Mobile device support organization

Abstract

To provide a mobile device support mechanism capable of improving rotation rigidity of a mobile body.SOLUTION: A mobile device support mechanism according to an embodiment includes: a mobile body 10; a plurality of wires 20 extending in different directions from each other with respect to the mobile body 10; and at least one rigid fin 30 attached to a portion between at least any of the plurality of wires 20 and the mobile body 10 and rotatably connected to the mobile body 10.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present disclosure relates to a mobile device support mechanism including a mobile body.

Background Art

[0002] Conventionally, various mobile device support mechanisms have been known. Patent Document 1 describes a positioning control system that supports a movable work device and positions the work device. The positioning control system includes a plurality of columns, a plurality of cable bodies extending from each of the plurality of columns, and a plurality of drive wheels fixed to the work device and winding up each of the plurality of cable bodies. In this positioning control system, the work device is moved in a predetermined direction by adjusting the amount of payout of each cable body from each drive wheel.

[0003] Patent Document 2 describes an all-region moving gondola. The all-region moving gondola includes a plurality of indexing devices fixed to the rooftop of a building, a plurality of wires extending from each of the plurality of indexing devices, and a working gondola to which the plurality of wires are connected and which is disposed at a position facing the outer wall surface of the building. In the all-region moving gondola, the working gondola moves by adjusting the amount of payout of each wire from each indexing device.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the aforementioned positioning control system and full-range moving gondola, the moving body moves by adjusting the amount of winding out of multiple wires extending from the moving body, such as a work device or work gondola. However, as mentioned above, when moving a moving body in a configuration where multiple wires extend from it, the moving body may rotate, which may impair the smooth movement of the moving body or the stability of its posture. Therefore, it is necessary to improve the rotational rigidity of the moving body relative to the wires.

[0006] The present disclosure aims to provide a mobile device support mechanism that can improve the rotational rigidity of a mobile body. [Means for solving the problem]

[0007] The mobile device support mechanism according to this disclosure comprises a mobile body, a plurality of wires extending from the mobile body in different directions from each other, and a device attached between at least one of the plurality of wires and the mobile body, which is connected to rotate with respect to the mobile body. multiple It comprises rigid fins and a movable body that is movable within a plane containing multiple wires. multiple Rigid fins Each It is centered on an axis perpendicular to the surface. Independent of each other It is rotatably connected to the moving body and has rigidity against bending around two axes perpendicular to the axis. Two wires extend diagonally upward from the moving object, and two wires extend diagonally downward from the moving object.

[0008] In this mobile device support mechanism, the mobile body is supported so as to be movable by multiple wires extending in multiple directions from each other. Furthermore, a rigid fin is interposed between at least one of the multiple wires and the mobile body. Therefore, by providing rigid fins at the wire attachment points and making the rigid fins rotatable around the normal to the plane of motion, the rigidity around the axis on the plane of motion (around axes other than the rotation axis of the rigid fin) has the same effect as if the wire attachment points were far apart from each other, and the rigidity can be increased compared to when there are no rigid fins.

[0011] Furthermore, the aforementioned mobile device support mechanism includes multiple rigid fins connected to the mobile body, and the multiple rigid fins are positioned so that the multiple wires do not interfere with each other when each rigid fin rotates, and when viewed from out of plane including the multiple wires, not all of the multiple wires intersect at a single point, and two wires extension There may be two points where the lines intersect. In this case, the occurrence of an undefined singularity can be avoided, and the rotational rigidity around the out-of-plane direction can be increased. [Effects of the Invention]

[0012] According to this disclosure, the rotational rigidity of the moving body can be improved. [Brief explanation of the drawing]

[0013] [Figure 1] This is a perspective view showing an example of the application of the movable device support mechanism according to the embodiment. [Figure 2] This is a side view showing the mobile device support mechanism and wall surface according to the first embodiment. [Figure 3] This is a perspective view showing the mobile device support mechanism according to the first embodiment. [Figure 4] (a) is a schematic side view showing the moving body, rigid fin, and wire according to the first embodiment. (b) is a schematic diagram showing the moving body and wire according to a comparative example. [Figure 5] This is a schematic front view showing the moving body, rigid fin, and wire according to the first embodiment. [Figure 6] This is a diagram illustrating the rotation of the mobile device support mechanism according to the first embodiment. [Figure 7] This is a front view showing the mobile device support mechanism according to the second embodiment. [Figure 8] This is a side view showing the mobile device support mechanism according to the second embodiment. [Figure 9] This is a front view showing a modified support mechanism for a mobile device. [Figure 10](a) is a front view showing the mobile device support mechanism according to the second embodiment. (b) is a front view showing the mobile device support mechanism according to the modification example. [Figure 11] It is a front view showing the mobile device support mechanism according to the third embodiment. [Figure 12] It is a side view schematically showing the mobile device support mechanism according to the modification example. [Figure 13] It is a side view schematically showing the mobile device support mechanism according to the modification example.

Embodiments for Carrying out the Invention

[0014] Hereinafter, embodiments of the mobile device support mechanism according to the present disclosure will be described with reference to the drawings. In the description of the drawings, the same or corresponding elements are denoted by the same reference numerals, and redundant descriptions are omitted as appropriate. Also, the drawings may be drawn with some parts simplified or exaggerated for ease of understanding, and the dimensional ratios and the like are not limited to those described in the drawings.

[0015] (First Embodiment) FIG. 1 shows an example of a site where the mobile device support mechanism 1 according to the first embodiment is used. The mobile device support mechanism 1 includes a plurality of wires 20 that support the moving body 10. The mobile device support mechanism 1 moves the moving body 10 along the wall surface S1 by a parallel wire mechanism. For example, the wall surface S1 is a predetermined opposing surface facing the moving body 10. The wall surface S1 is, as an example, the wall surface of the building S and is a vertical surface. The moving body 10 has, for example, a rectangular parallelepiped shape. As an example, the moving body 10 is a gondola or an inspection device (wall inspection device).

[0016] Figure 2 is a schematic side view showing the movable body 10 and the wall surface S1. As shown in Figures 1 and 2, the movable body 10 faces the wall surface S1 along the X-axis direction and is movable along the YZ plane perpendicular to the X-axis direction. The Y-axis direction is perpendicular to the X-axis direction, the Z-axis direction is perpendicular to both the X-axis and Y-axis directions, and the YZ plane is a plane extending in the Y-axis and Z-axis directions. For example, the Y-axis direction is horizontal, and the Z-axis direction is vertical.

[0017] The mobile device support mechanism 1 includes, for example, a plurality of sheaves 40 attached to a wall surface S1, a plurality of wires 20 extending from each of the plurality of sheaves 40 toward the mobile body 10, and a plurality of rigid fins 30 interposed between the wires 20 and the mobile body 10. The plurality of wires 20 extend toward the mobile body 10 in directions different from each other.

[0018] For example, two of the four wires 20 extend diagonally upward from the moving body 10, and the remaining two wires 20 extend diagonally downward from the moving body 10. For instance, the wall surface S1 is equipped with multiple winches and multiple motors, and by unwinding and winding each wire 20 using each motor and each winch, it is possible to move the moving body 10 to a desired position along the YZ plane.

[0019] At least one wire 20 is not directly connected to the moving body 10, but is connected to the moving body 10 via a rigid fin 30 that is rotatable, for example, around the normal to the wall surface S1 (around the X-axis). For example, all of the wires 20 may be connected to the moving body 10 via a rigid fin 30.

[0020] However, only some of the multiple wires 20 may be connected to the moving body 10 via the rigid fins 30. That is, some of the multiple wires 20 may be directly connected to the moving body 10. For example, the rigid fins 30 are connected to the moving body 10 via hinges (rotary joints). The material of the rigid fins 30 can be any material that has rigidity, such as metal, resin, or wood.

[0021] Figure 3 is a schematic perspective view showing the movable body 10 and the rigid fins 30. As shown in Figures 2 and 3, the rigid fins 30 are plate-shaped. For example, the movable device support mechanism 1 is equipped with a plurality of (four as an example) rigid fins 30, and each rigid fin 30 is attached to each corner (four as an example) of the movable body 10 as viewed from the X-axis direction.

[0022] For example, the rigid fin 30 has a triangular shape with three sides 31 and three vertices 32. As an example, the rigid fin 30 is an isosceles triangle. However, the shape of the rigid fin is not limited to a triangular plate shape like the rigid fin 30, and may be a shape with a part of the plate protruding, a polygon such as a square or hexagon, a circle, an oval, a rod or a block, etc., and can be changed as appropriate.

[0023] The rigid fins 30 connected to the wire 20 are connected to the moving body 10 so as to be rotatable around the X-axis, but not rotatable around the Y-axis and Z-axis. Multiple rigid fins 30 are rotatable around the X-axis, but do not come into contact with (interfere with) each other. The wire attachment points (vertices 32) of each of the multiple rigid fins 30 are located away from the rotation axis L of each rigid fin 30 (the edges 31 connected to the moving body 10).

[0024] For example, one side 31 that forms the axis of rotation L of the rigid fin 30 extends over substantially the entire length of one side of the moving body 10. However, the one side 31 that forms the axis of rotation L of the rigid fin 30 does not have to extend over substantially the entire length of one side of the moving body 10, but may extend over only a portion of one side of the moving body 10.

[0025] In this disclosure, a "rigid fin" is a directional stabilizing member that has rigidity against bending around its rotatable axis and two axes perpendicular to the axis of rotation. In this embodiment, the rigid fin 30 has rigidity against bending around the rotatable X-axis and the Y-axis and Z-axis perpendicular to the X-axis.

[0026] The rigid fin 30 is connected to the movable body 10 so as to be rotatable around the X-axis, but is immobile around the Y-axis and immobile around the Z-axis, thereby increasing its rotational rigidity around the Y-axis and Z-axis. The Y-axis and Z-axis correspond to the axes within the wall surface. The X-axis corresponds to the wall surface normal.

[0027] Figure 4(a) shows an example in which the wire 20 is connected to the moving body 10 via a rigid fin 30, and Figure 4(b) shows a comparative example in which the wire 20 is connected to the moving body 10 via two wires 131. As shown in Figure 4(b), in the comparative example, when the extending direction of the wire 20 exceeds the diagonal θ formed by the two wires 131, the wires 131 cannot support the compressive force, which can lead to the problem of the wires 131 loosening.

[0028] In contrast, as shown in Figure 4(a), when the wire 20 is connected to the moving body 10 via the rigid fin 30, the rigid fin 30 can support the compressive force regardless of the direction in which the wire 20 extends. This has the advantage of preventing wire slack and making it easier to fix the posture of the moving body 10.

[0029] Figure 5 is a front view of the movable body 10 and rigid fin 30 as seen from the out-of-plane direction (along the X-axis direction) of the wall surface S1. Figure 6 is a schematic side view showing a change in the orientation of the movable body 10 facing the wall surface S1. As shown in Figures 5 and 6, the shape and function of the movable body 10 and rigid fin 30 as seen from the X-axis direction are almost the same as when the rigid fin 30 is absent, because the rigid fin 30 is rotatable around the X-axis.

[0030] Because the rigid fin 30 is rotatable around the X-axis, the movable body 10 can be moved to any location, including the ends of the wall surface S1, except around the wire winding section, just as if the rigid fin 30 were not present. As mentioned above, if the movable body 10 is a wall surface inspection device, it becomes possible to move the movable body 10 to any part of the wall surface S1, thereby reducing the area that cannot be inspected.

[0031] Furthermore, as mentioned above, since the rigid fin 30 is connected to the moving body 10 in a way that it cannot rotate around the Y-axis and cannot rotate around the Z-axis, when the attitude of the moving body 10 changes around the Y-axis, for example, a large displacement of the wire 20 equal to the size of the rigid fin 30 is required. This suppresses excessive attitude changes around the Y-axis. In other words, compared to the case without the rigid fin 30, a larger displacement of the wire 20 is required for the same angle of attitude change, thus increasing the rigidity against attitude changes around the Y-axis. The same applies around the Z-axis. As a result, excessive attitude displacement of the moving body 10 around the Y-axis and Z-axis can be suppressed.

[0032] Next, the effects of the mobile device support mechanism 1 according to this embodiment will be described. As shown in Figure 3, in the mobile device support mechanism 1, the mobile body 10 is supported so as to be movable by a plurality of wires 20 extending in a plurality of different directions relative to the mobile body 10. In addition, a rigid fin 30 is interposed between at least one of the plurality of wires 20 and the mobile body 10. The rigid fin 30 is connected to the mobile body 10 so as to rotate along the rotational direction (around the X axis).

[0033] Therefore, since at least one of the multiple wires 20 is connected to the moving body 10 via a rigid fin 30 that is rotatable in the direction of rotation, the rotational rigidity of the moving body 10 in directions other than the direction of rotation (for example, around the Y axis and the Z axis) can be improved. Consequently, rotation of the moving body 10 in directions other than the direction of rotation is restricted relative to the rigid fin 30, so that the deflection of the wires 20 is suppressed, the moving body 10 can be moved smoothly, and the posture of the moving body 10 can be stabilized.

[0034] In this embodiment, the movable body 10 is movable within a plane (for example, within the YZ plane) that includes a plurality of wires 20, and the rigid fin 30 is rotatably connected to the movable body 10 about an axis (X axis) perpendicular to the plane. Therefore, by rotatably connecting the rigid fin 30 to the movable body 10 about an axis perpendicular to the plane, the rotational rigidity around the in-plane direction (out-of-plane) of the plane can be increased.

[0035] In this embodiment, the movable body 10 is movable at a position facing the wall surface S1, and the rigid fin 30 is rotatably connected to the movable body 10 about an axis (X-axis) perpendicular to the wall surface S1. That is, the rigid fin 30 is rotatably connected to the movable body 10 about an axis perpendicular to the wall surface S1. Therefore, the rotational rigidity around the in-plane direction of the wall surface S1 can be increased.

[0036] (Second Embodiment) Next, the mobile device support mechanism 51 according to the second embodiment will be described. In the following, the same reference numerals will be used for parts that overlap with the first embodiment described above, and their descriptions will be omitted as appropriate. As shown in Figures 7 and 8, the mobile device support mechanism 51 comprises a plurality of wires 20 and a plurality of rigid fins 60 interposed between the wires 20 and the mobile body 10. The material of the rigid fins 60 is, for example, metal, resin, or wood, similar to the material of the rigid fins 30.

[0037] The rigid fins 60 are, for example, gate-shaped. The group of rigid fins 60 includes a first rigid fin 61 and a second rigid fin 62 which is smaller than the first rigid fin 61. For example, two of the four rigid fins 60 are first rigid fins 61 and the remaining two are second rigid fins 62. Each of the group of wires 20 is rotatably connected to the moving body 10 via either the first rigid fin 61 or the second rigid fin 62. However, any of the group of wires 20 may be directly connected to the moving body 10.

[0038] Each of the first rigid fin 61 and the second rigid fin 62 is rotatably connected to the moving body 10 around the X-axis. The first rigid fin 61 and the second rigid fin 62 do not come into contact (interfere with) each other even when rotating. When viewed along the YZ plane, the first rigid fin 61 is located outside the second rigid fin 62.

[0039] In the examples shown in Figures 7 and 8, the first rigid fin 61 is rotatably connected to the moving body 10 around the X-axis on the lower side of the moving body 10, and the second rigid fin 62 is rotatably connected to the moving body 10 around the X-axis on the upper side of the moving body 10. However, the first rigid fin 61 may be rotatably connected to the moving body 10 around the X-axis on the upper side of the moving body 10, or the second rigid fin 62 may be rotatably connected to the moving body 10 around the X-axis on the lower side of the moving body 10. Thus, the arrangement of the first rigid fin 61 and the second rigid fin 62 can be changed as appropriate.

[0040] For example, the first rigid fin 61 has a pair of first rod-shaped portions 61b that extend diagonally upward from each of the two ends in the X-axis direction and are aligned along the X-axis direction, and a rod-shaped first connecting portion 61c that connects the ends of the pair of first rod-shaped portions 61b and extends in the X-axis direction. The first rigid fin 61 is provided with a wire attachment portion 63 on the first connecting portion 61c to which the wire 20 is attached.

[0041] For example, the second rigid fin 62 has a pair of second rod-shaped portions 62b that extend diagonally downward from the center of the moving body 10 in the X-axis direction compared to the first rigid fin 61, and a rod-shaped second connecting portion 62c that connects the ends of the pair of second rod-shaped portions 62b and extends in the X-axis direction. The pair of second rod-shaped portions 62b are arranged to be aligned along the X-axis direction. The second rigid fin 62 is provided with a wire attachment portion 63 on the second connecting portion 62c to which the wire 20 is attached.

[0042] Each of the rigid fins 60 configured as described above is connected to the moving body 10 so as to be rotatable around the X-axis but not rotatable around the Y-axis and Z-axis. When viewed out of plane from the wall surface S1 (along the X-axis direction), the multiple rigid fins 60 intersect each other but do not touch each other. That is, when viewed from a direction perpendicular to the YZ plane, the multiple rigid fins 60 (extensions of the wire 20) intersect each other.

[0043] As a result, there is no indeterminate singularity where all (for example, four) wires intersect at a single point (see the black circle in the center of the rectangle in Figure 9). Therefore, in the example in Figure 7, the rotation of the mobile body 10 around the X axis can be controlled by adjusting the length of each wire 20. Furthermore, with the length of the wires 20 fixed, the distance between the rotation center of the mobile body 10 and the load line of each wire 20 can be made larger than when the rigid fins do not intersect, thus increasing the rotational rigidity around the X axis (see distances M1 and M2 in Figures 10(a) and 10(b)).

[0044] As shown in Figures 7 and 8 above, in the mobile device support mechanism 51 according to the second embodiment, at least one of the multiple wires 20 is connected to the mobile body 10 via a rigid fin 60 that is rotatable around the X axis, thereby improving the rotational rigidity of the mobile body 10 around the Y axis and the Z axis.

[0045] The mobile device support mechanism 51 according to the second embodiment includes a plurality of rigid fins 60 connected to the mobile body 10. The plurality of rigid fins 60 are positioned so that the plurality of wires 20 do not interfere with each other when each rigid fin 60 rotates. When viewed from outside the plane (YZ plane) containing the plurality of wires 20, at least two rigid fins 60 or their extensions intersect each other. Therefore, even when a plurality of rigid fins 60 are provided and the plurality of rigid fins 60 rotate relative to the mobile body 10, interference between the wires 20 can be suppressed. Furthermore, when viewed from outside the plane containing the plurality of wires 20, not all of the plurality of wires 20 (four in the example of Figures 7 and 8) intersect at a single point. There are two points where two wires 20 intersect, thus avoiding the occurrence of an undefined singularity and increasing the rotational rigidity around the out-of-plane direction (around the X axis).

[0046] (Third embodiment) Next, the mobile device support mechanism 70 according to the third embodiment will be described with reference to Figure 11. As shown in Figure 11, the mobile device support mechanism 70 comprises a plurality of wires 20, an upper rigid fin 71 interposed between the wires 20 and the upper surface of the mobile body 10, and a lower rigid fin 72 interposed between the wires 20 and the lower surface of the mobile body 10.

[0047] The mobile device support mechanism 70 includes, for example, a pair of upper rigid fins 71 aligned along the Y-axis and a pair of lower rigid fins 72 aligned along the Y-axis. Each of the upper rigid fins 71 and lower rigid fins 72 is rotatably connected to the mobile body 10 around the X-axis. For example, the connection point between each upper rigid fin 71 and the mobile body 10 is located closer to the center of the mobile body 10 in the Y-axis direction than the connection point between each lower rigid fin 72 and the mobile body 10.

[0048] As described above, since the upper rigid fin 71 and the lower rigid fin 72 are each connected to the movable body 10 so as to be rotatable around the X axis, each upper rigid fin 71 can be used as a fin for vertical positioning of the movable body 10, and each lower rigid fin 72 can be used as a fin for attitude control of the movable body 10. In other words, it is possible to use gravity to determine the vertical position of the movable body 10 with the upper rigid fin 71 and to determine the attitude of the movable body 10 with the lower rigid fin 72. Therefore, the movement control of the movable body 10 can be simplified.

[0049] Various embodiments of the mobile device support mechanism according to this disclosure have been described above. However, the mobile device support mechanism according to this disclosure is not limited to the embodiments described above, and may be modified or applied to other mechanisms without changing the gist of each claim. That is, the configuration, function, shape, size, number, material and arrangement of each part of the mobile device support mechanism can be changed as appropriate without changing the gist of each claim.

[0050] In the embodiments described above, a movable device support mechanism 1 that moves along the wall surface S1 of a building S was described in an example where the wall surface S1 is a vertical surface. However, as shown in Figures 12 and 13, the predetermined opposing surface that the movable body 10 faces may be a surface other than a vertical surface. The examples in Figures 12 and 13 show an example in which the movable device support mechanism 1 is applied to a site T where a vertical surface T1 is formed on the lower side and an inclined surface T2 is formed above the vertical surface T1.

[0051] For example, the mobile device support mechanism 1 comprises four sheaves 40. As an example, of the four sheaves 40, two are supported by a support mechanism 80 provided at the upper end of the site T, and the remaining two are grounded. At the site T, the mobile device support mechanism 1 moves the mobile body 10 to a position facing a vertical plane T1 and a position facing an inclined surface T2. Thus, the type of predetermined opposing surface that the mobile body faces is not particularly limited and may be a curved surface or a virtual surface. Furthermore, the type of opposing surface may be an inclined surface or a horizontal surface.

[0052] As illustrated in Figures 7 and 8, the above-described embodiment described an example in which a gate-shaped rigid fin 60 is provided. However, instead of the gate-shaped rigid fin 60, a triangular, L-shaped, or rod-shaped rigid fin may be provided. Also, the above-described embodiment described an example in which two rigid fins 60 intersect each other. However, two wires 20 (extensions of the rigid fins 60) connected to the rigid fins 60 may intersect each other. Furthermore, the above-described embodiment described an example in which the moving device support mechanism is provided with multiple rigid fins. However, the number of rigid fins may be one or fewer and is not particularly limited. Furthermore, the number of wires is not limited to four and can be changed as appropriate. [Explanation of Symbols]

[0053] 1, 51, 70...Moving device support mechanism, 10...Moving body, 20...Wire, 30, 60...Rigid fin, 31...Edge, 32...Vertex, 40...Sheave, 61...First rigid fin, 61b...First rod-shaped part, 61c...First connecting part, 62...Second rigid fin, 62b...Second rod-shaped part, 62c...Second connecting part, 63...Wire attachment part, 70...Moving device support mechanism, 71...Upper rigid fin, 72...Lower rigid fin, 80...Support mechanism, 131...Wire, L...Rotation axis, S...Building, S1...Wall surface, T...Site, T1...Vertical surface, T2...Inclined surface, θ...Diagonal.

Claims

[Claim 1] Mobile and A plurality of wires extending in different directions relative to the moving body, A plurality of rigid fins are attached between at least one of the plurality of wires and the moving body, and are connected to rotate relative to the moving body, Equipped with, The moving body is movable within a plane including the plurality of wires, Each of the multiple rigid fins is rotatably connected to the moving body independently of each other about an axis perpendicular to the surface, and has rigidity against bending about two axes perpendicular to the axis. Two of the wires extend diagonally upward from the moving body, and two of the wires extend diagonally downward from the moving body. Mobile device support mechanism.

Images