Robot and robot loading method

Abstract

To provide a working robot suitable for a work on a track installed in a high, narrow, and difficult-to-access places such as a bridge.SOLUTION: In a method for loading a robot on a track structure body including a vertical track and a horizontal track positioned at a lower end of the vertical track, the robot is constituted of a moving module 34 travelable on the horizontal track and a working module 35 that has a guide mechanism and can be attached / detached to / from the moving module 34. The method includes: a step of loading the moving module 34 on the horizontal track and positioning the moving module immediately below the vertical track; and a step of lowering the working module 35 while guiding the guide mechanism to the vertical track and connecting the working module to the moving module 34.SELECTED DRAWING: Figure 22

Description

[Technical Field]

[0001] The present invention relates to a work robot suitable for work on a track installed in high, narrow, and difficult-to-access locations such as bridges, and a method for deploying the work robot. [Background technology]

[0002] There have been attempts to use robots to take over work at heights and in dangerous locations. However, robots cannot necessarily be introduced into all work environments. For example, in bridge maintenance, inspection, and repair, there has been a problem in that it is difficult for robots to access the underside of bridges, so all work must be done manually. Patent Document 1 discloses a movable suspended scaffold for workers, and Patent Document 2 discloses a bridge inspection vehicle that can be boarded by a person to inspect the underside of a bridge, but both of these assume that work will be done by humans.

[0003] Until now, bridge maintenance work has been entirely done by hand, with people using machines and then carrying materials to manually constructed scaffolding, and then carrying out the work themselves. This type of work done entirely by hand posed major challenges in terms of safety and cost.

[0004] If a platform for introducing work robots into environments that are normally inaccessible to work robots could be provided, the work environments in which robots can be introduced could be expanded, thereby solving the above-mentioned problem. Furthermore, environments that are difficult for work robots to access are not limited to the underside of bridges, but also include work environments in large structures without scaffolding (large chemical reaction tanks, power plants, etc.).

[0005] The present invention relates to a technology for deploying robots into track structures (scaffolding) constructed to perform remote or automatic maintenance work on infrastructure such as bridges. [Patent Document 1] JP 8-68198 [Patent Document 2] Patent Publication No. 2003-128392 DISCLOSURE OF THE INVENTION [Problem to be solved by the invention]

[0006] An object of the present invention is to provide a working robot suitable for work on track structures installed in high, narrow, and difficult-to-access locations, such as bridges. [Means for solving the problem]

[0007] The first technical means adopted by the present invention is: A robot that travels on a track structure including a vertical track and a horizontal track located at a lower end of the vertical track, a mobile module capable of traveling on the horizontal track; a working module detachable from the moving module; It consists of The working module is a robot that is equipped with a guide mechanism that can guide the working module along the vertical track, and the working module is vertically attachable and detachable to the mobile module on the horizontal track directly below the vertical track.

[0008] In one embodiment, the guide mechanism is a guide module that is detachable from the working module; The guide module is separable from the working module after the working module and the moving module are connected to each other. In one embodiment, the robot includes means for determining the coupling of the work module and the locomotion module.

[0009] In one aspect, the robot includes a first coupling mechanism that detachably couples the guide module and the operation module; a second coupling mechanism that detachably couples the working module and the moving module; It is equipped with: In one embodiment, the robot includes a means for determining connection by the first connection mechanism and a means for determining connection by the second connection mechanism.

[0010] In one embodiment, the first coupling mechanism couples the lower surface of the lower plate of the guide module with the upper surface of the base plate of the working module in contact with the lower surface of the lower plate of the guide module, At least one first connecting hole formed in the base plate; At least one first connecting pin provided on the lower plate; Equipped with the first connecting pin is detachably attached to the first connecting hole; the second coupling mechanism couples the lower surface of the base plate of the working module to the upper surface of the moving module in abutment therewith, At least one second connection hole formed on the top surface of the moving module; At least one second connecting pin provided on the base plate; Equipped with The second connecting pin is detachably attached to the second connecting hole. In one embodiment, the first coupling mechanism further comprises: a plurality of first guide holes formed in the base plate; a plurality of first guide pins provided on the lower plate; Equipped with The second coupling mechanism further includes a plurality of second guide holes formed on the upper surface of the moving module; a plurality of second guide pins provided on the base plate; It is equipped with:

[0011] In one embodiment, the first connecting pin comprises a cylindrical portion, a protrusion that can protrude from the circumferential surface of the cylindrical portion and is biased in the protruding direction, and an operation button that is provided at the upper end of the cylindrical portion and that retracts the protrusion when pressed down, a first actuation means for inserting the operation button into the first connecting hole while pressing it down and then releasing the pressing, so that the protrusion takes a protruding position within the first connecting hole and is in a locked state; the second connecting pin comprises a cylindrical portion, a protrusion that can protrude from the circumferential surface of the cylindrical portion and is biased in the protruding direction, and an operation button that is provided at the upper end of the cylindrical portion and that retracts the protrusion when pressed; a second actuation means for inserting the operation button into the second connecting hole while pressing it down and then releasing the pressing, so that the protrusion takes a protruding position within the second connecting hole and is in a locked state; The first actuation means and the second actuation means are provided on the guide module.

[0012] The second technical means adopted by the present invention is: A method for placing a robot on a track structure including a vertical track and a horizontal track located at a lower end of the vertical track, the method comprising: The robot, a mobile module capable of traveling on the horizontal track; a working module equipped with a guide mechanism and detachable from the moving module; Mounting a mobile module on the horizontal track and positioning it directly below the vertical track; Lowering the working module while guiding the guide mechanism along the vertical track, and connecting the working module to the moving module; A method for deploying a robot equipped with the above.

[0013] In one embodiment, the track structure comprises a base, a first arm having a first track, and a second arm having a second track; a first position in which the first arm and the second arm are superimposed on the base in a horizontal position; a first position in which the first arm extends vertically relative to the base and the second arm is located at an end of the first arm and extends horizontally; In the second attitude, the first orbit forms the vertical orbit and the second orbit forms the horizontal orbit; Mounting the mobile module on the second track in the first orientation; deploying the orbital structure from the first attitude to the second attitude and positioning the mobile module on the second orbit directly below the first orbit; a step of lowering the working module in the second attitude while guiding the guide mechanism along the first track, and connecting the working module to the moving module; It consists of:

[0014] In one embodiment, in the first attitude, a plurality of transfer modules are mounted on the second track; deploying the orbital structure from the first attitude to the second attitude, and positioning one mobile module selected from the plurality of mobile modules on the second orbit directly below the first orbit; In the second attitude, the working module is lowered while being guided by the guide mechanism along the first track, and is connected to the selected one of the moving modules.

[0015] In one embodiment, the guide mechanism is a guide module that is detachable from the working module; The guide module is separated from the working module after the working module and the moving module are connected.

[0016] In one embodiment, the working module connected to the guide module is suspended on the guide module, and the working module is lowered along the vertical track; After the working module and the moving module are connected, the guide module is separated from the working module and lifted up and recovered.

[0017] The third technical means adopted by the present invention is: A method for exchanging a robot on a track structure having a vertical track and a horizontal track located at a lower end of the vertical track, comprising: one or more mobile modules capable of traveling on the horizontal track; a plurality of working modules detachable from the moving module; a guide module having a guide mechanism and detachable from the working module; Prepare a first work robot is configured by connecting the mobile module and the first work module; positioning the first work robot on the horizontal track directly below the vertical track; lowering the guide module while guiding the guide mechanism along the vertical track, and connecting the guide module to the first working module; a step of releasing the connection between the moving module and the first working module, and lifting and recovering the connection between the first working module and the guide module while leaving the moving module on the horizontal track; a step of lowering a connector that connects a second working module to the guide module along the vertical track to connect the second working module to the moving module on the horizontal track; a step of separating the guide module from the second working module after the second working module and the moving module are connected, and lifting and recovering the guide module; A method for replacing a robot equipped with the above. [Effects of the Invention]

[0018] According to the present invention, it is possible to provide a work robot and a method for deploying a work robot that are suitable for work on track structures installed in high, narrow, and difficult-to-access locations such as bridges. [Brief explanation of the drawings]

[0019] [Figure 1] FIG. 10 is a diagram showing a retracted state of the robot arm according to the embodiment. [Figure 2] 2 is a diagram showing a state in which the first arm and the second arm have rotated from the state in FIG. 1 to assume a vertical position. FIG. [Figure 3]3 is a diagram showing a state in which the first arm and the second arm have slid downward from the state in FIG. 2. FIG. [Figure 4] FIG. 2 is a diagram showing a deployed state of the robot arm according to the present embodiment. [Figure 5] FIG. 2 is a perspective view of a track module according to the present embodiment. [Figure 6] FIG. 2 is a top view of the track module according to the present embodiment. [Figure 7] The upper figure is a view of the track module according to this embodiment as seen from the first end side, and the lower figure is a view of the track module according to this embodiment as seen from the second end side. [Figure 8] 10 is a cross-sectional view of the track module according to the embodiment, showing the state of engagement with the guide roller. FIG. [Figure 9A] FIG. 2 is a perspective view of a base (first position) according to the present embodiment. [Figure 9B] FIG. 2 is a perspective view of a base (first position) according to the present embodiment. [Figure 10A] FIG. 4 is a perspective view of the base (second position) according to the present embodiment. [Figure 10B] FIG. 4 is a perspective view of the base (second position) according to the present embodiment. [Figure 11A] FIG. 2 is a perspective view of a second base (first position) according to the present embodiment. [Figure 11B] The left figure is a side view of the second base (first position) according to this embodiment, and the right figure is a view taken along the arrow in the left figure. [Figure 12A] FIG. 10 is a perspective view of a second base (second position) according to the present embodiment. [Figure 12B] The left figure is a side view of the base (second position) according to this embodiment, and the right figure is a view taken along the arrow in the left figure. [Figure 13] 5A and 5B are diagrams illustrating a first rotation drive mechanism of a first rotation unit according to the present embodiment. [Figure 14] 5A and 5B are diagrams illustrating a second rotation drive mechanism of a second rotation unit according to the present embodiment. [Figure 15]15 is a diagram illustrating the locking mechanism of the rotating part according to the present embodiment, with the left diagram showing the unlocked state and the right diagram showing the locked state. Note that the linear actuator is cut away in Figure 15. [Figure 16] 4A to 4C are diagrams illustrating a second arm sending-out mechanism according to the present embodiment. [Figure 17] 1 is a diagram for explaining the second arm feed-out mechanism according to this embodiment, and for convenience, the pin rack is shown only on the top surface of the second arm 3. FIG. [Figure 18] FIG. 1 is a perspective view of two track modules connected in the left-right direction. [Figure 19] 1 is a diagram showing the overall configuration of a bridge maintenance work support system. [Figure 20] FIG. 10 is a diagram showing an example of application of the robot arm according to the present embodiment to a chemical reaction tank. [Figure 21] This figure shows the overall configuration of the bridge maintenance work support system, and illustrates multiple aspects of the robot of this embodiment (a first connected body which is a guide module-work module connected body, a second connected body which is a work module-movement module connected body, a movement module, and a guide module). [Figure 22] 1 is a process diagram showing a method for inserting a robot according to the present embodiment. [Figure 23] FIG. 1 is a conceptual diagram of a robot system according to an embodiment of the present invention. [Figure 24] 1 is an exploded perspective view of a robot according to an embodiment of the present invention, showing a guide module, a working module, and a moving module from above. [Figure 25] FIG. 2 is a perspective view of a first connected body (a guide module-working module connected body) according to the present embodiment. [Figure 26] FIG. 1 is a side view of a first connected body (a guide module-working module connected body) according to the present embodiment, with the working section of the working module omitted. [Figure 27] FIG. 2 is a perspective view of a second connected body (a working module-movement module connected body) according to the present embodiment. [Figure 28] FIG. 2 is a perspective view of a moving module according to the present embodiment. [Figure 29] The upper figure is a top view of the moving module according to this embodiment, and the lower figure is a side view of the same. [Figure 29A] FIG. 10 is a diagram showing the interior of the transfer module. [Figure 30] 10A and 10B are diagrams showing the engagement relationship between the traveling mechanism of the movement module and the second track of the second arm according to the embodiment. [Figure 31] FIG. 2 is a perspective view of the working module according to the present embodiment. [Figure 32] The upper figure is a top view of the base of the working module according to this embodiment, the middle left figure is a side view of the same, the middle right figure is a front view of the same, and the lower figure is a bottom view of the same. [Figure 33] FIG. 2 is a perspective view of a guide module according to the embodiment. [Figure 34] The upper figure is a top view of the guide module according to this embodiment, the middle left figure is a front view of the same, the middle right figure is a side view of the same, and the lower figure is a bottom view of the same. [Figure 35] 5A and 5B are diagrams showing an engagement relationship between a guide portion of a guide module and a first track of a first arm according to the present embodiment. [Figure 36] 3A and 3B are diagrams showing the connection mechanism of each module which is a component of the robot according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0020] [A] Overall configuration of the robot arm The overall configuration of a robot arm according to this embodiment will be described with reference to Figures 1 to 4. The robot arm according to this embodiment comprises a base 1, a first arm 2 that is slidable and rotatable relative to the base 1, and a second arm 3 that is slidable and rotatable relative to the first arm 2, and is transformable between a first position (see Figure 1) in which the first arm 2 and the second arm 3 are superimposed on the base 1, and a second position (see Figure 4) in which the first arm 2 hangs down vertically from the base 1 and the second arm 3 is located at the lower end of the first arm 2 and extends horizontally.

[0021] The first arm 2 according to this embodiment is formed by detachably connecting multiple track modules 4 in the longitudinal direction, and the track module 4 located at the tip is provided with a second base 5 that is separate from the base 1. The second arm 3 according to this embodiment is formed by detachably connecting multiple track modules 4 in the longitudinal direction. By selecting the number of track modules 4 that make up the first arm 2 and the number of track modules 4 that make up the second arm 3, it is possible to select the length dimensions of the first arm 2 and the second arm 3 according to the work site. For example, if the length of the track modules 4 is 600 mm, a 12-m-long second arm 3 can be constructed from 20 track modules 4.

[0022] A first rotation unit 6 (first joint) is provided at the tip of the base 1 according to this embodiment, and the first arm 2 is slidably supported on the first rotation unit 6. The base 1 is provided with a first rotation drive mechanism that rotates the first rotation unit 6. The first rotation unit 6 is rotatable between a first position (horizontal position) extending in the longitudinal direction of the base 1 and a second position (vertical position) perpendicular to the longitudinal direction of the base 1. When the first rotation unit 6 is in the first position, the first arm 2 is superimposed on the base 1 (FIG. 1), and when the first rotation unit 6 is in the second position, the first arm 2 is vertical to the base 1 (FIGS. 2 to 4). The center of the first joint provided by the first rotation unit 6 is indicated by 6''.

[0023] In this embodiment, a second base 5 is provided at the tip of the first arm 2, and a second rotation unit 7 (second joint) is provided at the tip of the second base 5. The second arm 3 is slidably supported on the second rotation unit 7. The second base 5 is provided with a second rotation drive mechanism that rotates the second rotation unit 7. The second rotation unit 7 is rotatable between a first position (a horizontal position in FIG. 1, a vertical position in FIGS. 2 and 3) extending in the longitudinal direction of the first arm 2 and a second position (a horizontal position in FIG. 4) perpendicular to the longitudinal direction of the first arm 2. When the second rotation unit 7 is in the first position, the second arm 3 is superimposed on the first arm 2 (a horizontal position in FIG. 1, a vertical position in FIGS. 2 and 3). When the second rotation unit 7 is in the second position, the second arm 3 is perpendicular to the first arm 2 (a horizontal position in FIG. 4). The center of the second joint provided by the second rotation unit 7 is indicated by 7''.

[0024] The first arm 2 according to this embodiment is slidable on the first pivot portion 6 of the base 1 by a first guide mechanism and a first arm feed-out mechanism. The second arm 3 according to this embodiment is slidable on the second pivot portion 7 of the first arm 2 by a second guide mechanism and a second arm feed-out mechanism. In this embodiment, the first guide mechanism and the second guide mechanism are configured by a combination of guide rollers 8 provided on the first pivot portion 6 and the second pivot portion 7, respectively, and rails (formed from a plurality of rail units 45) provided on the first arm 2 and the second arm 3, respectively. In this embodiment, the first arm feed-out mechanism and the second arm feed-out mechanism are configured by a combination of sprockets 9 provided on the first pivot portion 6 and the second pivot portion 7, respectively, and pin racks (formed from a plurality of pin rack units 46) provided on the first arm 2 and the second arm 3, respectively.

[0025] Fig. 2 shows a state in which the first rotation unit 6 has rotated from the state in Fig. 1 to the second position (vertical position), i.e., the first arm 2 and the second arm 3, which are in the overlapping position, have rotated from the horizontal position to the vertical position while maintaining the overlapping position. Fig. 3 shows a state in which the first arm 2 has slid downward relative to the first rotation unit 6 and the second arm 3 has slid downward relative to the second rotation unit 7 from the state in Fig. 2. When the second rotation unit 7 rotates from the state in Fig. 3 to the second position and the second arm 3 has slid downward relative to the second rotation unit 7, the state in Fig. 4 is achieved.

[0026] More specifically, in the state of Fig. 2, the first arm 2 in the vertical position is movable in the vertical direction (height direction) by having the rails extending vertically up and down engage with the guide rollers 8 of the first pivoting part 6 in the vertical position, and by driving the sprocket 9 of the first pivoting part 6 to rotate, the pin rack is sent downward and the first arm 2 moves downward to reach the state of Fig. 3. The gripping position of the first arm 2 by the base 1 (first pivoting part 6) moves in the length direction of the first arm 2.

[0027] Similarly, in the state of Fig. 2, the second arm 3 in the vertical position is movable in the vertical direction (height direction) by having the rails extending vertically up and down engage with the guide rollers 8 of the second pivoting part 7 in the vertical position, and by driving the sprocket 9 of the second pivoting part 7 to rotate, the pin rack is sent downward and the second arm 3 moves downward to assume the state of Fig. 3. The gripping position of the second arm 3 by the first arm 2 (second pivoting part 7) moves in the length direction of the second arm 3.

[0028] 4, in the working posture, the first arm 2 is in a vertical posture and the second arm 3 is in a horizontal posture, but the angle of the first arm 2 relative to the base 1 is variable between 0 and 90 degrees, and the angle of the second arm 3 relative to the first arm 2 is variable between 0 and 90 degrees. In one embodiment, the postures of the first arm 2 and the second arm 3 can be fixed at any angle. That is, in the robot arm according to this embodiment, the angle range of the first joint unit and the second joint unit is 90 degrees.

[0029] The robot arm according to this embodiment includes a base 1, a first arm 2 rotatably connected to the base 1 at a first joint (first rotation portion 6), and a second arm 3 rotatably connected to the first arm 2 at a second joint (second rotation portion 7), wherein the first arm 2 is movable in its length direction relative to the first joint, and the second arm 3 is movable in its length direction relative to the second joint. The robot arm can be transformed between a stored position in which the base 1, first arm 2, and second arm 3 are superimposed, and a working position in which the first arm 2 extends vertically relative to the base 1 and the second arm 3 is located at the lower end of the first arm 2 and extends horizontally or at an angle.

[0030] The first arm 2 is rotatable and slidable relative to the base 1 by a first arm drive mechanism. The first arm drive mechanism is made up of a first rotation drive mechanism and a first arm feed-out mechanism, and the sliding movement of the first arm 2 by the first arm feed-out mechanism is guided by a first guide mechanism. The second arm 3 is rotatable and slidable relative to the first arm 2 by a second arm drive mechanism. The second arm drive mechanism is made up of a second rotation drive mechanism and a second arm feed-out mechanism, and the sliding movement of the second arm 3 by the second arm feed-out mechanism is guided by a second guide mechanism. In an embodiment described below, the first arm feed-out mechanism and the second arm feed-out mechanism are common, and the first guide mechanism and the second guide mechanism are common. Note that the first rotation drive mechanism and the second rotation drive mechanism may be common.

[0031] In the robot arm according to this embodiment, the first arm 2 can move with two degrees of freedom relative to the base 1 via a first arm drive mechanism, and the second arm 3 can move with two degrees of freedom relative to the first arm 2 via a second arm drive mechanism. Therefore, the robot arm can adopt different working postures depending on the work site, i.e., different platforms can be constructed depending on the work site. For example, in the embodiment shown in FIG. 4 , the first arm 2 is in a vertical posture, and the second arm 3 is positioned below the base 1 relative to the first arm 2 and in a horizontal posture. In the embodiment shown in FIG. 20 , the first arm 2 is in a vertical posture, and the second arm 3 is positioned on the opposite side of the base 1 relative to the first arm 2 and in a downward tilted posture.

[0032] The robot arm according to this embodiment provides a system that realizes robotic work support by constructing a track structure for the robot's work and movement (in a typical embodiment, the second arm 3 provides rails for the robot to travel on) in environments where it is difficult to introduce robots. In one embodiment, the maintenance robot or work robot 30 is composed of a movement mechanism (guide rollers, sprockets, and motors) that moves on rails, a six-axis robot arm, and an attachment appropriate for the work. The robot may be remotely controlled wirelessly or may perform work automatically according to a predetermined program. Details of the maintenance robot 30 will be described later.

[0033] In the robot arm according to this embodiment, the first arm 2 is movable in the length direction of the first arm 2 relative to the first joint, and the second arm 3 is movable in the length direction of the second arm 3 relative to the second joint, meaning that the position at which the base 1 grips the first arm 2 is variable in the length direction of the first arm 2, and the position at which the first arm 2 grips the second arm 3 is variable in the length direction of the second arm 3. Therefore, the robot arm according to this embodiment can transform while taking an appropriate posture, taking into consideration the surrounding environment (space) and the center of gravity, even during the posture transition from the folded posture to the deployed posture.

[0034] In this embodiment, the first arm 2 and the second arm 3 are formed by detachably connecting multiple track modules 4. By selecting the number of track modules 4 that make up the first arm 2 and the second arm 3 of the robot arm, it is possible to construct a track structure or platform of a size and shape suitable for the work site. By configuring the first arm 2 and the second arm 3, which are components of the robot arm, to be assembled and disassembled from multiple track modules, it is possible to improve the ease of transportation to the site, the possibility of mass production, and the possibility of replacement in the event of a malfunction.

[0035] [B] Orbital Module The first arm 2 and the second arm 3 according to this embodiment are formed so as to be assemblable and disassembleable by connecting a plurality of track modules 4. The configuration of the track module 4 will be described with reference to FIGS. 5 to 8. The track module 4 according to this embodiment has a main body 40 made of a hollow square pipe with a square cross section. The main body is formed from an aluminum section material in the shape of a square pipe having a first surface 41, a second surface 42, a third surface 43, and a fourth surface 44, each of which has an elongated rectangular shape. One longitudinal edge of the first surface 41, the second surface 42, the third surface 43, and the fourth surface 44 of the main body 40 forms a first end surface of the track module 4, and the other longitudinal edge forms a second end surface of the track module 4.

[0036] The track module 4 is equipped with a rail unit 45, which is the second element of the first guide mechanism and the second guide mechanism, and a pin rack unit 46, which is the second element of the first arm feed-out mechanism and the second arm feed-out mechanism. The rail units 45, which extend the entire length of the main body 40, are provided at the corners of the main body 40. The pin rack units 46, which extend the entire length of the main body 40, are provided on three surfaces (first surface 41, second surface 42, and third surface 43) of the main body 40. When multiple track modules 4 are connected to each other in the longitudinal direction to form the first arm 2 and the second arm 3, the rail units 45 match up to form a continuous rail, and the pin rack units 46 match up to form a continuous pin rack.

[0037] 5 to 8, a pin rack unit 46 and a pair of guide rail units 45 are provided on three surfaces: a first surface 41 (top surface in the illustrated position), a second surface 42 (left surface in the illustrated position), and a third surface 43 (right surface in the illustrated position), but a pin rack unit and a pair of guide rail units may also be provided on a fourth surface 44 (bottom surface in the illustrated position). Alternatively, a pin rack unit and a pair of guide rail units may be provided on only two surfaces: the first surface 41 and either the second surface 42 or the third surface 43.

[0038] Assuming that FIG. 8 is a cross-sectional view of the track module 4 constituting the second arm 3, the first surface 41 is the surface guided by the second rotation unit 7 (guide surface unit 70), and the rail unit 45 on the first surface 41 serves as a rail for the movement of the second arm 3 itself. The second surface 42 and / or the third surface 43 is the surface along which the maintenance robot moves, and the rail unit 45 on the second surface 42 and / or the third surface 43 serves as a rail for the movement of the maintenance robot. In this case, the guide roller 8 of the maintenance robot slides on the rail unit 45, and the maintenance robot moves on the pin rack unit 46 on the second surface 42 and / or the third surface 43 as a result of the rotation of a sprocket 9 provided on the maintenance robot. As shown in FIG. 8, the guide roller, which is the first element of the first guide mechanism and the second guide mechanism according to this embodiment, is a V-shaped guide wheel, and the rail unit 45 has a cross-sectional shape corresponding to the V-shaped guide wheel.

[0039] A first brace 47 extending diagonally is provided at a first end in the longitudinal direction of the main body 40, and a second brace 48 extending diagonally is provided at a second end in the longitudinal direction. In the track module 4 according to this embodiment, the first brace 47 and the second brace 48 extend in directions perpendicular to each other (see FIG. 7). Two positioning pins 470 protrude from the first brace 47, and the positioning pins 470 protrude beyond the first end face of the first end. Two positioning holes 480 are formed in the second brace 48.

[0040] At the first end of the main body 40, plate-shaped connecting pieces 410, 420, 430, and 440 protrude from the first surface 41, the second surface 42, the third surface 43, and the fourth surface 44, respectively. The connecting pieces 410, 420, 430, and 440 are formed from rectangular plates, and the outer surfaces of the base end halves of the plates abut and connect to the inner surfaces of the first surface 41, the second surface 42, the third surface 43, and the fourth surface 44, while the tip end halves of the plates protrude beyond the first end surface to form the connecting pieces 410, 420, 430, and 440. The outer surfaces of the connecting pieces 410, 420, 430, and 440 are flush with the inner surfaces of the first surface 41, the second surface 42, the third surface 43, and the fourth surface 44. Two screw holes 411, 421, 431, 441 are formed in each of the connecting pieces 410, 420, 430, 440. Two insertion holes 49 (see FIG. 6) are formed in second side portions of the first surface 41, the second surface 42, the third surface 43, and the fourth surface 44 of the track module 4, respectively.

[0041] When connecting multiple track modules 4, when the first end face of the first end of one track module 4A is brought into contact with the second end face of the second end of the other track module 4B, the positioning pin 470 of the first brace 47 at the first end of the track module 4A is inserted into the positioning hole 480 of the second brace 48 at the second end of the track module 4B, thereby positioning the adjacent track modules 4A and 4B (see FIG. 17). The outer surfaces of the tip halves of the connecting pieces 410, 420, 430, and 440 protruding from the first end of one track module 4A come into contact with the inner surfaces of the second portions of the first surface 41, second surface 42, third surface 43, and fourth surface 44 of the other track module 4B, and at this time, the screw holes 411, 421, 431, and 441 are aligned with the insertion hole 49, allowing the modules to be detachably connected with bolts.

[0042] The orientations of the first brace 47 and second brace 48 are reversed between one track module 4A and the other track module 4B. In other words, the track modules 4A and 4B that are connected are two types of track modules 4 in which the orientations of the first brace 47 and second brace 48 are different. Therefore, the first brace 47 of one track module 4A and the second brace 48 of the other track module 4B are in the same orientation, and the positioning pin 470 of the first brace 47 of one track module 4A is received in the positioning hole 480 of the second brace 48 of the other track module 4B, allowing the two track modules to be positioned when connected. An arm is formed by alternately connecting track modules 4A and track modules 4B.

[0043] [C] Bass 9A, 9B, 10A, and 10B, the base 1 according to this embodiment comprises a vertically extending support column 10, a long support section 11 extending horizontally at the top end of the support column 10, and a first rotation section 6 rotatably provided at the tip of the support section 11. A first rotation drive mechanism is provided in the base 1 between the support section 11 and the first rotation section 6, which rotates the first rotation section 6 relative to the support section 11. The first rotation drive mechanism allows the first rotation section 6 to rotate relative to the support section 11 between a first or horizontal position (FIGS. 9A and 9B) in which the first rotation section 6 extends in the same direction as the length of the support section 11, and a second or vertical position (FIGS. 10A and 10B) perpendicular to the length of the support section 11.

[0044] The first rotation drive mechanism according to this embodiment comprises a motor M1 provided on support portion 11, a wire winding portion (pulley) 12 that rotates as a result of the rotation of motor M1, and a wire 13 whose base end is connected to wire winding portion (pulley) 12 and whose tip end is connected to first rotation portion 6 (see FIG. 13). In this embodiment, first rotation portion 6 is in the second position (vertical position) due to its own weight, and by driving motor M1 to wind up wire 13, first rotation portion 6 from the vertical position rotates to the first position, which is horizontal.

[0045] The support part 11 has an upper surface part 110, a lower surface part 111, and a pair of side surfaces 112, and the lower surface part 111 is placed and fixed on the upper end of the support part 10. The width dimension of the lower surface part 111 is larger than the width dimension of the upper surface part 110, and the lower surface part 111 has extension parts that extend horizontally from the lower ends of the side surfaces 112, and a motor M1 is provided at a corner formed by one of the extension parts and one of the side surfaces 112. The tip side portions of the pair of side surfaces 112 form a pair of extension parts 113 (Figs. 10A and 13) that extend beyond the upper surface part 110.

[0046] The first pivoting unit 6 has a generally U-shaped cross section, consisting of a guide surface 60, a first side surface 61, and a second side surface 62, and a rectangular parallelepiped storage unit 63 is provided at its tip. The tip side of the second side surface 62 forms one side surface of the storage unit 63. An extension 113 of the side surface 112 of the support unit 11 is located between the first side surface 61 and the second side surface 62 of the first pivoting unit 6, and is connected to them by a first pivot shaft 64. The first pivoting unit 6 is rotatable within a range of 90 degrees relative to the support unit 11, centered on the first pivot shaft 64. The first pivot shaft 64 serves as a center 6'' of a first joint between the base 1 and the first arm 2.

[0047] The tip of the wire 13 is connected to the back surface of the base end portion of the guide surface portion 60 of the first rotating portion 6. When the motor M1 is rotated, a wire winding portion (pulley) 12 located between a pair of side portions 112 rotates to wind or unwind the wire 13. When the first rotating portion 6 is in a first position (horizontal position), unwinding the wire 13 causes the first rotating portion 6 to rotate downward under its own weight and assume a second position (vertical position). When the rotating portion 6 is in the second position (vertical position), winding the wire 13 causes the first rotating portion 6 to rotate upward and assume the first position (horizontal position).

[0048] In this embodiment, when the first pivoting portion 6 is in a horizontal position, the guide surface 60 of the first pivoting portion 6 and the upper surface 110 of the support portion 11 form a substantially identical horizontal plane, which forms a mounting surface for the first arm 2 in the horizontal position. The surface of the upper surface 110 of the support portion 11 is made of a material with good slipperiness (resin with a low coefficient of friction). Note that a guide roller may be provided on the upper surface 110 (FIG. 13).

[0049] The first arm 2 according to this embodiment is slidable on the guide surface 60 of the first pivoting unit 6 of the base 1 by means of a first guide mechanism and a first arm feed-out mechanism. The first pivoting unit 6 includes a guide roller 8, which is the first element of the first guide mechanism, and a sprocket 9, which is the first element of the first arm feed-out mechanism. The guide surface 60 of the first pivoting unit 6 is provided with a plurality of guide rollers 8, which are the first elements of the first guide mechanism. In this embodiment, the guide surface 60 of the first pivoting unit 6 is provided with three sets of pairs of guide rollers 8 spaced apart in the longitudinal direction.

[0050] The first pivoting unit 6 is provided with a sprocket 9, which is the first element of the first arm feed-out mechanism. More specifically, as shown in FIGS. 9A, 9B, 10B, and 13, the sprocket 9 protrudes from the guide surface 60 of the first pivoting unit 6, located in the center of the width direction. The sprocket 9 is rotated by a motor M2. Specifically, a storage section 63 on the tip side of the first pivoting unit 6 is provided with a drive mechanism for rotating the sprocket 9 of the first arm feed-out mechanism. This drive mechanism includes the motor M2, which is the rotational drive source for the sprocket 9, and a transmission mechanism 90 that transmits the rotational force of the motor M2 as rotation of the sprocket 9. The transmission mechanism 90 includes a gearbox 91. The rotation of the motor shaft of the motor M2 is transmitted to the input shaft of the gearbox 91, and the rotation of the output shaft of the gearbox 91 is transmitted to the sprocket 9, causing the sprocket 9 to rotate. The gearbox 91 in this embodiment includes a worm gear. By incorporating a worm gear box into the first arm delivery mechanism, it acts as a mechanical brake when no torque is being applied to motor M2.

[0051] [D] Second Base A second base 5 is provided at the tip of the first arm 2 according to this embodiment. As shown in FIGS. 11A, 11B, 12A, and 12B, the second base 5 according to this embodiment comprises a support portion 50 extending in the longitudinal direction of the first arm 2 and a second pivot portion 7 provided at the tip of the support portion 50. A second pivot drive mechanism is provided in the second base 5 between the support portion 50 and the second pivot portion 7, which pivots the second pivot portion 7 relative to the support portion 50. The second pivot drive mechanism enables the second pivot portion 7 to pivot relative to the support portion 50 between a first position ( FIGS. 11A and 11B ) in which the second pivot portion 7 extends in the same direction as the longitudinal direction of the support portion 50, and a second position ( FIGS. 12A and 12B ) perpendicular to the longitudinal direction of the support portion 50.

[0052] The second rotation drive mechanism according to this embodiment is made up of a motor M3 provided in the support part 50 and a linear actuator 51 operated by the motor M3. The linear actuator 51 is attached to the support part 50 in an inclined position relative to the longitudinal direction of the support part 50, and the tip of an extendable rod 510 is connected (rotatably) to the second rotation part 7. In this embodiment, when the rod 510 is in the extended position, the second rotation part 7 is in the first position, and when the rod 510 is in the retracted position, the second rotation part 7 is in the second position.

[0053] The support unit 50 has a pair of side surfaces 500, and a first plate 501 and a second plate 502 are fixed to the base ends of the pair of side surfaces 500 in an opposing relationship so as to connect the pair of side surfaces 500. A linear actuator 51 protrudes from between the pair of side surfaces 500 at the tip end side of the first plate 501 (the lower side when the support unit 50 is in the vertical position), and a motor M3 protrudes from between the pair of side surfaces 500 at the tip end side of the second plate 502 (the lower side when the support unit 50 is in the vertical position). A hollow portion having a rectangular cross section is formed at the base end of the support unit 50 and is made up of the base end portions of the pair of side surfaces 500, the first plate 501, and the second plate 502. A plate-shaped connecting piece 503 protrudes from the base end side of the support unit 50. The shape and dimensions of the connecting piece 503 are the same as those of the connecting pieces 410, 420, 430, and 440 of the track module 4, and the descriptions of the connecting pieces 410, 420, 430, and 440 can be used. The second base 5 is detachably connected to the end of the track module 4 located at the tip of the track module 4 that constitutes the first arm 2. The connection structure between the support part 50 of the second base 5 and the track module 4 is the same as the connection structure between the track modules 4.

[0054] The second rotation unit 7 has a generally U-shaped cross section formed by a guide surface unit 70, a first side surface unit 71, and a second side surface unit 72, and a rectangular parallelepiped storage unit 73 is provided at its tip. The tip side of the second side surface unit 72 forms one side surface of the storage unit 73. The tip portion of the side surface unit 500 of the support unit 50 is located between the first side surface unit 71 and the second side surface unit 72 of the second rotation unit 7 and is connected to them by a second rotation shaft 74. The second rotation unit 7 can rotate within a 90-degree range relative to the support unit 50 around the second rotation shaft 74. The second rotation shaft 74 serves as a center 7'' of a second joint unit between the first arm 2 and the second arm 3. The tip of the rod 510 of the linear actuator 51 is connected to the back surface of the base end portion of the guide surface unit 70 of the second rotation unit 7.

[0055] The second arm 3 according to this embodiment is capable of sliding on the guide surface 70 of the second pivoting unit 7 of the first arm 3 by means of the second guide mechanism and the second arm feed-out mechanism. The second pivoting unit 7 includes a guide roller 8, which is the first element of the second guide mechanism, and a sprocket 9, which is the first element of the second arm feed-out mechanism. The guide surface 70 of the second pivoting unit 7 is provided with a plurality of guide rollers 8, which are the first elements of the second guide mechanism. In this embodiment, the guide surface 70 of the second pivoting unit 7 is provided with three sets of pairs of guide rollers 8 spaced apart in the longitudinal direction.

[0056] The second rotation unit 7 is provided with a sprocket 9, which is the first element of the second arm feed-out mechanism. More specifically, the sprocket 9 protrudes from the guide surface 70 of the second rotation unit 7, located in the center of the width direction. The sprocket 9 is rotated by a motor M4. Specifically, a drive mechanism for rotating the sprocket 9 of the second arm feed-out mechanism is provided in a storage section 73 on the tip side of the second rotation unit 7. This drive mechanism includes the motor M4, which is the rotation drive source for the sprocket 9, and a transmission mechanism 90 that transmits the rotational force of the motor M4 as rotation of the sprocket 9. The transmission mechanism 90 includes a gearbox 91. The rotation of the motor shaft of the motor M4 is transmitted to the rotation of the input shaft of the gearbox 91, and the rotation of the output shaft of the gearbox 91 is transmitted to the sprocket 9, causing the sprocket 9 to rotate. The gearbox 91 in this embodiment includes a worm gear. By incorporating a worm gearbox into the second arm feed mechanism, it acts as a mechanical brake when no torque is being applied to motor M4.

[0057] [E] Arm drive mechanism The arm drive mechanism has the functions of rotating the arm, feeding the arm in the length direction of the arm, and fixing the position of the arm in the length direction. In this embodiment, the arm drive mechanism is composed of a rotation drive mechanism that rotates the arm (first arm 2, second arm 3) at the joint section (first joint section, second joint section), and an arm feeding mechanism that moves the arm (first arm 2, second arm 3) in the arm length direction relative to the joint section (first joint section, second joint section). The arm (first arm 2, second arm 3) is slidable and positionally fixable on the rotation section (first rotation section 6, second rotation section 7), and rotates integrally with the rotation section (first rotation section 6, second rotation section 7).

[0058] In this embodiment, the first rotation drive mechanism that rotates the first arm 2 (first rotation part 6) is made up of a motor M1, a wire winding part (pulley) 12, and a wire 13. The second rotation drive mechanism that rotates the second arm 3 (second rotation part 7) is made up of a motor M3 and a linear actuator 51.

[0059] In this embodiment, the first arm feed-out mechanism that moves the first arm 2 in the arm length direction and the second arm feed-out mechanism that moves the second arm 3 in the arm length direction are common. Also, the first guide mechanism that guides the first arm 2 in one axial direction (arm length direction) and the second guide mechanism that guides the second arm 3 in one axial direction (arm length direction) are common. The first guide mechanism and the second guide mechanism are composed of a guide roller 8 and a rail (comprised of multiple rail units 45). The first arm feed-out mechanism and the second arm feed-out mechanism are composed of a sprocket 9 and a pin rack (comprised of multiple pin rack units 46).

[0060] The guide mechanism (V guide rail and wheel) restricts the movement of the arm in one axial direction, and the arm feed-out mechanism of the arm drive mechanism allows the arm to move in one axial direction and can be fixed at any position. The first arm 2 according to this embodiment is slidable on the guide surface 60 of the first pivoting unit 6 of the base 1 by the first guide mechanism (guide roller 8 and rail) and the first arm feed-out mechanism (sprocket 9 and pin rack). Three sets of pairs of guide rollers 8 are provided on the guide surface 60 of the first pivoting unit 6 at intervals in the longitudinal direction. When the pair of guide rollers 8 engages with the pair of rails of the first arm 2 (gripping state), the guide rollers 8 are restricted so that they can slide only relative to the rails (they can move only in the first axial direction, which is the longitudinal direction of the first arm 2).

[0061] The guide surface portion 60 of the first rotating portion 6 is provided with a guide roller (V guide wheel) 8 and a sprocket 9, and the guide roller 8 grips the first arm 2 while the sprocket 9 feeds out the first arm 2. The guide surface portion 70 of the second rotating portion 7 is provided with a guide roller (V guide wheel) 8 and a sprocket 9, and the guide roller 8 grips the second arm 3 while the sprocket 9 feeds out the second arm 3.

[0062] The sprocket 9 provided on the guide surface 60 of the first pivoting unit 6 is engaged with the pin rack of the first arm 2. By rotating the sprocket 9 with the motor M2 and feeding out the pin rack, the first arm 2 is able to slide in the arm length direction. By restricting the rotation of the sprocket 9, the position (gripping position) of the first arm 2 in the arm length direction relative to the first pivoting unit 6 (sprocket 9) can be fixed. The sprocket 9 provided on the guide surface 70 of the second pivoting unit 7 is engaged with the pin rack of the first arm 2. By rotating the sprocket 9 with the motor M4 and feeding out the pin rack, the second arm 3 is able to slide in the arm length direction. By restricting the rotation of the sprocket 9, the position (gripping position) of the second arm 3 in the arm length direction relative to the second pivoting unit 7 (sprocket 9) can be fixed. In this embodiment, the gripping position of the arm is maintained by the self-locking of the worm gear.

[0063] The robot arm according to this embodiment includes an angle detection unit that detects the angles of the first rotation unit 6 (first joint) and the second rotation unit 7 (second joint). In this embodiment, the angle of the first rotation unit 6 (first joint) and the angle of the second rotation unit 7 (second joint) are obtained by measuring the rotation of the rotation shafts using potentiometers 67 and 77 provided near the first rotation shaft 64 and the second rotation shaft 74, respectively. The robot arm according to this embodiment also includes a position detection unit that detects the longitudinal position of the first arm 2 relative to the first joint and the longitudinal position of the second arm 3 relative to the second joint. In one aspect, the position is detected by measuring the number of rotations of the sprocket 9 to determine the feed amount per rotation. The operation of the first arm drive mechanism and the second arm drive mechanism can be controlled based on the information obtained by the angle detection unit and the position detection unit.

[0064] [F] Joint locking mechanism The base 1 is provided with a first locking mechanism that fixes the first and second positions of the first pivoting part 6, and the second base 5 is provided with a second locking mechanism that fixes the first and second positions of the second pivoting part 7. The first and second locking mechanisms have the same basic configuration, and the configuration of the second locking mechanism will be described first.

[0065] 15, the first side surface portion 71 and the second side surface portion 72 of the second pivoting portion 7 have arc-shaped edges, and a first groove 75 is formed on a first end side of the edges in the circumferential direction, and a second groove 76 is formed on a second end side. The first groove 75 and the second groove 76 extend in perpendicular directions, and when the second pivoting portion 7 is in the first position, the first groove 75 extends vertically and the second groove 76 extends horizontally (see FIGS. 11A and 11B). When the second pivoting portion 7 is in the second position, the first groove 75 extends horizontally and the second groove 76 extends vertically (see FIGS. 12A, 12B, and 15).

[0066] A pair of rotatable blades 14 are provided at the tip end of the support portion 50 of the second base 5 so as to be rotatable in the length direction of the support portion 50, and an opening 15 is formed in the side portion 500 of the support portion 50, through which the tip end portions of each blade 14 protrude. In the unlocked position, the tip end portions of the blades 14 are positioned within the opening 15, and in the locked position, the tip end portions protrude beyond the opening 15 and engage with the first groove 75 or the second groove 76. In this embodiment, the pair of blades 14 are rotated by a servo motor M5 (see FIGS. 11A and 12A). A resin guide block 150 is detachably provided on the edge of the opening 15. Making the guide block 150 detachable facilitates replacement when it deteriorates due to wear or the like.

[0067] As shown in the left diagram of FIG. 15, when the second pivoting portion 7 is in the second position (horizontal position in FIG. 15), the second groove 76 of the second pivoting portion 7 is in a vertical position, and the tip side portions of the blades 14 are located above the second groove 76. When the pair of blades 14 rotate downward from the state shown in the left diagram of FIG. 15, the tip side portions of the blades 14 engage with the second groove 76, and a locked state is achieved (the right diagram of FIG. 15, FIGS. 12A, 12B, and 16). When the second pivoting portion 7 is in the first position (horizontal position in the illustrated embodiment), the first groove 75 of the second pivoting portion 7 is in a vertical position, and the tip side portions of the blades 14 engage with the first groove 75, and a locked state is achieved (FIGS. 11A and 11B).

[0068] The configuration of the first lock mechanism that fixes the first posture and the second posture of the first pivot part 6 is substantially the same as the configuration of the second lock mechanism. The first side surface part 61 and the second side surface part 62 of the first pivot part 6 have arc-shaped edges, and a first groove 65 is formed on a first end side of the edge in the circumferential direction, and a second groove 66 is formed on a second end side. The first groove 65 and the second groove 66 extend in a perpendicular direction, and when the first pivot part 6 is in the first posture (horizontal posture), the first groove 65 extends horizontally and the second groove 66 extends vertically. When the first pivot part 6 is in the second posture (vertical posture), the first groove 65 extends vertically and the second groove 66 extends horizontally.

[0069] A pair of rotatable blades 14 are provided on the tip side of support portion 11 of base 1 so as to be rotatable in the length direction of support portion 11, and openings 15 are formed in extension portion 113 of side portion 112 of support portion 11, through which tip portions of each blade 14 protrude when locked, and guide blocks 15 are removably provided on the edges of openings 15. When first pivot portion 6 is in the second position (vertical position), second groove 66 of first pivot portion 6 is in the horizontal position, and tip portions of blades 14 engage with second groove 66, thereby achieving a locked state (FIGS. 10A and 13). When first pivot portion 6 is in the first position (horizontal position), first groove 65 of first pivot portion 6 is in the horizontal position, and tip portions of blades 14 engage with first groove 65, thereby achieving a locked state (FIG. 9A).

[0070] In this embodiment, the first locking mechanism mechanically fixes the first posture or the second posture of the first rotation unit 6, and the second locking mechanism mechanically fixes the first posture or the second posture of the second rotation unit 7, so that the first joint unit and the second joint unit can be maintained in the same posture for a long period of time without operating the actuator. By providing the first locking mechanism and the second locking mechanism, after the robot arm according to this embodiment has been completed in a predetermined working posture, it is possible to maintain the joints in the same posture for a long period of time without operating the actuator.

[0071] The first and second locking mechanisms operate based on information detected by angle detection means. When the angle detection means detects a preset angle, it sends a signal to the control unit. The control unit receives this signal and, based on a command from the control unit, activates motor M5, rotating blade 14 from the unlocked position to the locked position.

[0072] [G] Example 1: Bridge maintenance work support system Example 1 relates to the creation of a work environment for bridge maintenance work using a robot. Until now, repair work in bridge maintenance has been problematic, as it has been difficult for robots to access the underside of bridges, meaning that all work has to be done manually. In Example 1, a work environment for introducing robots into environments that would normally be inaccessible is created from a bridge maintenance track structure consisting of a robot arm formed by connecting multiple track modules, and by making the bridge maintenance track structure movable in the lengthwise direction of the bridge, a platform is realized that allows robots to work over a wide range and for long periods of time in difficult-to-access spaces such as the underside of bridges.

[0073] The bridge maintenance track structure according to the first embodiment is composed of a pair of robot arms, and is capable of moving in the longitudinal direction of the bridge along two temporary rails 1A installed on the bridge. Each robot arm is the same as the robot arms described above in that it comprises a base 1, a first arm 2, a second arm 3, a first joint 6', and a second joint 7', and the above-mentioned descriptions can be used for details of the base 1, the first arm 2, the second arm 3, the track module 4, the second base 5, the first rotation unit 6, the second rotation unit 7, the first arm drive mechanism, and the second arm drive mechanism.

[0074] The bridge maintenance track structure according to the first embodiment moves on temporary rails 1A extending in the longitudinal direction of the bridge, and differs from the base 1 shown in FIGS. 9A, 9B, 10A, and 10B in that the base 1 is equipped with running sections 1B. In this specification, the base 1 equipped with running sections 1B is referred to as a support mechanism. The temporary rails 1A are made of, for example, reinforced I-beam steel and fixed to the bridge with anchor bolts. The running sections 1B are equipped with guide rollers that are rotationally driven by a motor (not shown), and the guide rollers roll along the temporary rails 1A, allowing the pair of robot arms, i.e., the bridge maintenance track structure, to move on the bridge.

[0075] To improve the workability of transportation, construction, and removal when constructing the track structure according to this embodiment, the first arm 2 and second arm 3 that make up the track structure are formed so that they can be assembled and disassembled from multiple track modules 4. By combining the track modules 4 according to the dimensions of the target bridge, track structures that can accommodate a variety of shapes can be constructed.

[0076] The robot arm according to this embodiment can deploy the first arm 2 and arm 3 from a base 1 on a bridge, and can deploy the second arm 3 (work rail) from the top of the bridge to the underside of the bridge. By operating the first arm drive mechanism and the second arm drive mechanism, the first arm 2 and second arm 3 are sent out and rotated from above the bridge to deploy the first arm 2 and second arm 3 to the side and below the bridge, thereby constructing a track structure that provides a work rail (second arm 3) that extends horizontally below the underside of the bridge. When constructing the track structure, it is desirable to grasp and manipulate the center of gravity of the arm to avoid large moments acting on the arm. In this embodiment, the arm drive mechanism can move the arm in the arm length direction relative to the joint position, making it possible to change the grip position to ensure stable arm rotation.

[0077] Fig. 18 shows the construction and dismantling procedure of the robot arm (track structure), and Fig. 19 shows the overall configuration of the bridge maintenance work support system. The construction procedure of the track structure for bridge maintenance according to the first embodiment will be described with reference to Figs. 18 and 19. (1) Temporary rails 1A are installed on the bridge, a support structure is placed on top of them, and the robot arm is assembled. The temporary rails 1A and the support mechanism are installed within 1.5 m of the edge of the bridge so as not to occupy the bridge during work. (2) In a first position in which the base 1, the first arm 2, and the second arm 3 are overlapped, the first rotating part 6 is rotated from the first position to the second position, and the overlapping first arm 2 and second arm 3 are rotated from a horizontal position to a vertical position. (3) The second arm feeding mechanism moves the second arm 3 downward and rotates the second rotation part 7 from the first position to the second position, so that the second arm 3 is positioned at the lower end of the first arm 2 which is in the vertical position and extends horizontally. Note that a counterweight 31 may be attached to the base end side of the second arm 3 (see FIG. 19). (4) After similarly deploying the robot arm from the other side of the bridge, the tips of the two second arms 3 are joined to construct a work rail spanning the entire width of the underside of the bridge. After completing the track structure (with the second arms 3 functioning as work arms), the joint angle is maintained with the first and second locking mechanisms, making it possible to maintain the joint in the same position for long periods of time without operating the actuator. (5) The maintenance robot is lowered from the bridge and boarded.

[0078] Example 1 provides a mobile environment where multiple maintenance robots 30 can operate simultaneously on the underside of a bridge. The maintenance robots are dropped by a small crane and introduced by engaging a V-guide wheel (held by the maintenance robot) with a V-guide rail provided on the second arm 3. The maintenance robots perform appropriate repair work on previously identified repair locations while moving along the rails of the second arm 3. Specific examples of work include scraping concrete with a disc grinder, applying paint to wall surfaces using a roller, and applying sealant along cracks. The maintenance robots 30 are remotely controlled wirelessly. Alternatively, the maintenance robots 30 perform work automatically according to a predetermined program.

[0079] After completing the track structure for bridge maintenance, by locking the first and second locking mechanisms, it is possible to maintain the joint in the same position for a long period of time without operating the actuator. The track structure for bridge maintenance can cover the underside of the bridge by moving along the length of the bridge on rails 1A temporarily installed on the bridge. By making the assembled track structure movable on the bridge, a wide working range can be provided with a minimum amount of track structure.

[0080] [H] Example 2: Large Chemical Reactor Cleaning System The robot arm according to Example 2 is applied to a system for cleaning the inside of a large chemical reaction tank. As shown in Figure 20, a large reaction tank 16 has a bottom wall 160, a side wall 161, and an upper wall 162, and an opening 163 is formed in the upper wall 162. Inside the reaction tank, there are provided a stirring blade (a wooden structure in the center) 164 that rotates to stir the solvent, and a baffle 165 as an obstacle that generates turbulence to promote stirring.

[0081] In the working posture of the robot arm shown in FIG. 20, the first arm 2 hangs down from the tip of the base 1, and the second arm 3 extends at an angle from the lower end of the first arm 2. A mobile unit equipped with a jetter 32 that sprays cleaning liquid is movable on the rail of the second arm 3 (and the rail of the first arm 2). A hose 33 that supplies cleaning liquid is connected to the jetter 32, and the base end of the hose 33 extends to the outside from an opening 163 in the upper wall and is connected to a source of cleaning liquid. In one embodiment, a camera and a light are mounted on the mobile unit. The camera and light may be fixed to a predetermined position on the arm (including those whose orientation is movable). When the robot arm is deployed, the first arm 2 and the second arm 3 hang down from the opening 163 into the reaction vessel in a vertical position where they overlap, and the second arm 3 is rotated inside the reaction vessel.

[0082] The illustrated large-scale chemical reaction tank is an example of a large structure without scaffolding. The robot arm according to this embodiment can be applied to high locations in large buildings where it is difficult to introduce a robot. For example, a work environment can be created on the wall surface by creating a track on the wall surface of a structure without scaffolding and moving up and down. Furthermore, a rail structure can be inserted into a narrow space, and then the rail structure can be deformed by the arm drive mechanism, thereby ensuring a wide-area work environment.

[0083] [I] Maintenance robot [I-1] Overview of maintenance robots The maintenance robot 30 according to this embodiment moves on a bridge maintenance track structure that includes a vertical track and a horizontal track located at the lower end of the vertical track. As shown in FIG. 21 , the vertical track of the bridge maintenance track structure is formed by a first arm 2 in a vertical position, and the horizontal track is formed by a second arm 3 in a horizontal position. The track structure includes a base 1, a first arm 2 with the first track, and a second arm 3 with the second track. The track structure can be transformed between a first position in which the first arm 2 and the second arm 3 are superimposed on the base 1 in a horizontal position, and a second position in which the first arm 2 extends vertically relative to the base 1 and the second arm 3 is located at the lower end of the first arm 2 and extends horizontally. The specific configurations and operations of the base 1, the first arm 2, and the second arm 3 can be appropriately described using the above descriptions.

[0084] FIG. 23 shows a conceptual diagram of a robot system according to this embodiment, and FIG. 24 shows an exploded perspective view of the robot system. The robot system is composed of a mobile module 34 that can travel on the second arm 3 in a horizontal position, a working module (robot-mounted module) 35 that is detachable from the mobile module 34, and a guide module 36 that is detachable from the working module 35. The mobile module 34 can travel on the second track of the second arm 3 in a horizontal position. The guide module 36 has a guide section 36', and is movable in the vertical direction by being guided along the first track of the first arm 2 in a vertical position. The working module 35 and guide module 36 are detachably connected by a first connecting mechanism, and the working module 35 and mobile module 34 are detachably connected by a second connecting mechanism.

[0085] A guide module-working module combined assembly (first combined assembly) is formed by connecting the working module 35 and the guide module 36 by the first connecting mechanism. Fig. 25 is a perspective view of the first combined assembly, and Fig. 26 is a side view of the same, with the working section 35' omitted in Fig. 26. The guide module 36 is movable vertically along the first track of the first arm 2 in a vertical position by the guide section 36', and the first combined assembly, while suspended by the crane 17, can descend along the first track of the first arm 2 in a vertical position.

[0086] The second connecting mechanism connects the mobile module 34 and the working module 35 to form a working module-mobile module connected body (second connected body), and the second connected body constitutes the maintenance robot or working robot 30. Figure 27 is a perspective view of the second connected body. The mobile module 34 is movable horizontally along the second track of the second arm 3 in a horizontal position, and the second connected body is movable horizontally along the second track of the second arm 3 in a horizontal position.

[0087] In FIG. 21, a pair of robot arms (bridge maintenance track structures) are installed along two temporary rails 1A on a bridge, movable in the longitudinal direction of the bridge, and a crane 17 is provided on the bridge corresponding to each robot arm. The first arm 2 of each robot arm is in a vertical position, and the tips of a pair of horizontal second arms 3 are connected to form a work rail (a foothold for the maintenance robot 30) spanning the entire width of the underside of the bridge. In FIG. 21, two second connecting bodies and one mobile module 34 are positioned on the work rail. One first connecting body is positioned on the first arm 2 located on the left, suspended by the crane 17, and is then connected to the mobile module 34 on the work rail (the second arm 3 on the left). One guide module 36 is suspended from the crane 17 on the right, and the diagram shows the guide module 36 being retrieved after the work module 35 has been transferred from a component of the first connecting body to a component of the second connecting body. The bridge maintenance track structure (robot arm) and the maintenance robot 30 are equipped with a control unit (not shown) that controls the operation of the robot arm and the maintenance robot 30. The control unit is made up of a computer and is equipped with a processor, memory, signal transmission / reception means, etc.

[0088] [I-2] How to deploy a maintenance robot The robot deployment method according to this embodiment has the following features. 1) A robot that performs work on a track structure is divided into a moving part (moving module 34) and a working part (working module 35). 2) The moving part (moving module 34) is pre-loaded onto the track structure (second track of the second arm 3) and deployed at the same time as the track structure is deployed. 3) The working unit (working module 35) is inserted using the vertical track (first track) of the deployed track structure (first arm 2) as a guide. When the working unit (working module) is inserted into the first track, a guide mechanism (guide module 36) is introduced. 4) The working unit (working module 35) is connected to the moving unit (moving module 34) to complete the insertion of the maintenance robot.

[0089] A method for deploying the maintenance robot 30 will be described in detail with reference to FIG. 22. In the first position of the track structure, the first arm 2 and the second arm 3 are stacked in a horizontal position on a base 1 on a temporary rail 1A installed on a bridge, and the mobile module 34 is mounted on the second track on the side of the second arm 3, which is in a horizontal position (upper left diagram in FIG. 22). The second track of the second arm 3 includes a pair of guide rails 45 and a pin rack unit 46 positioned between the pair of guide rails 45 and extending in the longitudinal direction (see FIG. 5). The mobile module 34 includes a guide roller 8 and a sprocket 9 (see FIG. 28). The guide roller 8 of the mobile module 34 is attached to the second guide rail 3 so that it engages with the pair of guide rails 45 of the second arm 3 and the sprocket 8 meshes with the pin rack unit 46 of the second arm 3 (see FIG. 30).

[0090] With the track structure in the first position, and the mobile module 34 mounted on the side of the second arm 3 in the horizontal position, the track structure is deployed from the first position to the second position, and the mobile module 34 on the second track on the side of the second arm 3 in the horizontal position is positioned directly below the first track on the side of the first arm 2 in the vertical position (upper right diagram in Figure 22). In one embodiment, the mobile module 34 is positioned and attached to the second arm 3 of the track structure in the first position so that when the track structure is moved from the first position to the second position, the mobile module 34 is positioned directly below the first track on the side of the first arm 2 in the vertical position. Alternatively, the mobile module 34 may be positioned on the second arm 3 of the track structure in the second position.

[0091] A guide module-working module combination (first combination) is prepared by connecting a guide module 36 to a working module 35, and the first combination is suspended by a crane 17 at the guide module 36. In the second posture of the track structure, with the first combination suspended by the crane 17, the guide section 36' of the guide module 36 is lowered while being guided along the first track (pair of guide rails 45, see Figures 5 and 35) of the first arm 2, which is in a vertical posture, and connected to the moving module 34, thereby forming a working module-moving module combination (second combination), i.e., a maintenance robot 30 (upper right view, lower left view, left and right views in Figure 22).

[0092] The working module 35 and the guide module 36 are vertically detachably connected by a first connecting mechanism to form a first connected body, and the first connecting mechanism is equipped with a first positioning means. The working module 35 and the moving module 34 are vertically detachably connected by a second connecting mechanism to form a second connected body, and the second connecting mechanism is equipped with a second positioning means. The first connecting mechanism and the second connecting mechanism are remotely operable. After it is confirmed that the working module 35 of the first connected body is connected to the moving module 34 to form a second connected body, the first connecting mechanism is released, and the guide module 36 can be vertically detached from the working module 35 of the second connected body. After the working module 35 and the moving module 34 are connected, the guide module 36 is separated from the working module 35 and lifted and recovered by claim 17 (lower right diagram of Figure 22).

[0093] When attaching the maintenance robot 30 to the second rail 3, it is necessary to engage the guide rollers 8 of the mobile module 34 with the pair of guide rails 45 of the second arm 3 and mesh the sprocket 8 with the pin rack unit 46 of the second arm 3, and this attachment work requires high positioning accuracy. According to the robot insertion method of this embodiment, by attaching the mobile module 34 to the second track of the second arm 3 when the track structure is in the first position on the bridge, the attachment work of the mobile module 34 is made much easier than when the track structure is in the second position and the mobile module 34 is attached to the second arm 3 away from the bridge.

[0094] In this embodiment, it is necessary to remotely connect the working module 35 to the mobile module on the second track of the second arm 3, but positioning of the connecting work between the modules can be carried out relatively easily by simply inserting multiple guide pins vertically into the corresponding guide holes. Furthermore, by introducing the working module as a working module-guide module combined body (first combined body) connected to the guide module, the vertical track that is part of the track structure can be used as a guide, and the first combined body can be positioned along the first track of the first arm 2 in a vertical position while being lowered vertically.

[0095] The maintenance robot 30 of this embodiment is configured to be vertically detachable from the work module 35 and the moving module 34 by a remotely controlled second connection mechanism, so that the work module 35 alone can be replaced as needed, while the moving module 34 remains on the second arm 3. More specifically, the maintenance robot 30 is positioned on the second track of the second arm 3 in a horizontal position, directly below the first arm 2 in a vertical position, and the guide module 36 is lowered vertically along the first track of the first arm 2 to introduce it. The introduced guide module 36 is connected to the working module 35 with the first connecting mechanism. The second connecting mechanism is released, and while leaving the moving module 34 on the second arm 3, the working module 35 together with the guide module 36 is lifted vertically along the first track of the first arm 2 and recovered. Another working module 35 is connected to the guide module 36 to form a new first connected body. This first connected body is then suspended by the crane 17 and lowered vertically along the first track of the first arm 2 to connect it to the moving module 34 on the second track of the second arm 3 to form a new maintenance robot 30. The first connecting mechanism is released, and the guide module 36 is recovered. In other words, the working unit (working module 35) can be changed sequentially depending on the work purpose, and a variety of tasks can be realized by changing the specifications and attachments of the robot arm attached to the working module.

[0096] When the track structure is in a first position, multiple mobile modules 34 are mounted on the second track of the second arm 3. By unfolding the track structure to the second position, multiple mobile modules 34 can be placed on the second track of the horizontally positioned second arm 3. By connecting a work module 35 to each mobile module 34, multiple maintenance robots 30 can be introduced to the track structure. For example, while one maintenance robot 30 continues to perform its work, the work module 35 of another maintenance robot 30 can be replaced, allowing various maintenance robots 30 to be introduced as needed. Alternatively, some of the multiple mobile modules 34 initially introduced may be placed on standby (for example, positioned at the longitudinal end of the second track of the horizontally positioned second arm 3). As needed, the standby mobile modules 34 may be moved directly below the first track of the vertically positioned first arm 2. Using the first track of the first arm 2 as a guide, a work module 35 can be introduced and connected to the mobile module 34 to form the maintenance robot 30.

[0097] [I-3] Mobile Module The configuration of the moving module will be described in detail with reference to Figures 28, 29, and 29A. The moving module 34 has a rectangular parallelepiped shape (approximately a cube shape in the illustrated embodiment), and an upper surface 340 formed from an upper surface plate 340' forms a connecting surface with the working module 35. At least one side surface 341 (formed from a side surface plate 341') ​​is provided with a guide roller (V guide wheel) 8 and a sprocket 9, and the guide roller 8 and sprocket 9 form a traveling mechanism. A rail unit 45 and a pin rack unit 46 are provided on the side surface (second surface 42 or third surface 43) of the second arm 3 in a horizontal position (see Figures 5 to 8). As shown in Figure 30, the moving module 34 is attached to the side surface (second surface 42 or third surface 43) of the second arm 3 with the guide roller 8 gripping the second arm 3 (rail unit 45) and the sprocket 9 meshing with the second arm 3 (pin rack unit 46).

[0098] The moving module 34 is equipped with a motor (e.g., a stepping motor) 3410. The motor 3410 is fixed, for example, to the inner surface of the side plate 341′. The output shaft of the motor 3410 and the shaft of the sprocket 9 are power-transmittingly connected by a timing belt 3411. When the motor 3410 rotates the sprocket 9, the sprocket 9 moves on the pin rack unit 46, enabling horizontal movement along the length of the second arm 3. In one embodiment, power for the motor 3410 is supplied from a battery mounted on the moving module 34, but power may also be supplied from a track structure. While FIGS. 24 and 27 show some of the faces of the moving module 34 as open, in reality, each of the six faces is covered with a rectangular plate. Furthermore, at least some of the plates forming the faces of the moving module 34 are detachable, allowing for easy maintenance and other operations.

[0099] Two second connecting holes 3400 and two second guide holes 3401 are formed diagonally on the top surface 340 (top surface plate 340') of the moving module 34. Adjacent to the second connecting holes 3400, there is formed an escape hole 3402 into which the tip of the first guide pin 368 is inserted when the working module 35 of the first connecting body is connected to the moving module 34. A second connection determination switch 3403 is provided at approximately the center of the top surface 340 of the moving module 34.

[0100] A control unit 3420 that controls the movement of the moving module 34 is provided on the side surface 342 of the moving module 34. The control unit 3420 is composed of a computer and includes a processor, memory, signal transmission / reception means, etc. The control unit 3420 sends an actuation signal to the motor 3410 of the moving module 34, causing the sprocket 9 of the moving module 34 to rotate. The actuation signal may be sent to the motor 3410 remotely (via the control unit). In the second connected body, a signal (e.g., position information of the moving module 34) may be sent from the moving module 34 to the working unit 35' of the working module 35.

[0101] The mobile module 34 is equipped with a self-position estimation means. The self-position estimation means comprises a contact-type limit switch provided on the mobile module 34, a contacted part provided at a predetermined position (self-position reset position) on the working track of the track structure (second arm 3 in a horizontal position), and a pulse counter provided on the mobile module 34. When the mobile module 34 moves on the second arm 3, the contact-type limit switch comes into contact with a non-contact part on the second arm 3, turning the contact-type limit switch ON and resetting the number of pulses in the pulse counter. By subsequently measuring the number of pulses with the pulse counter, the amount of movement by motor 3410, which is a stepping motor, from the self-position reset position can be determined.

[0102] [I-4] Work Module As shown in Figures 31 and 32, the work module 35 comprises a rectangular base plate 37 and a working unit 35' mounted on the base plate 37. Examples of the working unit 35' include an articulated robot or a six-axis robot arm, but the working unit 35' can be selected appropriately depending on the required work. Multiple types of working unit 35' for the work module 35 can be prepared depending on the work purpose. For example, by changing the specifications and attachments of the robot arm on the base plate 37, a variety of tasks can be achieved. The working unit 35' includes an actuator (such as a motor) that drives the robot arm and a control unit that controls the actuator. Examples of the power source for the actuator include a battery mounted on the working unit 35' or a battery mounted on the mobile module 34 of the second connected body. The work performed by the work module 35 can be interpreted broadly. For example, the working unit 35' can be configured as a cage, allowing materials to be loaded and transported. The working unit 35' is omitted from Figure 32.

[0103] The base plate 37 has an upper surface 370 and a lower surface 371. The upper surface 370 forms a connection surface with the guide module 36, and the lower surface 371 forms a connection surface with the upper surface 340 of the movable module 34. The base plate 37 is formed with two diagonally arranged first connection holes 3700 and two diagonally arranged first guide holes 3701. Two second connection pins 3702 are vertically disposed through the base plate 37 diagonally. An operation button for the second connection pins 3702 protrudes from the upper surface 370, and a cylindrical portion with a ball protrudes downward from the lower surface 371. Two second guide pins 3703 protrude diagonally from the lower surface 371 of the base plate 37. Two first connection determination switches 3704 are provided diagonally on the upper surface 370 of the base plate 37.

[0104] [I-5] Guide Module 33 and 34, the guide module 36 includes an upper plate 360, a lower plate 361, and multiple support columns 362 connecting the upper plate 360 ​​and the lower plate 361. Guide sections 36' are provided at the rear ends of the upper plate 361 and the lower plate 361, and the guide sections 36' extend vertically above the upper plate 360. A ring-shaped connectable section (eyebolt) 170 to which the hook section of the crane 17 is connected is provided on an upper surface 3600 of the upper plate 360. Openings 363 are formed in the upper plate 360 ​​and the lower plate 361, and when the first connector is formed and when the first connector is released, the working section 35' of the working module 35 is positioned in the openings 363, thereby enabling the guide module 36 and the working module 35 to be attached and detached in the vertical direction.

[0105] A lower surface 3611 of the lower plate 361 serves as a connecting surface with an upper surface 370 of the base plate 37 of the working module 35. Two first connecting pins 366 are vertically disposed diagonally through the lower plate 361, an operation button for the first connecting pins 366 protrudes from the upper surface 3611 of the lower plate 361, and a cylindrical portion equipped with a ball protrudes downward from the lower surface 3611. Two first guide pins 368 protrude diagonally from the lower surface 3611 of the lower plate 361. Two diagonal insertion holes 367 are formed in the lower plate 361.

[0106] As shown in Figures 33, 34, and 36, a first air cylinder 364 is diagonally disposed on the upper plate 360, directly above a first connecting pin 366 provided on the lower plate 361, and an extension rod 3640 connected to the lower end of the first air cylinder 364 extends between the upper plate 360 ​​and the lower plate 361. When the first air cylinder 364 is in an inoperative state (standby position), the lower end of the extension rod 3640 is close to and directly above the first connecting pin 366.

[0107] As shown in Figures 33, 34, and 36, a second air cylinder 365 is diagonally disposed on the upper plate 360, directly above an insertion hole 367 provided in the lower plate 361, and an extension rod 3650 connected to the lower end of the second air cylinder 365 extends between the upper plate 360 ​​and the lower plate 361. When the second air cylinder 365 is in an inoperative state (standby position), the lower end of the extension rod 3650 is positioned within the insertion hole 367.

[0108] The guide section 36' of the guide module 36 includes a support plate 360' fixed to the rear ends of the upper plate 360 ​​and the lower plate 361, and a pair of guides 369 provided at both widthwise ends of the support plate 360' and extending vertically. In this embodiment, the guides 369 are formed from MC nylon, but the material of the guides 369 is not limited as long as it has excellent sliding properties and rigidity. Guide surfaces 3690 of the pair of guides 369, which are inclined in plan view, are guided vertically along the second track of the first arm 2 in a vertical position, i.e., between the pair of rail units (guide rails) 45, so that the guide module 36 can move vertically along the second track while being suspended.

[0109] [I-6] Connection mechanism The first and second coupling mechanisms are made up of coupling pins (first coupling pin 366, second coupling pin 3702) provided on the upper elements (the lower plate 361 of the guide module 36 in the first coupling mechanism, and the base plate 37 of the working module 35 in the second coupling mechanism) and coupling holes (first coupling hole 3700, second coupling hole 3400) of the coupling pins provided on the lower elements (the base plate 37 of the working module 35 in the first coupling mechanism, and the upper surface 340 of the moving module 34 in the second coupling mechanism). In this embodiment, the first and second coupling mechanisms each have two first coupling pins 366 and two first coupling holes 3700, and two second coupling pins 3702 and two second coupling holes 3400, which are arranged diagonally.

[0110] The connecting pin includes a cylindrical portion, multiple balls that can move between a protruding position (locked position) in which they protrude from the circumferential surface of the cylindrical portion and a retracted position in which they are retracted within the circumferential surface of the cylindrical portion, a biasing means for maintaining the protruding position of the balls, and an operation button provided at the upper end of the connecting pin (in the vertical position) that can be pressed to release the biasing of the balls. With the operation button pressed, the connecting pin is lowered and inserted into the connecting hole, and when the operation button is released, the balls protrude and engage with the connecting hole, establishing a locked state. Pressing the operation button releases the locked state, and continuing to press the button moves the connecting pin upward to release the connected state. An example of the connecting mechanism (connecting pin) is a button lock clamper manufactured by IMAO Corporation.

[0111] [I-6-1] First connection mechanism The first connecting mechanism consists of a first connecting pin 366 provided on the lower plate 361 of the guide module 36 and a first connecting hole 3700 provided on the base plate 37 of the working module 35. The cylindrical portion of the first connecting pin 366 protrudes downward from the lower surface 3611 of the lower plate 361, and the operation button of the first connecting pin 366 is located on the upper surface 3610 of the lower plate 361. The first connecting hole 3700 opens on the upper surface 370 of the base plate 37 of the working module 35 and is designed to receive the first connecting pin 366 when the guide module 36 is lowered.

[0112] The first connecting mechanism includes a first operating part that presses the operation button. In one embodiment, the first operating part is configured as a first air cylinder 364 with a rod that can reciprocate vertically. The first air cylinder 364 is provided on the upper plate 360 ​​of the guide module 36, and the lower end of an extension rod 3640 connected to a rod that protrudes from the lower surface 3601 of the upper plate 360 ​​presses the operation button of the first connecting pin 366.

[0113] The first connecting mechanism is equipped with first positioning means, which consists of a first guide pin 368 that protrudes downward from the underside of the lower plate 361 of the guide module 36, and a first guide hole 3701 that opens into the upper surface 370 of the base plate 37 of the working module 35. The lower end of the first guide pin 368 is located lower than the lower end of the first connecting pin 366. When the lower plate 361 of the guide module 36 and the base plate 37 of the working module 35 are connected, the lower end of the first guide pin 368 protrudes from the underside 371 of the base plate 37 of the working module 35, and a relief hole 3402 is formed in the upper surface 340 of the moving module 34 to prevent interference between the lower end of the first guide pin 368 and the upper surface 340 when the lower surface 371 of the base plate 37 of the working module 35 abuts against the upper surface 340 of the moving module 34.

[0114] A first connection determination switch 3704 that determines the connection state of the first connection mechanism is provided on the upper surface 370 (diagonal corner) of the base plate 37 of the working module 35, and when the lower surface 3611 of the lower plate 361 of the guide module 36 abuts against the upper surface 370 of the base plate 37 of the working module 35, the first connection determination switch 3704 turns ON to recognize the connection state. When the first connection body is formed, the first connection determination switch 3704 is in the ON state. The first detection signal that determines that the guide module 37 and working module 35 are connected is transmitted, for example, wirelessly.

[0115] [I-6-2]Second connection mechanism The second connecting mechanism consists of a second connecting pin 3702 provided on the base plate 370 of the working module 35 and a second connecting hole 3400 provided on the upper surface 340 of the moving module 34. The cylindrical portion of the second connecting pin 3702 protrudes downward from the lower surface 371 of the base plate 37 of the working module 35, and the operation button of the second connecting pin 3702 is located on the upper surface 370 of the base plate 37. The second connecting hole 3400 opens on the upper surface 340 of the moving module 34, and is designed to receive the second connecting pin 3702 by lowering the working module 35 (together with the guide module 36).

[0116] The second linking mechanism includes a second actuating unit that presses the operation button. In one embodiment, the second actuating unit is configured with a second air cylinder 365 that includes a rod that can reciprocate vertically. The second cylinder 365 is provided on the upper plate 360 ​​of the guide module 36. The lower end of an extension rod 3650 connected to a rod that protrudes from the lower surface of the upper plate 360 ​​presses the operation button with a second linking pin 3702.

[0117] The lower plate 361 of the guide module 36 has an insertion hole 367 formed therein that receives the lower end of the extension rod 3650 and also receives the upper end portion of the second connecting pin 3702 (the portion protruding from the upper surface 370 of the base plate 37) when the lower surface 3611 of the lower plate 361 of the guide module 36 abuts against the upper surface 370 of the base plate 37 of the working module 35.

[0118] The second connecting mechanism is equipped with a second positioning means, which is composed of a second guide pin 3703 that protrudes downward from the lower surface 371 of the base plate 37 of the working module 35, and a second guide hole 3401 that opens into the upper surface 340 of the moving module 34. The lower end of the second guide pin 3703 is located lower than the lower end of the second connecting pin 3702.

[0119] A second connection determination switch 3403 that determines the connection state of the second connection mechanism is provided in the center of the upper surface 340 of the moving module 34, and when the lower surface 371 of the base plate 37 of the working module 35 abuts against the upper surface 340 of the moving module 34, the second connection determination switch 3403 turns ON, recognizing the connection state. A second detection signal that determines that the working module 35 and the moving module 34 are connected is transmitted, for example, wirelessly. The first connection mechanism can be released on the condition that the first detection signal is in the ON state and the second detection signal turns ON.

[0120] [Note] The technical means adopted by the present invention are: With the base, a first arm rotatably connected to the base at a first joint; a second arm rotatably connected to the first arm at a second joint; Equipped with the first arm is movable relative to the first joint portion in a length direction of the first arm; the second arm is movable relative to the second joint portion in a length direction of the second arm, a first posture in which the base, the first arm, and the second arm are superimposed; a first position in which the first arm extends vertically relative to the base, and the second arm is located at an end of the first arm and extends horizontally or inclined; A robotic arm.

[0121] In one embodiment, in the working position, the base is in a horizontal position, and the first arm extends in an up-down direction (typically vertically) relative to the base, and the height position of the first arm relative to the base is variable in the height direction. In this specification, "vertical direction" means a vertical direction in a typical embodiment, but also includes cases where the entire structure extends in the vertical direction (height direction) at an angle. In one embodiment, in the working posture, the second arm extends horizontally or obliquely from the lower end of the first arm, and the position of the second arm in the longitudinal direction relative to the lower end of the first arm is variable. In one embodiment, in the working posture, the second arm is positioned below and facing the base (underside of a bridge). In one embodiment, in the working position, the second arm is positioned on the opposite side of the base (such as a chemical reaction vessel) relative to the first arm. In a typical embodiment, the range of motion of the first joint is from 0 degrees to 90 degrees, and the first arm can take a position in the range of 0 degrees to 90 degrees relative to the longitudinal direction of the base. In a typical embodiment, the range of motion of the second joint is from 0 degrees to 90 degrees, and the second arm can take a position in the range of from 0 degrees to 90 degrees relative to the longitudinal direction of the first arm.

[0122] In one embodiment, a first arm drive mechanism including a rotation drive mechanism that rotates the first arm and a feed mechanism that slides the first arm; a second arm drive mechanism including a rotation drive mechanism that rotates the second arm and a feed mechanism that slides the second arm; It is equipped with:

[0123] In one embodiment, the first joint portion includes a first rotation portion provided at a tip end of the base, the first arm is slidable on the first rotation portion relative to the first rotation portion and rotates integrally with the first rotation portion, thereby being rotatable relative to the base; the second joint portion includes a second rotation portion provided at a tip end of the first arm, The second arm is slidable on the second rotation portion relative to the second rotation portion, and rotates integrally with the second rotation portion, thereby being rotatable relative to the second arm.

[0124] In one embodiment, the base includes a rotation drive mechanism for the first rotation unit, The first arm includes a rotation drive mechanism for the second rotation portion. In one embodiment, the first rotation portion is rotatable between a first position along the length direction of the base and a second position perpendicular to the length direction of the base. In one embodiment, the first rotating portion includes a locking means for maintaining the first position and / or the second position. In one embodiment, the first rotation portion may be capable of being fixed in an inclined position between a first position and a second position. In one embodiment, the second rotation portion is rotatable between a first position along the length direction of the first arm and a second position perpendicular to the length direction of the second arm. In one embodiment, the second rotating portion includes a locking means for maintaining the first position and / or the second position. In one embodiment, the second rotation portion may be capable of being fixed in an inclined position between a first position and a second position.

[0125] In one embodiment, the first rotation portion includes a first element of a first guide mechanism and a first element of a first arm feed mechanism; the first arm includes a second element of a first guide mechanism and a second element of a first arm feed mechanism; the second rotation portion includes a first element of a second guide mechanism and a first element of a second arm feed mechanism, The second arm includes a second element of a second guide mechanism and a second element of a second arm feed mechanism. In one embodiment, the first element of the guide mechanism is a guide roller and the second element is a guide rail. In one embodiment, the first element of the arm delivery mechanism is a gear and the second element is a rack.

[0126] In one embodiment, at least the second arm is provided with a rail along which the working robot travels. In one embodiment, the traveling robot includes a guide roller, and the guide roller runs on the rail (guide rail). In one embodiment, the second arm includes a rack parallel to the rail, and the traveling robot includes a gear. In one embodiment, the first arm further includes a rail along which the work robot travels.

[0127] In one embodiment, either one or both of the first arm and the second arm are formed by detachably connecting a plurality of modules in the length direction. In one embodiment, the second arm includes a plurality of modules and a second base connected to a distal end module, The second rotation portion is provided on the second base.

[0128] In one embodiment, the module comprises a rectangular parallelepiped main body and rail units and rack units provided on at least two sides thereof.

[0129] In one embodiment, the base is movable along a temporary rail extending in a direction perpendicular to the longitudinal direction of the base. This allows the robot arm in a working position to move along the temporary rails.

[0130] In one embodiment, the robot comprises a pair of the robot arms, In the working posture, the tip of the horizontally oriented second arm of one robot arm is connected to the tip of the horizontally oriented second arm of the other robot arm. In one embodiment, the base is disposed on a bridge; A running section of the working robot is formed from the connected second arm across the entire width of the underside of the bridge.

[0131] The technical means adopted by the present invention are: a first arm having a rotating portion at its tip; a second arm that is slidable on the rotating part and that is rotatable integrally with the rotating part; A robot arm consisting of:

[0132] In one embodiment, the first arm includes a rotation drive mechanism for the rotation portion, the rotating portion includes a first element of a guide mechanism and a first element of an arm delivery mechanism; The second arm includes a second element of a guide mechanism and a second element of an arm delivery mechanism. In one embodiment, the first element of the guide mechanism is a guide roller and the second element is a guide rail. In one embodiment, the first element of the drive mechanism is a gear and the second element is a rack. [Explanation of symbols]

[0133] 1 base 2. First Arm 3 Second Arm 4 Orbital Module 45 Rail unit (guide rail) 46-pin rack unit (pin rack) 5. Second Base 6 First rotating part 7 Second rotating part 8 Guide Roller 9 sprockets 30 Maintenance robot 34 Mobile Module 340 Top of the mobile module 3400 2nd connection hole 3401 Second guide hole 3403 Second connection determination switch 35 Work Modules 35´ Working section 36 Guide Module 360 Upper Plate 361 Lower Plate 362 Pillar 364 No. 1 air cylinder 3640 Extension Rod 365 No. 2 air cylinder 3650 Extension Rod 366 First connecting pin 367 Insertion hole 368 First guide pin 36´ guide section 37 Work module base plate 3700 1st connection hole 3701 First guide hole 3702 Second connecting pin 3703 Second guide pin 3704 First connection determination switch

Claims

1. A robot traveling on a track structure including a vertical track and a horizontal track located at the lower end of the vertical track, a mobile module capable of traveling on the horizontal track; a working module detachable from the moving module; It consists of The working module is provided with a guide mechanism capable of guiding the working module along the vertical track, and the working module is vertically attachable to and detachable from the moving module on the horizontal track directly below the vertical track. robot.

2. the guide mechanism is a guide module that is detachable from the working module, the guide module is separable from the working module after the working module and the moving module are connected to each other; The robot of claim 1 .

3. a first coupling mechanism that detachably couples the guide module and the working module; a second coupling mechanism that detachably couples the working module and the moving module; Equipped with The robot according to claim 2.

4. the first connecting mechanism connects the lower surface of the lower plate of the guide module with the upper surface of the base plate of the working module in abutment therewith, At least one first connecting hole formed in the base plate; At least one first connecting pin provided on the lower plate; Equipped with the first connecting pin is detachably attached to the first connecting hole, the second coupling mechanism couples the lower surface of the base plate of the working module to the upper surface of the moving module in a state where the lower surface of the base plate of the working module abuts against the upper surface of the moving module, At least one second connection hole formed on the top surface of the moving module; At least one second connecting pin provided on the base plate; Equipped with the second connecting pin is detachably attached to the second connecting hole; The robot according to claim 3.

5. The first connecting mechanism further includes: a plurality of first guide holes formed in the base plate; a plurality of first guide pins provided on the lower plate; Equipped with The second coupling mechanism further includes a plurality of second guide holes formed on the upper surface of the moving module; a plurality of second guide pins provided on the base plate; Equipped with The robot according to claim 4.

6. the first connecting pin comprises a cylindrical portion, a protrusion that can protrude from the circumferential surface of the cylindrical portion and is biased in the protruding direction, and an operation button that is provided at the upper end of the cylindrical portion and that retracts the protrusion when pressed; a first actuation means for inserting the operation button into the first connecting hole while pressing it down and then releasing the pressing, whereby the protrusion takes a protruding position within the first connecting hole, thereby establishing a locked state; the second connecting pin comprises a cylindrical portion, a protrusion that can protrude from the circumferential surface of the cylindrical portion and is biased in the protruding direction, and an operation button that is provided at the upper end of the cylindrical portion and that retracts the protrusion when pressed; a second actuation means for inserting the operation button into the second connecting hole while pressing it down and then releasing the pressing, whereby the protrusion takes a protruding position within the second connecting hole, thereby establishing a locked state; the first actuation means and the second actuation means are provided on the guide module; The robot according to claim 4 or 5.

7. A method for placing a robot on a track structure including a vertical track and a horizontal track located at a lower end of the vertical track, the method comprising: The robot, a mobile module capable of traveling on the horizontal track; a working module equipped with a guide mechanism and detachable from the moving module; Mounting a mobile module on the horizontal track and positioning it directly below the vertical track; Lowering the working module while guiding the guide mechanism along the vertical track, and connecting the working module to the moving module; A method for introducing a robot equipped with the above.

8. the track structure includes a base, a first arm having a first track, and a second arm having a second track; a first position in which the first arm and the second arm are superimposed on the base in a horizontal position; a first position in which the first arm extends vertically relative to the base and the second arm is located at an end of the first arm and extends horizontally; In the second attitude, the first trajectory forms the vertical trajectory and the second trajectory forms the horizontal trajectory; Mounting the mobile module on the second track in the first orientation; deploying the orbital structure from the first attitude to the second attitude, and positioning the mobile module on the second orbit directly below the first orbit; a step of lowering the working module in the second attitude while guiding the guide mechanism along the first track, and connecting the working module to the moving module; 8. The robot introduction method according to claim 7, comprising:

9. In the first orientation, a plurality of transfer modules are mounted on the second track; deploying the orbital structure from the first attitude to the second attitude, and positioning one mobile module selected from the plurality of mobile modules on the second orbit directly below the first orbit; In the second posture, the working module is lowered while being guided by the guide mechanism along the first track, and is connected to the selected one of the moving modules. The robot insertion method according to claim 8.

10. the guide mechanism is a guide module that is detachable from the working module, Separating the guide module from the working module after the working module and the moving module are connected. The method for inserting a robot according to any one of claims 7 to 9.

11. The working module connected to the guide module is suspended on the guide module, and the working module is lowered along the vertical track; After the working module and the moving module are connected, the guide module is separated from the working module and lifted up and recovered. The method for introducing a robot according to claim 10.

12. A method for exchanging a robot on a track structure having a vertical track and a horizontal track located at a lower end of the vertical track, comprising: one or more mobile modules capable of traveling on the horizontal track; a plurality of working modules detachable from the moving module; a guide module having a guide mechanism and detachable from the working module; Prepare a first work robot is configured by connecting the mobile module and the first work module; positioning the first work robot on the horizontal track directly below the vertical track; lowering the guide module while guiding the guide mechanism along the vertical track, and connecting the guide module to the first working module; a step of releasing the connection between the moving module and the first working module, and lifting and recovering the combined body of the first working module and the guide module while leaving the moving module on the horizontal track; a step of lowering a connector that connects a second working module to the guide module along the vertical track, and connecting the second working module to the moving module on the horizontal track; a step of separating the guide module from the second working module after the second working module and the moving module are connected, and lifting and recovering the guide module; A method for replacing a robot equipped with the

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