Self-propelled trolley, self-propelled inspection robot, and inspection robot system

Abstract

This invention provides technology for a self-propelled trolley capable of ensuring sufficient contact force of the running wheels with the track rails. [Solution] The self-propelled trolley includes a drive unit having at least one pair of running wheels, each running wheel being positioned opposite to the other on either side of the track rail. Each running wheel in the pair of running wheels includes an elastic caster portion that is elastic and clamps onto the track rail, and the contact portion of the elastic caster portion that clamps onto the track rail is elastically deformed to conform to the shape of the track rail.

Description

Technical Field

[0001] The present disclosure relates to a self-propelled vehicle, a self-propelled inspection robot, and an inspection robot system.

Background Art

[0002] Self-propelled vehicles capable of traveling along a rail are known. For example, Patent Document 1 discloses a device for transporting an article by sandwiching a guide rail between upper and lower upper wheels and lower wheels and synchronously rotating the upper and lower wheels.

[0003] In addition, a technique has been proposed in which a self-propelled vehicle equipped with a sensor or the like is used as a self-propelled inspection device (inspection robot) to inspect whether there are any abnormalities in facilities, installations, etc. to be inspected.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In order to stably run a self-propelled vehicle along a rail, it is required to sufficiently secure the ground contact force (grip force) of the running wheels that generate a driving force with respect to the rail. In particular, when using the self-propelled vehicle as a self-propelled inspection robot, in order to ensure the reliability of the data acquired by a sensor or the like, it is desirable to run the self-propelled vehicle at a constant speed without the running wheels slipping with respect to the rail. The technology of the present disclosure aims to provide a technology related to a self-propelled vehicle capable of sufficiently securing the ground contact force of the running wheels with respect to the rail.

Means for Solving the Problems

[0006] The self-propelled vehicle according to the present disclosure is The drive unit has at least one pair of running wheels, including running wheels that are positioned opposite each other on both sides of the track rail, Each of the pair of running wheels includes an elastic caster portion that is elastic and clamps onto the track rail, and at least one of the running wheels is configured as a drive wheel. The elastic caster portion, when running, elastically deforms to conform to the shape of the track rail at the contact point that clamps the track rail.

[0007] The pair of running wheels may be arranged so that they face each other vertically with the track rail in between.

[0008] The self-propelled trolley further comprises a main body containing the object to be transported by the self-propelled trolley, and the drive unit and the main body may be pivotably connected via a pivot shaft extending parallel to the axle direction of the running wheel.

[0009] When the self-propelled trolley travels on the inclined section of the track rail, the virtual lines between axles passing through each axle of the pair of running wheels in a perpendicular plane perpendicular to the axis direction of the running wheels may be configured to point in a direction closer to the vertical than the virtual line perpendicular to the track rail's central axis in the perpendicular plane.

[0010] The self-propelled trolley further comprises a main body containing the object to be transported by the self-propelled trolley, and in the direction along the imaginary line between the axles, the connecting pivot point to which the main body is connected to the drive unit may be located at the same position as the axle of the running wheel, which is located below the track rail, or below the axle of the running wheel.

[0011] The self-propelled trolley may travel along the track rails while suspended from them.

[0012] The surface of the elastic caster portion may be provided with a recess for receiving a first guide portion that extends along the extending direction of the track rail.

[0013] The elastic caster portion includes a recess-forming caster portion located on the central side in the width direction along the axle axis of the running wheel and having the recess formed on its surface, and a pair of outer caster portions located on both sides of the recess-forming caster portion in the width direction, wherein the recess-forming caster portion may have a relatively larger modulus of elasticity than the outer caster portions.

[0014] Each of the pair of running wheels has a circular rotating retaining plate that rotates synchronously with the elastic caster portion, and a second guide portion extending along the direction of the track rail may be sandwiched between the circumferential sides of the rotating retaining plates of the vertically opposing running wheels.

[0015] The distance between the axles of each of the aforementioned pair of running wheels may be kept constant during operation.

[0016] Each of the aforementioned pair of running wheels may be configured as a drive wheel.

[0017] The elastic caster portion may include a first caster portion and a second caster portion that are spaced apart in the axle direction.

[0018] A spring member may be provided in the gap between the first caster portion and the second caster portion to separate them in the axle direction.

[0019] The self-propelled inspection robot according to this disclosure comprises the self-propelled trolley described above and sensors mounted on the self-propelled trolley, wherein the self-propelled trolley may acquire sensing data by the sensors while self-propelling along the track rails attached to the equipment to be inspected.

[0020] The inspection robot system relating to this disclosure may include the self-propelled inspection robot and the track rail described above.

[0021] The aforementioned track rail may have an outer surface shape with a circular or elliptical cross-section.

[0022] The track rail may be a hollow tube with a hollow interior.

Advantages of the Invention

[0023] According to the disclosed technology, it is possible to provide a technology related to a self-propelled cart capable of sufficiently ensuring the grounding force of the running wheels against the track rail.

Brief Description of the Drawings

[0024] [Figure 1] FIG. 1 is a diagram for explaining an example of an inspection robot system. [Figure 2] FIG. 2 is a perspective view showing a track rail fixed to an attachment. [Figure 3] FIG. 3 is a cross-sectional view of a track rail fixed to an attachment. [Figure 4] FIG. 4 is a schematic side view of a self-propelled cart. [Figure 5] [[ID=3०]]FIG. 5 is a diagram for explaining the details of the running wheels. [Figure 6] FIG. 6 is a diagram for explaining another form in the rotation holding plate. [Figure 7] FIG. 7 is a diagram for explaining the running wheels according to Modification 1. [Figure 8] FIG. 8 is a diagram for explaining the self-propelled cart according to Modification 2. [Figure 9] FIG. 9 is a diagram for explaining the self-propelled cart according to Modification 2. [Figure 10] FIG. 10 is a diagram for explaining the state of the self-propelled cart during running in an inclined running section. [Figure 11] FIG. 11 is a diagram for explaining the running wheels according to Modification 3. [Figure 12] FIG. 12 is a diagram for explaining the running wheels according to Modification 4.

Modes for Carrying Out the Invention

[0025] The embodiments relating to this disclosure will be described below with reference to the drawings. Note that the configurations and combinations thereof in the embodiments are examples only, and additions, omissions, substitutions, and other modifications are permitted as appropriate, without departing from the spirit of this disclosure. This disclosure is not limited by the embodiments, but is limited only by the claims.

[0026] <Embodiment> Figure 1 is a diagram illustrating an example of the inspection robot system 1 according to this embodiment. The inspection robot system 1 is a system that includes a self-propelled trolley 2 that functions as a self-propelled inspection robot, a track rail 3 on which the self-propelled trolley 2 travels, etc. The track rail 3 is attached to, for example, the equipment to be inspected (hereinafter referred to as "inspection target equipment"). The self-propelled trolley 2 (self-propelled inspection robot) is equipped with sensors as described later, and inspects the inspection target equipment for any abnormalities by performing sensing using the sensors while self-propelling along the track rail 3. As an example, the inspection target equipment to which the inspection robot system 1 is applied is, for example, production equipment such as a chemical process plant. However, the inspection target equipment to which the inspection robot system 1 is applied is not particularly limited.

[0027] For example, the track rail 3 is erected from a structure 5 installed within the facility under inspection via an attachment 4. Figure 2 is a perspective view showing the track rail 3 fixed to the attachment 4. Figure 3 is a cross-sectional view of the track rail 3 fixed to the attachment 4. The structure 5 is, for example, a building structural member that constructs the inside of the facility under inspection, and here it is explained using a beam member formed by H-shaped steel as an example. The structure 5 (H-shaped steel) is, for example, horizontally installed near the ceiling of each floor within the facility under inspection.

[0028] Attachment 4 includes, for example, a fastener 41 fixed to the structure 5 (H-shaped steel) and a rail holder 42 connected below the fastener 41. In this example, the fastener 41 is fastened to the lower flange 51 of the structure 5 (H-shaped steel), but the configuration of attachment 4 is not particularly limited. The rail holder 42 fixes and holds the track rail 3. In the example shown in Figure 3, the side of the track rail 3 is fixed to the holding portion 42A of the rail holder 42. In this embodiment, a plurality of attachments 4 are installed at predetermined intervals in the extending direction of the structure 5 (H-shaped steel), and each attachment 4 holds a long track rail 3. In the examples shown in Figures 1 and 2, the track rail 3 is a long rail with a circular outer surface. More specifically, the track rail 3 is formed as a hollow tube with a hollow interior. However, as will be described later, the outer surface shape of the track rail 3 in the cross-sectional direction is not particularly limited, and may be, for example, elliptical.

[0029] The symbol X1 shown in Figure 2 represents the central axis of the track rail 3 (hereinafter referred to as the "track central axis"). The track rail 3 extends along the inspection route (patrol route) of the self-propelled trolley 2 (self-propelled inspection robot). In other words, the self-propelled trolley 2 (self-propelled inspection robot) can patrol a predetermined inspection route (patrol route) by traveling along the track rail 3. Of course, the inspection route of the self-propelled trolley 2 (self-propelled inspection robot) (in other words, the track rail 3) may include curved sections as well as straight sections. Furthermore, the inspection route of the self-propelled trolley 2 (self-propelled inspection robot) (in other words, the track rail 3) may include, for example, an uphill section or a downhill section. Uphill and downhill sections are typically provided in areas where the self-propelled trolley 2 moves from a lower floor to an upper floor of the equipment being inspected, or from an upper floor to a lower floor. Of course, even within the same floor, the inspection route (track rail 3) of the self-propelled trolley 2 may include uphill and downhill sections to ensure that the self-propelled trolley 2 can travel at the appropriate height depending on the height of the equipment being inspected (e.g., production equipment).

[0030] As shown in Figures 2 and 3, an upper guide section 31, a lower guide section 32, and a lateral guide section 33 are provided on the surface of the track rail 3 along its lengthwise direction. The upper guide section 31 is located at the top of the track rail 3, and the lower guide section 32 is located at the bottom of the track rail 3. The upper guide section 31 and the lower guide section 32 correspond to the "first guide section". The lateral guide section 33 is located on the side of the track rail 3 and corresponds to the "second guide section". The upper guide section 31 and the lower guide section 32 are positioned exactly 180° opposite each other in the circumferential direction in the cross-section of the track rail 3. On the other hand, the lateral guide section 33 is positioned exactly 90° offset from the upper guide section 31 and the lower guide section 32 in the circumferential direction in the cross-section of the track rail 3. Each of the above guide sections 31, 32, and 33 protrudes from the surface of the track rail 3. The cross-sectional shape of each guide section 31, 32, and 33 is not particularly limited, but may be circular, rectangular, triangular, or trapezoidal, for example. The function of each guide section 31, 32, and 33 will be described later. Each guide section 31, 32, and 33 may be formed continuously in the extending direction of the track rail 3, or multiple guide sections may be formed discontinuously. When each guide section 31, 32, and 33 is formed discontinuously along the extending direction of the track rail 3, the distance between adjacent guide sections in that extending direction is the distance of each guide section It's best to set it to be significantly shorter than the actual length.

[0031] Next, the details of the self-propelled trolley 2 (self-propelled inspection robot) will be described. Figure 4 is a schematic diagram of the self-propelled trolley 2 in a side view. The self-propelled trolley 2 (self-propelled inspection robot) is equipped with a drive unit 10, a main body 20, etc. The drive unit 10 is equipped with a drive-side housing 130 that houses a pair of running wheels 110, including running wheels 100A and 100B which are arranged opposite each other on both sides of the track rail 3, axles 120A and 120B of each running wheel 100A and 100B, a drive motor 140, a drive force transmission mechanism 150, an axle spacing holding mechanism 160, etc. The main body 20 is connected below the drive unit 10 and corresponds to the object to be transported by the self-propelled trolley 2. The main body 20 has a main body housing 200, and the equipment necessary for the self-propelled trolley 2 to function as an inspection robot (for example, devices other than those necessary for driving the self-propelled trolley 2) is housed inside the main body housing 200. The main body housing 200 of the main unit 20 houses, for example, a processor 210, a storage device 220, a communication interface (IF) 230, a sensor 240, a power supply (battery) 250, and the like. By completely separating the drive housing 130 of the drive unit 10 and the main body housing 200 of the main unit 20 in this way, the heat from the drive motor 140 housed in the drive housing 130 is less likely to affect the devices housed in the main body housing 200.

[0032] Sensor 240 may also be a "five senses sensor" that detects information similar to that of human sensory organs (five senses). The self-propelled trolley 2 (self-propelled inspection robot) moves along the track rail 3. The system patrols the equipment under inspection along a predetermined inspection route and acquires analog information from the equipment under inspection (e.g., production equipment) by non-contact access using the sensor 240 from a distance, converting it into sensing data output in digital format. The sensor 240 may be a sensor that detects light, sound, temperature, vibration, odor, and the generation or presence of specific substances. The sensor 240 may include, for example, at least one of the following: an imaging device (image sensor) that acquires visual information (light) such as images or videos; a microphone (acoustic sensor) that acquires auditory information such as sound; an odor sensor that acquires olfactory information by converting the detection result of odor substances (generation of specific substances) into an electrical signal; and a tactile sensor that acquires tactile information. The tactile sensor may include inertial sensors (accelerometers, angular velocity sensors, IMUs (Inertial Measurement Units)), force sensors, slip sensors, vibration sensors, temperature sensors, and thermometers. A camera or similar device is also acceptable.

[0033] The processor 210 of the self-propelled trolley 2 (self-propelled inspection robot) is a processing unit such as a CPU. The processor 210 also controls the drive motor 140 of the drive unit 100 to move the self-propelled trolley 2 (self-propelled inspection robot) and stores the sensing data converted based on the signals acquired by the sensor 240 at predetermined positions in the storage device 220. The storage device 220 includes, for example, a main memory and an auxiliary memory. The communication IF 230 is a communication module for sending and receiving data with external devices. Depending on the environment in which the self-propelled trolley 2 operates, the inside of the drive-side housing 130, the inside of the main body housing 200, or both can be made explosion-proof. For example, the inside of the drive-side housing 130 and the inside of the main body housing 200 can be pressurized with an inert gas to prevent flammable fluids from entering the interior. It is preferable that no wiring or couplers are exposed on the outside of the drive-side housing 130 or the main body-side housing 200, thereby preventing the wiring or couplers from getting caught on anything when the self-propelled trolley 2 is moving.

[0034] Next, the detailed structure of the drive unit 10 in the self-propelled trolley 2 (self-propelled inspection robot) will be described. In this embodiment, the running wheels 100A and 100B of the running wheel pair 110 are arranged facing each other vertically with the track rail 3 in between. In the example shown in Figure 1, running wheel 100A is positioned above the track rail 3, and running wheel 100B is positioned below the track rail 3, with the track rail 3 sandwiched between both running wheels 100A and 100B. In this embodiment, the self-propelled trolley 2 (self-propelled inspection robot) is configured as a suspended type self-propelled trolley that travels along the track rail 3 while suspended from the track rail 3. However, the self-propelled trolley 2 (self-propelled inspection robot) may also be configured as a straddle type self-propelled trolley. In both the suspended type and the straddle type, the self-propelled trolley 2 travels with a load applied to the track rail 3 via each of the running wheels 100A and 100B. While the running wheel 100A inevitably applies a load to the track rail 3 from above due to the weight of the drive unit 10 and the main body 20, the running wheel 100B also applies a load to the track rail 3 from below.

[0035] The axles 120A and 120B of each running wheel 100A and 100B are arranged parallel to each other. Running wheel 100A is coaxially attached to the tip of axle 120A, and its base end is inserted into the drive-side housing 130. Similarly, running wheel 100B is coaxially attached to the tip of axle 120B, and its base end is inserted into the drive-side housing 130. In this embodiment, it is sufficient that at least one of the upper and lower running wheels 100A and 100B is configured as a drive wheel. Here, an example in which both running wheels 100A and 100B are drive wheels is described, but one may be a drive wheel while the other is a driven wheel. Inside the drive-side housing 130 are the drive motor 140 and the mechanism that transmits the driving force of the motor shaft of the drive motor 140 to each axle 120A, 120B. A drive force transmission mechanism 150, including various gears, is provided. The drive force transmission mechanism 150 transmits the driving force of the drive motor 140 to each axle 120A, 120B so that they rotate in opposite directions to each other. At this time, the power of one drive motor 140 may be divided and transmitted to each axle 120A, 120B by gears. By rotating the running wheels 100A, 100B that grip (make contact with) the track rail 3, which sandwich the track rail 3 from above and below, a propulsive force is generated, and the self-propelled trolley 2 can travel (forward or backward) along the track rail 3.

[0036] The symbols C1 and C2 shown in Figure 4 indicate the centerlines of the respective axles 120A and 120B. In this embodiment, the axle spacing mechanism 160 is configured to maintain a constant distance L1 between the centerlines C1 and C2 of the respective axles 120A and 120B (hereinafter referred to as the "axle distance") while the vehicle is running. The axle distance L1 is the distance between the centerlines C1 and C2 of the respective axles 120A and 120B in a direction perpendicular to them. The axle spacing mechanism 160 may be, for example, a plate-shaped rigid body that rotatably supports each axle 120A and 120B. The axle spacing mechanism 160 may be integrally configured with the inner wall surface of the drive-side housing 130, or it may be disposed as a separate component within the drive-side housing 130. Note that the centerlines C1 and C2 of the respective axles 120A and 120B extend in a direction perpendicular to the track center axis X1.

[0037] Next, the details of each running wheel 100A and 100B will be explained with reference to Figure 5. Figure 5 is a diagram illustrating the details of the running wheels 100A and 100B. Each running wheel 100A and 100B has substantially the same structure. When explaining each running wheel 100A and 100B, the direction along each axle 120A and 120B (centerline C1 and C2 direction) will be treated as the "width direction" of each running wheel 100A and 100B. Furthermore, in the width direction of each running wheel 100A and 100B, the side located towards the drive-side housing 130 will be treated as the "inside," and the opposite side as the "outside." Each running wheel 100A and 100B has an elastic (flexible) ring-shaped elastic caster part 170 that rotates while in contact with the track rail 3, and a circular rotating holding plate 180 that rotates synchronously with the elastic caster part 170. The elastic caster section 170 and the rotation holding plate 180 are fixed coaxially with the axles 120A and 120B and rotate synchronously with the axles 120A and 120B. The rotation holding plate 180 is positioned adjacent to the inside of the elastic caster section 170 in the width direction of each running wheel 100A and 100B.

[0038] Each running wheel 100A, 100B has an elastic caster portion 170 that is configured to clamp the track rail 3 when in contact with it during running. In this embodiment, the distance L1 between the axles is set to a smaller dimension than the sum of the maximum radius dimensions of each elastic caster portion 170 and the diameter dimension of the track rail 3. As a result, the portion of each elastic caster portion 170 of the running wheels 100A, 100B that contacts the track rail 3 is bent (crushed) compared to its original shape. For example, the portion of the elastic caster portion 170 indicated by the symbol PA is the original shape portion that does not contact the track rail 3, and this original shape portion PA maintains its original shape before bending. On the other hand, the portion of the elastic caster portion 170 indicated by the symbol PB is the crushed portion that is compressed compared to its original shape due to contact with the track rail 3. The compressed portion PB of the elastic caster portion 170 elastically deforms to conform to the outer shape (in this case, an arc shape) of the cross-section of the track rail 3 upon contact with the track rail 3, and as a result covers the surface of the track rail 3 in close contact with it. The entire portion of the elastic caster portion 170 that contacts the track rail 3 may be compressed, or only a part of it may be compressed.

[0039] Furthermore, a concave receiving recess 171 is provided on the surface of the central part in the width direction of the elastic caster section 170 to receive the upper guide section 31 (lower guide section 32) provided on the track rail 3. The receiving recess 171 is provided in a continuous ring shape around the entire circumference in the circumferential direction of the surface of the elastic caster section 170. 2) The elastic caster portion 170 may be fitted into the receiving recess 171 of the elastic caster portion 170, or it may be loosely fitted with a slight gap between them. In this embodiment, the upper guide portion 31 of the track rail 3 engages with the receiving recess 171 of the running wheel 100A which is positioned on the upper side of the track rail 3, and the lower guide portion 32 of the track rail 3 engages with the receiving recess 171 of the running wheel 100B which is positioned on the lower side of the track rail 3.

[0040] Next, the rotating support plate 180 will be described. The pair of running wheels 100A and 100B are configured to clamp the lateral guide portion 33 of the track rail 3 between the circumferential sides 181 of the rotating support plate 180. In other words, the pair of rotating support plates 180 work together to clamp the lateral guide portion 33 of the track rail 3 from above and below. In the example shown in Figure 5, the circumferential sides 181 of the rotating support plate 180 have a planar shape, but they may also have recesses with a concave shape to facilitate clamping of the lateral guide portion 33.

[0041] The self-propelled trolley 2 (self-propelled inspection robot) configured as described above travels along the track rail 3 by rotating its running wheels 100A and 100B, which grip the track rail 3 from both sides, in opposite directions, and patrols along the inspection route (patrol route). Since the self-propelled trolley 2 is equipped with elastic caster parts 170 on the running wheels 100A and 100B, it can travel along the track rail 3 while elastically deforming (flexing) the contact portion with the track rail 3 along the surface of the track rail 3. As a result, the area (contact area) in which the elastic caster parts 170 of each running wheel 100A and 100B are in close contact with the surface of the track rail 3 can be increased compared to the case where the elastic caster parts 170 do not flex. In other words, according to the technology of this embodiment, a self-propelled trolley 2 with excellent grip force (ground contact force) between the running wheels 110 and the surface of the track rail 3 can be realized.

[0042] In particular, when the self-propelled trolley 2 is configured as a self-propelled inspection robot and patrols the equipment to be inspected, the patrol route may include uphill and downhill inclined sections. During such inclined travel, the grip force (ground contact force) of the running wheels 110 tends to be insufficient compared to horizontal travel on level sections. Even during such inclined travel, the self-propelled trolley 2 according to this embodiment can maintain the axle-to-axle distance L1 of the running wheels 110 while flexing the elastic caster section 170, thereby suppressing insufficient grip force (ground contact force) of the running wheels 110 and enabling stable travel along the track rail 3.

[0043] Furthermore, according to the self-propelled trolley 2 of this embodiment, slippage against the track rail 3 can be suppressed even when traveling on an incline. As a result, the travel speed when traveling on an uphill incline does not become slower than when traveling on a horizontal incline, nor does the travel speed when traveling on a downhill incline become faster than when traveling on a horizontal incline, allowing the self-propelled trolley 2 to travel at a constant speed regardless of the travel conditions. Consequently, stable data acquisition by the sensor 240 becomes possible, and the reliability of the acquired sensing data can be improved.

[0044] Furthermore, the self-propelled trolley 2 according to this embodiment is configured as a suspended type self-propelled trolley. This makes it easier to flex the elastic caster portion 170 of each running wheel 100A, 100B by utilizing the weight of the self-propelled trolley 2. In addition, since the axle distance L1 of the self-propelled trolley 2 is kept constant by the axle spacing holding mechanism 160, the ground contact force (grip force) of the running wheel 100B located below the track rail 3 can be secured.

[0045] Furthermore, the upper guide portion 31 of the track rail 3 is received in the receiving recess 171 formed on the surface of the elastic caster portion 170 of the running wheel 100A. Similarly, the lower guide portion 32 of the track rail 3 is received in the receiving recess 171 formed on the surface of the elastic caster portion 170 of the running wheel 100B. The self-propelled trolley 2 has upper and lower elastic The self-propelled trolley 2 can run with the guide sections 31 and 32 of the track rail 3 fitted into the receiving recesses 171 of the caster section 170. This makes it possible to suppress or reduce lateral swaying of the self-propelled trolley 2 when it is running, for example, due to wind. Here, "lateral swaying" refers to swaying in the left-right direction with respect to the forward direction of the self-propelled trolley 2 along the track center axis X1.

[0046] Furthermore, each of the running wheels 100A and 100B of the self-propelled trolley 2 is equipped with a rotating support plate 180, and the self-propelled trolley 2 runs with the lateral guide portion 33 of the track rail 3 being clamped from above and below by the circumferential side surfaces 181 of the pair of rotating support plates 180. This allows for effective suppression or reduction of lateral swaying during the movement of the self-propelled trolley 2. In addition, by clamping the lateral guide portion 33 of the track rail 3 with the pair of rotating support plates 180, even if lateral swaying occurs during the movement of the self-propelled trolley 2, the swaying can be quickly dampened and brought under control. Figure 6 illustrates another form of the rotating support plate 180. The circumferential side surfaces 181A of the upper and lower rotating support plates 180 shown in Figure 6 are formed as concave surfaces (recessed surfaces) with a concave shape. This form makes it easier to clamp the lateral guide portion 33 of the track rail 3. In other words, when the self-propelled trolley 2 is in motion, it is possible to effectively suppress the lateral guide portion 33 of the track rail 3 from deviating from the circumferential side surface 181A of the upper and lower rotating holding plates 180, and thereby prevent the self-propelled trolley 2 from falling. Note that in Figure 6, the elastic caster portion 170 of each running wheel 100A, 100B is not shown. Also, in the example shown in Figure 6, the circumferential side surface 181A of the rotating holding plate 180 is a concave surface having a V-shaped cross-section, but it is not limited to this, and may be recessed in a hemispherical concave shape, trapezoidal shape, rectangular shape, etc.

[0047] Furthermore, the track rail 3 has an outer surface shape with a circular or elliptical cross-section. This allows the compressed portion PB to more easily cover the surface of the track rail 3 when the elastic caster portion 170 of each running wheel 100A, 100B elastically deforms to conform to the arc shape of the track rail 3 upon contact with the track rail 3. Therefore, the adhesion of the elastic caster portion 170 (compressed portion PB) to the track rail 3 can be improved. In addition, making the outer surface shape of the track rail 3 circular or elliptical in cross-section makes it easier to bend the track rail 3. Therefore, it is possible to easily bend the track rail 3 in curved sections, uphill sections, downhill sections, etc., on the inspection route of the self-propelled trolley 2 (self-propelled inspection robot). Furthermore, by making the outer surface shape of the track rail 3 as described above, dust and other debris are less likely to accumulate on the rail, making maintenance easier. Furthermore, since the track rail 3 according to this embodiment is constructed as a hollow tube with a hollow interior, bending the track rail 3 becomes even easier, and the weight of the track rail 3 itself can be reduced (reducing the load on the structure 5) while maintaining strength. For example, a stainless steel pipe can be used as the track rail 3.

[0048] The following describes modifications of the embodiments described above. For the following modifications, the same reference numerals are used for components common to the embodiments described above, and detailed explanations are omitted. The focus will be on the differences from the embodiments.

[0049] <Example 1> Figure 7 is a diagram illustrating the running wheels 100A and 100B according to Modification 1. The elastic caster portion 170 of each running wheel 100A and 100B is composed of a recess-forming caster portion 172 located on the central side in the width direction of each running wheel 100A and 100B, and a pair of outer caster portions 173A and 173B located on both sides of the recess-forming caster portion 172 in the width direction. The recess-forming caster portion 172 has the above-mentioned receiving recess 171 formed therein, and the upper guide portion 31 or the lower guide portion 32 is received (engaged) in the receiving recess 171.

[0050] In Figure 7, the track rail 3 is shown only by its outline with a dashed line. Reference numeral 34 denotes a connecting part that connects the side surface of the track rail 3 to the lateral guide part 33. By interposing the connecting part 34 between the side surface of the track rail 3 and the lateral guide part 33, the position of the lateral guide part 33 in the width direction of the running wheels 100A and 100B is adjusted. This makes it easy to position the lateral guide part 33 in the width direction of the running wheels 100A and 100B at an appropriate position where it is just received between the circumferential surfaces 181A of the pair of upper and lower rotating holding plates 180.

[0051] In the modified example 1, the elastic caster portion 170 of each running wheel 100A, 100B has a relatively larger elastic modulus in the recessed caster portion 172 compared to the outer caster portions 173A, 173B. "Elastic modulus" is a physical property value that represents the resistance to deformation and is a general term for the proportionality constant between stress and strain in elastic deformation. In other words, the higher the elastic modulus, the less likely it is to bend and the harder it is generally considered to be. Elastic modulus is also called the elastic coefficient or elastic constant.

[0052] As described above, the elastic caster section 170 increases the contact area with the track rail 3 by bending in the portion that contacts the track rail 3 during travel compared to its original shape. In the example shown in Figure 7, the outer caster sections 173A and 173B have recesses formed in advance even in the parts that are not in contact with the track rail 3. For example, as shown in Figure 7, the cross-section of the recess is straight. On the other hand, when compressed by the track rail 3, it bends in a curved shape to match the cross-sectional shape of the track rail 3. However, if the recess-forming caster section 172, which forms the receiving recess 171 that receives the upper guide section 31 or lower guide section 32 of the track rail 3, is too soft, the recess-forming caster section 172 may excessively elastically deform during travel, potentially causing the upper guide section 31 or lower guide section 32 of the track rail 3 to deviate from the receiving recess 171, or making it difficult to sufficiently reduce the lateral sway of the self-propelled trolley 2.

[0053] Therefore, in the modified example 1, the elastic caster section 170 has a relatively larger elastic modulus in the recess-forming caster section 172, where the receiving recess 171 is formed, compared to the elastic modulus of the outer caster sections 173A and 173B. This prevents the recess-forming caster section 172 of the elastic caster section 170 from deforming excessively. In this way, by clamping the track rail 3 from above and below with the recess-forming caster section 172 which has a certain degree of rigidity, the lateral sway of the self-propelled trolley 2 during travel can be sufficiently reduced. Furthermore, it is possible to effectively prevent the upper guide section 31 or the lower guide section 32 of the track rail 3 from deviating from the receiving recess 171 during travel. In particular, even under conditions where the self-propelled trolley 2 is prone to lateral swaying due to centrifugal force, such as when the self-propelled trolley 2 travels on a curved section of the track rail 3 (inspection route), and under conditions where the upper guide section 31 or lower guide section 32 of the track rail 3 is prone to deviating from the receiving recess 171, a significant effect of reducing lateral swaying during travel and suppressing the deviation of the guide sections 31 and 32 from the receiving recess 171 can be obtained.

[0054] On the other hand, by making the elastic modulus of the outer caster portions 173A and 173B located on both sides of the recessed caster portion 172 relatively smaller than that of the recessed caster portion 172, the outer caster portions 173A and 173B become more flexible than the recessed caster portion 172 during running. This ensures a sufficient contact area between the outer caster portions 173A and 173B and the surface of the track rail 3, contributing to improved grip on the track rail 3. As described above, the elastic caster portion 170 according to this modified example clarifies the division of roles between the recessed caster portion 172 and the outer caster portion, enabling more stable running.

[0055] In Figure 7, reference numeral 190 denotes a rotating retaining plate positioned on the outside in the width direction of the elastic caster section 170. The elastic caster section 170 is sandwiched on both sides in the width direction by a pair of rotating retaining plates 180 and 190, and is fixed to each axle 120A and 120B by fasteners 191 and 192. By clamping the elastic caster portion 170 with the rotating holding plates 180 and 190, it is possible to effectively prevent the elastic caster portion 170 from shifting position in the axial direction of the axles 120A and 120 during travel, and to prevent the elastic caster portion 170 from derailing from the axles 120A and 120B. The fixing structure of the elastic caster portion 170 according to this modified example is applicable to the embodiments described above and the modified examples described below.

[0056] <Modification 2> Figures 8 and 9 illustrate a modified example of the self-propelled trolley 2. In modified example 2, the drive unit 10 (drive-side housing 130) and the main body 20 (main body-side housing 200) of the self-propelled trolley 2 are connected via a link mechanism 300. Figure 8 shows a side view of the self-propelled trolley 2 viewed along the centerlines C1 and C2 (see Figure 4) of each axle 120A and 120B. Figure 9 shows a front view of the self-propelled trolley 2 viewed along the track center axis X1 (see Figure 2). In Figures 8 and 9, the various parts of the self-propelled trolley 2 are shown in a simplified manner.

[0057] Reference numeral 131 denotes the lower surface of the drive unit 10 (drive-side housing 130). Reference numeral 201 denotes the upper surface of the main body 20 (main body-side housing 200). The link mechanism 300 includes a first link portion 310 fixed to the lower surface 131 of the drive unit 10 (drive-side housing 130) and a second link portion 320 fixed to the upper surface 201 of the main body 20 (main body-side housing 200), and the first link portion 310 and the second link portion 320 are connected via a pivot shaft member 330. The pivot shaft member 330 (or its central axis) extends parallel to the centerlines C1 and C2 of each axle 120A and 120B (see Figure 4). Furthermore, the pivot shaft member 330 is rotatably supported by bearings on the first link portion 310 and the second link portion 320, and the first link portion 310 and the second link portion 320 are able to pivot freely with the pivot shaft member 330 as the pivot axis. In other words, the drive unit 10 (drive-side housing 130) and the main body portion 20 (main body-side housing 200) are able to pivot freely with respect to the pivot shaft member 330 in the link mechanism 300 as the pivot axis.

[0058] In the self-propelled trolley 2 according to Modification 2, the main body 20 (main body housing 200) is pivotably connected to the lower side of the drive unit 10 (drive side housing 130) via a link mechanism 300. Therefore, even when traveling on an uphill incline section where the inspection path (track rail 3) has an upward slope, or on a downhill incline section where it has a downward slope, it is easier to maintain the main body 20 (main body housing 200) equipped with the sensor 240 in a horizontal position. As a result, stable data acquisition by the sensor 240 becomes possible, and the reliability of the acquired sensing data can be improved. In addition, because the main body 20 (main body housing 200) can be stabilized in a horizontal position, the position of the drive unit 10 is less likely to be disturbed during travel, and the running stability of the self-propelled trolley 2 is improved.

[0059] Next, referring to the self-propelled trolley 2 relating to Modification 2, the state of the self-propelled trolley 2 when traveling on an inclined section (upward inclined section, downward inclined section) will be explained. Figure 10 is a diagram illustrating the state of the self-propelled trolley 2 when traveling on an inclined section (upward inclined section, downward inclined section). In the figure, the symbol D1 indicates the direction of travel in which the self-propelled trolley 2 is traveling.

[0060] (a) shows the state in which the track rail 3 is traveling in the section R1 where it extends horizontally (hereinafter referred to as the "horizontal travel section"). The symbol F1 shown in (a) is the ground contact force exerted by the running wheel 100A located above the track rail 3, pressing against the track rail 3 from above (hereinafter referred to as the "upper wheel ground contact force"). F2 is the ground contact force exerted by the running wheel 100B located below the track rail 3, pressing against the track rail 3 from below (hereinafter referred to as the "lower wheel ground contact force"). Each ground contact force F1 and F2 is a force in a direction perpendicular to the track central axis X1. The weight of the self-propelled trolley 2 is added to the upper wheel ground contact force F1, so the upper wheel ground contact force F1 is greater than the lower wheel ground contact force F2.

[0061] Furthermore, the x, y, and z axes in the figure are 3D Cartesian coordinate axes, and the horizontal plane is defined by the xy plane. The z-direction represents the vertical direction. The y-direction is parallel to the axles 120A and 120B (the width direction of each running wheel 100A and 100B). Furthermore, the symbol VL1 is a virtual line (hereinafter referred to as the "inter-axle virtual line") that passes through the upper and lower axles 120A and 120B in a plane perpendicular to the axles 120A and 120B (centerlines C1 and C2) (i.e., the xz-plane).

[0062] As shown in Figure 10(a), when traveling in the horizontal travel section R1, the imaginary line VL1 between the axles extends parallel to the vertical direction (z direction). Also, the symbol P1 is the pivot point (hereinafter referred to as the "connecting pivot point") to which the main body 20 of the self-propelled bogie 2 is suspended from the drive unit 10. In the illustrated example, the connecting pivot point P1 is located even lower than the position of the axle 120B (centerline C2) on the lower travel wheel 100B in the direction along the imaginary line VL1 between the axles.

[0063] (b) shows a transitional situation where the self-propelled trolley 2, traveling on the track rail 3, moves from the horizontal travel section R1 to the inclined travel section R2. In this example, the inclined travel section R2 is an uphill slope. Here, the weight of the main body 20 acting on the connecting pivot point P1 generates a rotational moment M1 around the connecting pivot point P1, and this rotational moment M1 acts on the drive unit 10 (drive-side housing 130) in the direction of the arrow indicated by the symbol M1. In the example shown in (b), the rotational moment M1 generates a torque that attempts to rotate the drive unit 10 (drive-side housing 130) counterclockwise. Then, the rotational moment M1 causes the hatched areas indicated by the symbols A1 and A2 of the elastic caster section 170 of each travel wheel 100A and 100B to be pressed against the track rail 3. As a result, regions A1 and A2 in the upper and lower elastic caster sections 170 begin to bend (collapse), or the amount of bending (collapse) increases, resulting in the state shown in (c).

[0064] As the self-propelled trolley 2 transitions from the running posture of (b) to (c), the orientation of the virtual line VL1 between the axles changes. As shown in (c), when the self-propelled trolley 2 is traveling on an inclined section, for example, the virtual line VL1 between the axles extends parallel to the vertical direction (z direction). However, when the self-propelled trolley 2 is traveling on an inclined section, the virtual line VL1 between the axles does not necessarily always point in the vertical direction (z direction). The symbol VL2 is a virtual line (hereinafter referred to as the "orthogonal virtual line between the tracks") that is perpendicular to the track center axis X1 at the point where the self-propelled trolley 2 is traveling (here, the inclined running section R2) in a plane perpendicular to the axles 120A, 120B (centerlines C1, C2) (i.e., the xz plane). When the self-propelled trolley 2 is traveling on an inclined section, the virtual line VL1 between the axles is located closer to the vertical direction (z direction) than the orthogonal virtual line VL2 between the tracks. In other words, when the self-propelled trolley 2 is traveling on an inclined section, the virtual line VL1 between the axles points in a direction closer to the vertical (z-direction) than the virtual line VL2 perpendicular to the track.

[0065] When the self-propelled trolley 2 is traveling on an inclined section, the distance between the axles L1 (see Figure 4) is maintained at the same level as when traveling on a horizontal section R1, and the orientation of the virtual line VL1 between the axles is as described above, thereby increasing the amount of deflection (compression) of the elastic caster section 170 compared to when traveling on a horizontal section R1. In other words, as explained with reference to (b), the rotational moment M1 is used to actively deflect regions A1 and A2 in each elastic caster section 170, and each elastic caster section 170 can be pressed more strongly against the track rail 3. As a result, the upper wheel contact force F1 and lower wheel contact force F2 when traveling on an inclined section can be increased compared to when traveling on a horizontal section R1. In addition, when traveling on an inclined section, the amount of deflection of regions A1 and A2 in each elastic caster section 170 increases due to the rotational moment M1, which further increases the contact area of ​​each elastic caster section 170 with respect to the track rail 3. As a result, the grip of the elastic caster section 170 can be improved when traveling on an inclined section.

[0066] Here, when the self-propelled trolley 2 travels along an inclined section, a rotational moment M1 is used to deflect or increase the amount of deflection in regions A1 and A2 of the upper and lower elastic caster sections 170. In order to generate this, the position of the connecting pivot point P1 on which the main body 20 of the self-propelled trolley 2 acts on the drive unit 10 is an important factor. Specifically, it is preferable that the connecting pivot point P1 is located at the same position as the axle 120B (center line C2) of the lower running wheel 100B, or lower, in the direction along the virtual line VL1 between the axles. By setting the position of the connecting pivot point P1 in this way, when the self-propelled trolley 2 is traveling on an inclined section, the virtual line VL1 between the axles can be directed more towards the vertical (z-direction) compared to the virtual line VL2 perpendicular to the track, thereby improving the grip of the elastic caster unit 170.

[0067] In Figure 10, an example was shown in which the drive unit 10 (drive-side housing 130) and the main body 20 (main body-side housing 200) are pivotably connected via a link mechanism 300. However, even if the drive unit 10 (drive-side housing 130) and the main body 20 (main body-side housing 200) are rigidly connected, the virtual line VL1 between the axles when traveling on an inclined section can be directed in an appropriate direction (see Figure 10(c)) by the same mechanism of action as when connected via the link mechanism 300. When the drive unit 10 (drive-side housing 130) and the main body 20 (main body-side housing 200) are rigidly connected, the position where the main body 20 is connected to the drive unit 10 becomes the aforementioned connection point P1. Furthermore, while Figure 10 describes the direction of the virtual line VL1 between the axles when the self-propelled trolley 2 travels on an uphill inclined section R2, the same applies when traveling on a downhill inclined section R2.

[0068] <Variation 3> Figure 11 is a diagram illustrating the running wheels 100A and 100B according to Modification 3. In Figure 11, the elastic caster portion 170 of each running wheel 100A and 100B includes a first caster portion and a second caster portion that are spaced apart in the extension direction of each axle 120A and 120B (centerlines C1 and C2).

[0069] In the modified example 3 shown in Figure 11, each upper and lower elastic caster section 170 has a first caster section 174 and a second caster section 175 that are spaced apart in the width direction of each running wheel 100A, 100B (in the extension direction of each axle 120A, 120B (centerlines C1, C2)). A spring member 177 is provided in the gap 176 between the first caster section 174 and the second caster section 175, which presses (biases) their sides in a direction that separates the first caster section 174 and the second caster section 175 from each other. In this way, each elastic caster section 170 can stably clamp the track rail 3 from above or below (from four directions) by the first caster section 174 and the second caster section 175 that are spaced apart in the width direction.

[0070] Furthermore, in this modified example, a gap 176 is formed between the first caster section 174 and the second caster section 175. This provides the advantage that when the first caster section 174 and the second caster section 175 undergo elastic deformation during the movement of the self-propelled trolley 2, the gap 176 can be used as space to allow the elastically deformed portion to escape in the width direction. Additionally, by separating the first caster section 174 and the second caster section 175 in the width direction, the first caster section 174 and the second caster section 175 can flex independently upon contact with the track rail 3, and mutual interference can be prevented from causing unstable rotational behavior.

[0071] <Modification 4> Figure 12 is a diagram illustrating the running wheels 100A and 100B according to modified example 4. Each elastic caster portion 170 in the running wheels 100A and 100B includes a recess-forming caster portion 172 located on the central side in the width direction (the extension direction of each axle 120A and 120B (centerlines C1 and C2)), and a first caster portion 174 and a second caster portion 175 located on both sides of the recess-forming caster portion 172.

[0072] The recessed caster portion 172 and the first caster portion 174 are spaced apart in the width direction (axle direction). A gap 176A is formed between them. The recessed caster portion 172 and the second caster portion 175 are spaced apart in the width direction (axis direction), and a gap 176B is formed between them. A spring member 177A is provided in the gap 176A to press (bias) the sides of the recessed caster portion 172 and the first caster portion 174 in a direction that separates them from each other. Similarly, a spring member 177B is provided in the gap 176B to press (bias) the sides of the recessed caster portion 172 and the second caster portion 175 in a direction that separates them from each other. This configuration also produces the same effects as the modified example 3 described above. In this modified example, the elastic modulus of the recessed caster portion 172 may be relatively larger than that of the first caster portion 174 and the second caster portion 175.

[0073] While embodiments relating to this disclosure have been described above, each embodiment disclosed herein can be combined with any other features disclosed herein. Furthermore, the equipment to be inspected to which the self-propelled trolley 2 (self-propelled inspection robot) relating to the above embodiments and modifications is applied is not particularly limited. For example, while the above embodiments describe an example of inspecting indoor equipment using the self-propelled trolley 2 (self-propelled inspection robot), it may also be used to inspect outdoor equipment (for example, various building and civil engineering structures such as buildings, commercial facilities, public facilities, dams, tunnels, and bridges). Moreover, the self-propelled trolley 2 does not necessarily have to be used as a self-propelled inspection robot, and can be applied to any use as a trolley for transporting objects. [Explanation of Symbols]

[0074] 1: Inspection robot system 2: Self-propelled trolley 3: Track Rails 4: Attachments 100A, 100B: Running wheels 170: Elastic caster section 180: Rotating holding plate

Claims

1. The drive unit comprises at least one pair of running wheels, including running wheels that are positioned opposite each other on both sides of the track rail, Each of the pair of running wheels has elasticity and includes an elastic caster portion that clamps onto the track rail, and at least one of the running wheels is configured as a drive wheel. The elastic caster portion, when running, has a contact portion that elastically deforms to conform to the shape of the track rail, Self-propelled trolley.

2. The self-propelled trolley according to claim 1, wherein the pair of running wheels is arranged so that the running wheels face each other above and below the track rail.

3. The vehicle further comprises a main body containing the object to be transported by the self-propelled trolley, The drive unit and the main body are pivotably connected via a pivot shaft that extends parallel to the axle axis of the travel wheel. The self-propelled trolley according to claim 2.

4. When traveling on the inclined section of the track rail, the virtual lines between axles passing through each axle of the pair of running wheels in a perpendicular plane perpendicular to the axis direction of the running wheels are oriented more towards the vertical direction than the virtual line perpendicular to the central axis of the track rail in the perpendicular plane. The self-propelled trolley according to claim 2.

5. The vehicle further comprises a main body containing the object to be transported by the self-propelled trolley, In the direction along the virtual line between the axles, the connecting pivot point to which the main body is connected to the drive unit is located at the same position as or below the axle of the running wheel, which is positioned below the track rail. The self-propelled trolley according to claim 4.

6. The self-propelled trolley according to claim 2, wherein the self-propelled trolley travels along the track rail while suspended from the track rail.

7. The surface of the elastic caster portion is provided with a recess for receiving a first guide portion that extends along the extending direction of the track rail. The self-propelled trolley according to claim 2.

8. The elastic caster portion includes a recess-forming caster portion located on the central side in the width direction along the axle axis of the running wheel and having the recess formed on its surface, and a pair of outer caster portions located on both sides of the recess-forming caster portion in the width direction, The caster portion forming the recess has a relatively larger elastic modulus than the outer caster portion. The self-propelled trolley according to claim 7.

9. Each of the aforementioned pair of running wheels has a circular rotating retaining plate that rotates synchronously with the elastic caster portion. A second guide portion, extending along the direction of the track rail, is sandwiched between the circumferential sides of the rotation holding plates of each of the vertically opposed running wheels. The self-propelled trolley according to claim 2.

10. The distance between the axles of each running wheel in the aforementioned pair of running wheels is kept constant during operation. The self-propelled trolley according to claim 1.

11. Each of the aforementioned pair of running wheels is configured as a drive wheel. The self-propelled trolley according to claim 1.

12. The elastic caster portion includes a first caster portion and a second caster portion that are spaced apart in the axle direction of the running wheel. The self-propelled trolley according to claim 1.

13. A spring member is provided in the gap between the first caster portion and the second caster portion to separate them in the axle direction. The self-propelled trolley according to claim 12.

14. A self-propelled trolley according to any one of claims 1 to 13, The sensors mounted on the aforementioned self-propelled trolley, Equipped with, The self-propelled trolley moves along the track rail attached to the equipment to be inspected, and acquires sensing data using the sensors. Self-propelled inspection robot.

15. An inspection robot system comprising the self-propelled inspection robot described in claim 14 and the track rail.

16. The inspection robot system according to claim 15, wherein the track rail has an outer surface shape with a circular or elliptical cross-section.

17. The inspection robot system according to claim 15, wherein the track rail is a hollow tube with a hollow interior.

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