Working robot and working system

Abstract

To provide a working robot and a working system that can move stably on a working surface by attracting the working surface with a magnetic body installed at a distance from the working surface.SOLUTION: A working robot 1 comprises a body unit 10, a drive unit 20, and an operation unit 60. It is configured to be able to move while pressing drive wheels 21 against a work surface S by attracting a work surface S with the magnetic force of a magnetic body 12. A working system A comprises the working robot 1, a base cart A1, a measuring roller A2, a connecting wire A4, and detection means A4 that detects the position of the working robot 1 on the work surface S from the amount of unwinding and / or winding of the connecting wire A4.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a working robot and a working system, and more particularly to a working robot and a working system that can move stably on a working surface by attracting the working surface using a magnetic body installed at a distance from the working surface. [Background technology]

[0002] In mountain tunnel construction, after a waterproof sheet is laid on the sprayed concrete surface, a mobile tunnel lining formwork is placed inside the tunnel, and concrete is poured into the pouring space defined between the waterproof sheet surface and the outer surface of the formwork body to form the lining concrete. To ensure the specified thickness (coiling thickness) of the lining concrete, a lining thickness inspection is conducted prior to pouring the concrete (Non-Patent Document 1). In the lining thickness inspection, a scale rod is extended into the casting space from the inspection window of the formwork, and the tip of the scale rod is pressed against the sprayed concrete surface through a waterproof sheet to measure the thickness. In addition, the concrete pouring status in the casting space is also managed by visual inspection through the inspection window, and not only in tunnel construction, but also in inspections and maintenance of structures such as bridges and steel towers, workers visually inspect them in narrow spaces such as inspection paths. Patent Document 1 discloses a work robot in which a detector is provided at an appropriate location on the formwork body, a rod is configured to be able to advance and retreat from a cylinder of the detector toward the inner circumferential surface of the tunnel, and the advancement distance of the rod is detected by a measuring unit. This work robot is said to be able to efficiently inspect the lining thickness by mechanical means based on the advancement distance of multiple rods. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-218716 [Non-patent literature]

[0004] [Non-Patent Document 1] 2016 Tunnel Standard Specifications [Mountain Construction Methods] and Commentary (Published by the Japan Society of Civil Engineers, September 17, 2016) Summary of the Invention [Problem to be solved by the invention]

[0005] The conventional technology has the following problems. <1> Workers inspect the thickness of the lining rolls in the narrow passageways inside the formwork, but depending on the position, they are forced to take awkward positions such as crawling on the passageways, which is physically demanding and can stain their work clothes, making it a very difficult and taxing job for the workers. <2> Lining thickness inspections by workers are carried out manually and visually, and only the thickness of the winding near the inspection window can be measured, so the inspection results lack objectivity and reliability. <3> The working robot in Patent Document 1 is structured to advance a rod outward from within the formwork, and the rod must be advanced from the surface of the formwork by at least 30 cm, which is the standard winding thickness. Therefore, when the rod is retracted, it retreats at least 30 cm inside the formwork, and the cylinders and other devices that advance and retract the rod protrude from the inside of the formwork, occupying a large amount of the limited space inside the formwork. <4> The above issues are not limited to lining thickness inspection, but are common to any work that takes place in a narrow space, such as managing the concrete pouring status within a pouring space or inspecting the deterioration status of a bridge's structure within an inspection path.

[0006] An object of the present invention is to provide a working robot and a working system that solves the above-mentioned problems of the prior art. [Means for solving the problem]

[0007] The working robot of the present invention works on a magnetic work surface and comprises a body unit, a drive unit attached to the body unit, and an operation unit connected to the drive unit so as to be able to communicate with the drive unit, the body unit having a magnetic body at its bottom and the drive unit having a plurality of drive wheels and a drive source capable of controlling the rotation of the plurality of drive wheels in accordance with the operation of the operation unit, and is characterized in that when the plurality of drive wheels are mounted on the work surface, an attraction gap is maintained between the work surface and the bottom of the body unit, the work surface is attracted by the magnetic force of the magnetic body, and the plurality of drive wheels are pressed against the work surface, allowing the robot to move on the work surface.

[0008] The working robot of the present invention may be equipped with an imaging unit attached to the body unit and a display unit communicatively connected to the imaging unit, and configured so that images captured by the imaging unit can be displayed on the display unit.

[0009] The work robot of the present invention is used for measurement work to inspect the thickness of the concrete pouring space formed between the outer surface of the formwork body, which is the working surface, and the inner surface of the tunnel in a tunnel lining formwork which has an approximately semi-cylindrical formwork body, and is equipped with an inspection unit attached to the body unit and connected to the operation unit so as to be able to communicate with it.The inspection unit has a measuring rod journaled on the body unit, an elevation mechanism which can rotate the measuring rod upward relative to the body unit in accordance with the operation of the operation unit, and a measuring unit which can measure the amount of rotation of the measuring rod, and the display unit may be able to display the thickness of the concrete pouring space formed between the outer surface of the formwork body, which is the working surface, and the inner surface of the tunnel.

[0010] In the working robot of the present invention, the inspection unit may be provided with an extension mechanism that can extend the inspection rod toward the tip in accordance with the operation of the operation unit.

[0011] In the working robot of the present invention, the operation unit may be a controller including an operation section and a communication section capable of transmitting commands generated by operating the operation section to the drive source, the elevation mechanism, and / or the extension mechanism.

[0012] In the working robot of the present invention, the drive wheels may be omnidirectional wheels formed by a combination of a main wheel that can rotate around an axle and a plurality of secondary wheels that can rotate around an axis on the circumference of the main wheel.

[0013] The working robot of the present invention may have three drive wheels, and the axles of the drive wheels may extend radially at 120° intervals from the center when the body unit is viewed in plan.

[0014] In the working robot of the present invention, the operation unit may include a communication cable that connects to the body unit, and the communication cable may have both a function of communicating with the drive unit and a function of preventing the body unit from falling.

[0015] The work system of the present invention is characterized by comprising a work robot, a base cart on which the work robot is mounted sideways and which can move along the longitudinal direction of the formwork body on the work surface, a measuring roller attached to the base cart, a connecting wire which connects the measuring roller to the work robot, and a detection means which detects the position of the work robot on the work surface from the amount of unwinding and / or winding of the connecting wire by the measuring roller. [Effects of the Invention]

[0016] The working robot and working system of the present invention have at least one of the following effects. <1> Since it can be remotely operated using an operating unit without having to move inside the formwork, there is no physical strain on the worker. <2> The robot can be remotely controlled to move across the work surface, allowing for measurement of reel thickness at any position away from the inspection window. In addition, the inspector can directly view the inspection work via the display, ensuring highly objective and reliable inspection results. <3> In addition to the above, by using ICT means such as operation units, it is possible to remotely control work in narrow spaces, such as managing the concrete pouring status and inspecting structures within inspection paths, thereby reducing the number of workers required and improving work efficiency. [Brief explanation of the drawings]

[0017] [Figure 1] Diagram of a work robot [Figure 2] Diagram of tunnel lining formwork [Figure 3] An explanatory diagram of a body unit and a drive unit [Figure 4] Suction interval diagram [Figure 5] An explanatory diagram of an operation unit and a display unit [Figure 6A] Explanation of how to measure winding thickness (1) [Figure 6B] Explanation of how to measure winding thickness (2) [Figure 6C] Explanation of how to measure winding thickness (3) [Figure 6D] Explanation of how to measure winding thickness (4) [Figure 7A] Diagram of the working system (1) [Figure 7B] Diagram of the working system (2) [Figure 8A] Explanatory diagram of Example 2 (1) [Figure 8B] Explanatory diagram of Example 2 (2) DETAILED DESCRIPTION OF THE INVENTION

[0018] The working robot and working system of the present invention will be described in detail below with reference to the drawings. In this invention, "magnetic" refers to the property of being magnetically attracted to a magnet, and magnetic materials include iron, cobalt, nickel, and alloys thereof. In this invention, "communicatively connected" refers to components being connected so that they can transmit electrical signals in one or two directions, regardless of whether the connection is wired or wireless. [Example]

[0019] [Work robot] <1> Overall configuration (Figure 1) The working robot 1 of the present invention is a robot that is magnetically attached to a magnetic work surface S and performs work by remote control. Here, "work" includes patrol work monitored by a camera. The working robot 1 comprises at least a body unit 10, a drive unit 20, and an operation unit 60. In this example, the working robot 1 further comprises an imaging unit 30, an inspection unit 40, an illumination unit 50, and a display unit 70. In more detail, for example, the following configuration is adopted. A drive unit 20 is attached to the bottom of the body unit 10, imaging units 30 are attached to the front and both side surfaces of the body unit 10, an inspection unit 40 is attached to the front of the body unit 10, and lighting units 50 are attached to the front and rear surfaces of the body unit 10. The drive unit 20, the imaging unit 30, the measurement unit 40, and the lighting unit 50 are each connected to the operation unit 60 so as to be able to communicate with each other. The imaging unit 30 is connected to the display unit 70 so as to be able to communicate with each other. One of the features of the working robot 1 is that it attracts the working surface S using the magnetic force of the magnetic body 12 provided at the bottom of the body unit 10, and is capable of moving while pressing the drive unit 20 against the working surface S with this attractive force.

[0020] <1.1> Uses of work robots In this example, the surface (skin plate) of the formwork body B2 of the tunnel lining formwork B is used as the work surface S, and the working robot 1 is used to inspect the thickness of the lining concrete in tunnel construction. In this example, since the work robot 1 moves under the reinforcing bars on the work surface S, the height of the work robot 1, i.e., the distance from the top of the body unit 10 or the top of the inspection unit 40 when folded to the bottom of the drive unit 20, is designed to be lower than the thickness of the reinforcing bars in the covering concrete (100 mm). The application of the working robot 1 is not limited to measuring the thickness of the concrete roll, but it can also be used for checking the concrete pouring status, compacting the concrete, etc. Furthermore, it is not limited to the tunnel lining formwork B, but can also be magnetically attached to bridges, steel towers, steel frames, piping, etc., for the inspection and repair of these facilities.

[0021] <1.2> Tunnel lining formwork (Fig. 2) The tunnel lining formwork B comprises at least a base B1 that is movable in the tunnel axial direction, and a formwork body B2 that is erected on the base B1 so as to be able to move up and down freely. The base B1 is a frame-like structure made by connecting multiple steel members assembled in a roughly gate-like shape in the direction of the tunnel extension. The bottom of the base B1 is equipped with wheels for movement. Between the base B1 and the formwork body B2, there are provided a lifting device for lifting the formwork body B2 when the formwork body B2 is set, and an unfolding device for unfolding the side segments of the formwork body B2. A work space is defined between the outer peripheral surface of the formwork body B2 and the inner peripheral surface of the tunnel (the waterproof sheet surface or the sprayed concrete surface). The thickness of the working space, that is, the distance between the outer peripheral surface of the formwork body B2 and the inner peripheral surface of the tunnel, is the winding thickness, which is approximately 30 to 45 cm. The front and rear of the work space are sealed off by end plates (not shown) parallel to the end of the formwork body B2 and the end of the concrete lining constructed in the previous construction section.

[0022] <2> Body unit (Fig. 3) The body unit 10 is a unit that constitutes the main body of the working robot 1. The body unit 10 includes at least a chassis 11 and a magnetic body 12 provided on the bottom of the chassis 11. In this example, a fall prevention rope 13 is further included. In this example, a flat box having a polygonal shape in a plan view with an opening at the top is used as the chassis 11, the opening is covered with a lid 11a, and a magnetic body 12 is built into the center bottom portion to form a magnetic portion 11b. However, the structure of the chassis 11 is not limited to this, and the chassis 11 may be, for example, circular in a plan view. Also, the magnetic body 12 may not be built into the chassis 11 but may be provided externally at the bottom. In this example, a neodymium magnet is used as the magnetic body 12. However, the magnetic body 12 is not limited to a neodymium magnet, and may be, for example, a samarium-cobalt magnet, a ferrite magnet, an electromagnet, or the like. The fall prevention rope 13 extends rearward from the top of the chassis 11. When the work robot 1 is used on a slope or wall, the fall prevention rope 13 can be connected to a wire fastened at a high point to prevent the work robot 1 from falling and hitting the ground.

[0023] <3> Drive unit (Fig. 3) The drive unit 20 is a unit for moving on the work surface S. The drive unit 20 includes at least a body unit 10 , a plurality of drive wheels 21 , and a drive source 22 that can control the rotation of the plurality of drive wheels 21 in accordance with the operation of an operation unit 60 . The driving source 22 includes at least a motor that rotates the driving wheels 21 in two directions, forward and reverse, a battery that supplies power to the motor, and a speed controller that controls the power between the motor and the battery. In this example, three drive sources 22 are arranged on the bottom surface of the chassis 11, with axles set radially at 120° intervals around the magnetic portion 11b, and a drive wheel 21 is attached to each drive source 22 and exposed to the outside from the bottom surface of the chassis 11. However, the number and arrangement of the drive wheels 21 and drive sources 22 are not limited to this, and for example, a four-wheel structure may be used in which two drive wheels 21 are arranged in parallel in two rows, front and rear.

[0024] <3.1> Drive wheels (Fig. 3) The drive wheels 21 are wheels of the drive unit 20 . In this example, the drive wheels 21 are omni-directional wheels (omni-wheels) that are made up of a combination of a main wheel 21a that rotates around an axle and a plurality of sub-wheels 21b that can rotate around the circumference of the main wheel 21a. The omnidirectional wheels are wheels that can move in directions perpendicular to the rotation direction of the main wheels 21a using the secondary wheels 21b. By combining the rotation directions of multiple drive wheels 21, the omnidirectional wheels can move the working robot 1 in all directions, including diagonally, relative to the work surface S, and can also rotate in any direction. However, the drive wheels 21 are not limited to omnidirectional wheels, and ordinary unidirectional wheels, crawlers, etc. may also be used.

[0025] <3.2> Suction interval (Figure 4) One feature of the working robot 1 of the present invention is its structure that maintains a suction distance D between the work surface S and the bottom of the chassis 11 when the robot is mounted on the work surface S. In detail, the bottom of the chassis 11 is designed to be higher than the ground contact area of ​​the drive wheels 21, thereby ensuring a suction gap D between the work surface S and the bottom of the chassis 11. In this way, the magnetic part 11b does not come into direct contact with the work surface S, and is structured to attract the work surface S while ensuring the suction distance D, so the drive wheel 21 is less likely to get caught even on an inclined surface with unevenness or steps, and can move stably.

[0026] <4> Imaging unit (Figure 1) The imaging unit 30 is a unit that captures images of the surroundings of the working robot 1. The imaging unit 30 includes at least a traveling camera 31, and transmits images captured by the traveling camera 31 to the display unit 70. The images include moving images and still images. In this example, CCD cameras are used as the running cameras 31, and four running cameras 31 are provided on the front, rear, left and right sides of the chassis 11. The shooting direction and zoom magnification of the running cameras 31 can be adjusted via the controller 60. By installing the traveling camera 31 facing in all directions of the chassis 11, the body unit 10 can move in all directions on the work surface S without changing its orientation. In addition, an inspection camera 32 may be provided on the upper part of the chassis 11 to photograph the winding thickness inspection work by the inspection unit 40.

[0027] <5> Inspection unit (Fig. 1) The measuring unit 40 is a means for measuring the thickness of concrete rolls. In this example, the inspection unit 40 is a combination of an inspection rod 41 pivotally supported on the chassis 11, an elevation mechanism 42 for rotating the inspection rod 41, an extension / retraction mechanism 43 for extending the inspection rod 41, and a measuring unit 44 for measuring the amount of rotation and extension of the inspection rod 41. The inspection rod 41 is a member that comes into contact with the inner surface of the tunnel. In this example, the inspection rod 41 is a combination of a tip end 41a in which two rods are joined in an H shape with one cross bar, and two base end portions 41b that hold the tip end portion 41a so that it can expand and contract in the longitudinal direction of the rod, and the base ends of the two base end portions 41b are pivotally supported on both side surfaces of the chassis 11. However, the inspection rod 41 is not limited to this, and any structure that is at least pivotally supported on the chassis 11 and can rotate will do. The measuring unit 44 is a device that measures the rotation amount (angle) and extension amount of the measuring rod 41 and transmits information on the rotation amount and extension amount to the display unit 70. In this example, the measuring unit 44 is a combination of an encoder connected to the tilt mechanism 42 and a stroke sensor connected to the extension mechanism 43.

[0028] <5.1>Elevation mechanism The elevation mechanism 42 is a mechanism for rotating the inspection rod 41 upright relative to the upper surface of the chassis 11 . In this example, a servo motor equipped with a torque limiter is used as the tilt mechanism 42. In detail, the servo motor and torque limiter are built into the chassis 11, and the rotation shaft protrudes from the side wall of the chassis 11 to the outside. With the above structure, by rotating the servo motor, the inspection rod 41 can be raised relative to the upper surface of the chassis 11, and by reversing the electrical signal, the inspection rod 41 can be tilted downward. When the tip of the inspection rod 41 comes into contact with the inner surface of the tunnel and the torque of the servo motor increases, the torque limiter is activated and stops the servo motor. This prevents deformation of the inspection rod 41 and damage to the elevation mechanism 42, and also prevents damage to the waterproof sheet due to excessive pressure from the inspection rod 41.

[0029] <5.2>Expansion mechanism The extension mechanism 43 is a mechanism for extending and retracting the inspection rod 41 . In this example, the telescopic mechanism 43 is an electric actuator (not shown) that connects the tip 41a of the inspection rod 41 to the upper part of the chassis 11. In detail, the tip of the electric actuator is journaled on the cross bar of the tip 41a, and the rear end is journaled in the center of the upper part of the chassis 11. With the above structure, by activating the electric actuator, the distal end portion 41a can be extended in the distal direction relative to the proximal end portion 41b, and by reversing the electrical signal, the proximal end portion 41b can be shortened in the proximal direction.

[0030] <6> Lighting unit (Figure 1) The lighting unit 50 is a unit that illuminates the area around the working robot 1. The lighting unit 50 comprises at least a running light 51 . In this example, LED lights are used as the running lights 51, and a plurality of running lights 51 are provided at the front and rear of the chassis 11. The lighting direction and lighting intensity can be adjusted via a controller 60. In addition, an inspection light 52 may be provided on the top of the chassis 11 to illuminate the inner surface of the tunnel and assist the inspection camera 32 in taking photographs.

[0031] <7> Operation unit (Figure 5) The operation unit 60 is a unit that remotely controls the drive unit 20 and the like. The operation unit 60 is communicatively connected to the drive unit 20. In this example, the operation unit 60 is further communicatively connected to the imaging unit 30, the inspection unit 40, and the lighting unit 50, and can remotely control these units. In this example, the operation unit 60 is a controller that is made up of an operation section 61 that is a combination of a lever and a button, a communication section 62 that transmits commands generated by the operation of the operation section 61 to the drive source 22, etc., and a communication cable 63 that connects to the drive unit 20 inside the chassis 11. However, the operation unit 60 is not limited to a controller, and may be a tablet terminal, a PC, a wearable terminal, etc. The operation unit 60 sends operation signals to the speed controller of the drive source 22 and controls the amount of power supplied from the battery to the motor, thereby controlling the traveling speed and direction of the drive unit 20. Similarly, by sending operation signals to the inspection unit 40, it is possible to operate the elevation mechanism 42 and extension mechanism 43, switch the imaging unit 30, adjust the shooting direction, turn on the lighting unit 50, adjust the irradiation direction, etc. The communication cable 63 functions to communicate with the drive unit 20 and the like, and also has a fall prevention function to prevent the working robot 1 from falling and hitting the ground. Note that a wireless connection may be used without using the communication cable 63.

[0032] <8> Display unit (Figure 5) The display unit 70 is a unit that displays the image captured by the imaging unit 30. The display unit 70 is communicably connected to the imaging unit 30 and displays images received from the imaging unit 30 on the display. In this example, a tablet PC equipped with a display 71 and a core system 72 including a processor, memory, storage, etc. is used as the display unit 70, and is connected to the inspection unit 40 so as to be able to communicate with it. In this example, the operation unit 60 and the display unit 70 are separate structures, but they may be integrated into a single unit such as a controller with a display.

[0033] <9> How to measure winding thickness Using the working robot 1 of the present invention, the thickness of concrete rolls can be measured as follows. The working robot 1 is placed on the formwork A2. At this time, the inspection rod 41 is tilted down so that the tip 41a faces forward of the chassis 11 (FIG. 6A). The drive unit 20 is operated via the operation section 61 of the controller 60 to move the work robot 1 to any desired position on the formwork body B2. In this example, since the inspection rod 41 is foldable, even when reinforcement is being arranged in the concrete pouring space, the inspection rod 41 can be folded and moved under the reinforcing bars R. When the robot reaches the predetermined position, the robot 1 stops moving (FIG. 6B), and the tilt mechanism 42 is operated to raise the measuring rod 41 (FIG. 6C). The amount of rotation of the measuring rod 41 at this time is measured by the measuring unit 44. If the tip 41a of the inspection rod 41 does not reach the inner circumferential surface of the tunnel even when the inspection rod 41 is raised to its maximum, the extension mechanism 43 is operated to extend the inspection rod 41 until the tip 41a abuts against the inner circumferential surface of the tunnel (Fig. 6D). The extension amount of the tip 41a at this time is measured by the measuring unit 44. The measuring unit 44 transmits information on the amount of rotation and the amount of extension of the measuring rod 41 to the display unit 70 . The display unit 70 calculates the winding thickness by adding the dimensions of the measuring rod 41 and the height of the chassis 11 using a core system 72, and displays the winding thickness at the measurement position on a display 71. The working robot 1 of the present invention allows an inspector to select any inspection position and measure the winding thickness in real time while visually checking the display 41 (Fig. 5). This ensures that the inspection results are highly objective and reliable.

[0034] <10> Working system (Figure 7) The working system A is a system that uses a working robot 1 to perform work. The working system A comprises at least a working robot 1, a base cart A1, a measuring roller A2, a connecting wire A3, and a detecting means A4. In detail, the measuring roller A2 is placed on the base cart A1, the detecting means A4 is attached to the measuring roller A2, and the measuring roller A2 and the working robot 1 are connected by the connecting wire A3. The base cart A1 is a device that moves while carrying the working robot 1. The base cart A1 is provided with a platform on which the working robot 1 can be mounted sideways relative to the direction of travel. With this structure, for example, by moving the base cart A1 back and forth on the work surface S along the longitudinal direction of the formwork body B2 while starting the work robot 1 sideways from the base cart A1, it becomes possible to move the work robot 1 in the longitudinal direction of the formwork body B2 without changing direction, making it easier to move the work robot 1 within the narrow pouring space. The measuring roller A2 is a device for unwinding / winding up the connecting wire A3. The connecting wire A3 may also serve as the communication cable 63 for the working robot 1.

[0035] <10.1> Detection means The detection means A4 is a means for detecting the position of the working robot 1. The detection means A4 digitally measures the movement amount of the working robot 1 from the amount of connection wire A3 unwound and wound by the measuring roller A2, and detects the position of the working robot 1 on the work surface S. In this example, a wire encoder incorporated in the measuring roller A2 is used as the detecting means A4. By connecting the detection means A4 to a digital counter or a positioning counter, the movement amount information can be sent to the display unit 70 and displayed digitally on the display 71, and the positioning can be controlled in cooperation with the drive unit 20 so that the robot does not go below the liquid surface of the concrete. [Example]

[0036] [Another example of the measurement unit] The structure of the inspection unit 40 is not limited to that of the first embodiment in which the inspection rod 41 is externally mounted on the chassis 11 . In this example, a housing recess 11c is provided in the center of the top surface of the chassis 11, and a foldable and extendable inspection rod 41 is housed in the housing recess 11c. The inspection rod 41 employs a combination of a cylindrical base end 41b whose base end is journaled within the accommodation recess 11c, a cylindrical intermediate portion 41c slidably accommodated within the base end 41b along the longitudinal direction of the base end 41b, and a tip end 41a slidably accommodated within the intermediate portion 41c along the longitudinal direction of the intermediate portion 41c. When the inspection rod 41 is retracted, the tip end 41a is stored in the intermediate portion 41c on the base end side, and the intermediate portion 41c is stored in the base end side of the base end portion 41b. When the inspection rod 41 is extended, the tip end 41a protrudes in the intermediate portion 41c on the tip end side, and the intermediate portion 41c protrudes in the base end portion 41b on the tip end side. A method for deploying the detection rod 41 will be described below. The inspection rod 41 is shortened and folded into the accommodation recess 11c, and then rotated upward and raised by the elevation mechanism 42 (FIG. 8A). Next, the air cylinder of the extension / contraction mechanism 43 is used to protrude the intermediate portion 41c from the base end portion 41b toward the distal end, and at the same time, the distal end portion 41a is protruded from the intermediate portion 41c toward the distal end (FIG. 8B). However, the configuration of the inspection unit 40 is not limited to the above, and for example, the inspection rod 41 may have a two-stage or four-stage telescopic mechanism. Also, instead of a mechanical type using the inspection rod 41, a sensor type using ultrasonic waves, infrared rays, lasers, or the like may be adopted. [Explanation of symbols]

[0037] 1. Work robots 10 Body Unit 11. Chassis 11a Lid 11b Magnetic part 11c Recessed storage area 12 Magnetic material 13 Fall prevention rope 20 Drive unit 21 Drive wheels 21a Main wheel 21b Secondary wheel 22 Power Source 30 Imaging unit 31 Traveling Camera 32 Inspection Camera 40 Inspection unit 41 Measuring rod 41a Tip 41b Proximal end 41c middle part 42 Elevation mechanism 43 Telescopic mechanism 44 Measuring part 50 lighting units 51 Running lights 52 Inspection light 60 Operation Unit 61 Operation section 62 Communications Department 63 Communication Cable 70 Display Unit 71 Display 72 Core System A Working System A1 base cart A2 Measuring roller A3 Connecting wire A4 Detection Method B Tunnel lining formwork B1 base B2 formwork D Suction interval R rebar S work surface

Claims

1. A working robot that works on a magnetic work surface, A body unit, a drive unit attached to the body unit; an operation unit communicably connected to the drive unit, the body unit has a magnetic body at its bottom, the drive unit includes a plurality of drive wheels and a drive source capable of controlling the rotation of the plurality of drive wheels in accordance with operation of the operation unit; a suction gap is maintained between the work surface and a bottom of the body unit when the plurality of drive wheels are mounted on the work surface; The magnetic body is configured to attract the work surface by a magnetic force, and to be movable on the work surface while pressing the plurality of drive wheels against the work surface. Working robot.

2. an imaging unit attached to the vehicle body unit; a display unit communicably connected to the imaging unit, The image captured by the imaging unit can be displayed on the display unit. The working robot according to claim 1 .

3. In a tunnel lining formwork having a substantially semi-cylindrical formwork body, it is used for measuring the thickness of the casting space formed between the outer surface of the formwork body, which is the work surface, and the inner surface of the tunnel, an inspection unit attached to the vehicle body unit and communicably connected to the operation unit; the inspection unit includes an inspection rod pivotally supported on the vehicle body unit, a tilt mechanism that can rotate the inspection rod upward relative to the vehicle body unit in accordance with the operation of the operation unit, and a measurement unit that can measure the amount of rotation of the inspection rod, The winding thickness can be displayed on the display unit based on the amount of rotation of the inspection rod when the tip of the inspection rod is abutted against the inner circumferential surface of the tunnel. The working robot according to claim 2 .

4. The inspection unit is characterized in that it includes an extension mechanism that can extend the inspection rod toward the tip in accordance with the operation of the operation unit. The working robot according to claim 3 .

5. The operation unit An operation unit; a communication unit capable of transmitting a command generated by the operation of the operation unit to the drive source, the elevation mechanism, and / or the telescopic mechanism, The working robot according to claim 4.

6. The drive wheels are omnidirectional wheels consisting of a combination of a main wheel that can rotate around an axle and a plurality of sub-wheels that can rotate around the circumference of the main wheel. The working robot according to claim 1 .

7. The number of drive wheels is three, The axles of the drive wheels extend radially at intervals of 120° from the center side in a plan view of the body unit. The working robot according to claim 6.

8. the operation unit includes a communication cable connected to the vehicle body unit, The communication cable has both a function of communication connection with the drive unit and a function of preventing the body unit from falling. The working robot according to claim 1 .

9. In a tunnel lining formwork having a substantially semi-cylindrical formwork body, a working system for working in a pouring space formed between the outer peripheral surface of the formwork body, which is the work surface, and the inner peripheral surface of the tunnel, The working robot according to any one of claims 1 to 8, a base cart on which the working robot is mounted laterally and which is movable on the work surface along the longitudinal direction of the formwork body; a measuring roller attached to the base cart; a connecting wire connecting the measuring roller and the working robot; and a detection means for detecting the position of the working robot on the work surface from the amount of unwinding and / or winding of the connecting wire by the measuring roller. Working system.

Images