying method which concern on this invention is described based on an accompanying drawing.

  FIG. 6 is a configuration diagram showing a second embodiment of the transport apparatus and work system according to the present invention.

  The work robot transfer system 61 in the second embodiment is different from the work robot transfer system 1 in the first embodiment in that an exhaust device 62 and an exhaust hose 63 for collecting contaminants in the building 2 are newly provided. It is a point. Since other configurations are substantially the same as those in the first embodiment, configurations and portions corresponding to those in the first embodiment are denoted by the same reference numerals, and redundant description is omitted.

  The exhaust device 62 is equipped with a shielding box for collecting contaminants including a filter. The exhaust device 62 is connected to one end of the exhaust hose 63. The exhaust device 62 is installed on the same floor as the lifting machine 14. As with the robot 11, the exhaust device 62 is connected to the relay vehicle 13 via the communication cable 18 and the power cable 19 and is remotely operated.

  The robot 11 holds the tip of the exhaust hose 63 (connected to the tip), and collects contaminants (dust etc.) in the surrounding environment such as the upper floor 4 as the robot 11 moves. An exhaust hose winding device 64 is disposed in the vicinity of the robot 11. The exhaust hose winding device 64 is configured to be movable together with the robot 11, for example, and winds up or opens an unnecessary exhaust hose 63 as necessary so that the robot 11 can move smoothly.

  According to this work robot transport system 61, in addition to the effects of the first embodiment, even if there is a high dose of contaminants due to an accident, for example, and no one can enter the upper floor 4 This is effective in that contaminants can be collected by the exhaust device 62 and the exhaust hose 63.

  In addition, since the work robot transport system 1 can move the robot 11 and the exhaust hose 63 to the upper floor without using stairs, even if the work robot transport system 1 has a certain thickness like the exhaust hose 63. It is also effective in that it can be moved to the upper floor within a short distance.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

  For example, the robot 11 may omit the power cable 19 by being battery driven. Further, the robot 11 may be battery-driven during normal times and may be driven by power supplied from the relay vehicle 13 via a power cable in an emergency. The same applies to the power sources of the lifting machine 14 and the exhaust device 62.

Further, the lifting machine 14 may be remotely operated by the control device of the control vehicle 12, similarly to the robot 11. A wireless module may be mounted on the robot 11 or the lifting machine 14, and a control signal from the control device may be received wirelessly.
Further, in each embodiment, the building 2 is described as having the hollow 5; however, for example, when a part of the floor faces the outside (for example, when the balcony is provided on the upper floor 4 or the floor If the outer wall is partially damaged), it may be accessed using the lifting machine 14.
Further, the protrusion 15b of the cross board 15 may be in contact with the handrail 6 or the upper floor 4 and function as a positioning means for the cross board 15, and the cross board 15 is stably installed on the upper floor 4 by its own weight. When the work robot 1 passes, the blow-off side end of the cross plate 15 is supported by the pedestal 43. However, in order to securely fix and install the cross plate 15, the protrusion 15b is a handrail 6 with a mechanical element or a magnetic element. Or it may be fixed to the upper floor 4. For example, a hook that engages with the handrail 6 as a mechanical element, a eggplant ring hook that locks in the engaged state, a structure that sandwiches the floor of the upper floor 4, and a structure that adsorbs with a suction cup or adhesive material can be used. is there. As the magnetic element, if the handrail 6 or the upper floor 4 is a magnetic body, a magnet may be attached to the protrusion 15b.

1, 61 Work robot transfer system 2 Building 3 Floor 4 Upper floor 5 Opening 6 Handrail 11 Work robot (robot)
DESCRIPTION OF SYMBOLS 12 Control vehicle 13 Relay vehicle 14 Lifting machine 15 Crossing board 17 Optical cable 18 Communication cable 19 Power cable 33 Cable winding device 42 Telescopic mast 43 Base 44 Slope stand 45 Cable winding device 62 Exhaust device 63 Exhaust hose 64 Exhaust hose winder

Claims (7)

A transfer device that conveys the load from the lower floor below the upper floor to the upper floor facing the outside or through the multiple levels of the building,
A gantry having a moving device that moves up and down between the lower floor and the upper floor and translates the mounted object;
A fixed part fixed by contacting the upper floor or the structure of the upper floor, and a passage part forming a passage; A conveying device comprising: The conveying device according to claim 1, wherein the fixing portion is fixed in contact with a handrail on the upper floor, and the passage portion forms the passage in a slope shape. The transport apparatus according to claim 1, further comprising a work device that is provided on the frame and removes a handrail or an obstacle on the upper floor. The conveying apparatus of any one of Claims 1-3 further provided with the slope base which has the inclination which connects the said lower floor and the said mount frame. The transport apparatus according to any one of claims 1 to 4,
A self-propelled working machine working in the building;
A control device disposed on the lower floor to remotely control the work machine,
A work system characterized in that the platform can be mounted with the work machine. An exhaust hose having one end connected to the work machine;
The work system according to claim 5, further comprising an exhaust device that is connected to the other end of the exhaust hose and collects exhaust matter from the exhaust hose. A transport method for transporting a load from a lower floor below the upper floor to the upper floor facing the outside or through the multiple levels of the building,
A fixed portion fixed to a gantry having a moving device that moves up and down between the lower floor and the upper floor and translates the mounted load by contacting the structure of the upper floor. And a mounting step for mounting a cross board having a passage portion forming a passage;
An ascending step for raising the platform to the upper floor;
A transfer method comprising: an installation step in which the cross board is moved in parallel on the gantry and the cross board is dropped onto the upper floor.

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