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1. 发明授权

US5351621A Traveling inspection robot system 失效
标题翻译：旅行检查机器人系统
公开(公告)号：US5351621A
公开(公告)日：1994-10-04
申请号：US18544
申请日：1993-02-17
申请人： Keiji Tanaka , Tatsuyuki Omote , Yutaka Kometani , Masaki Takahashi , Tsuyoshi Kido , Tetsuo Waki , Tomiharu Yoshida
发明人： Keiji Tanaka , Tatsuyuki Omote , Yutaka Kometani , Masaki Takahashi , Tsuyoshi Kido , Tetsuo Waki , Tomiharu Yoshida
IPC分类号： B61B13/00 , B61B13/04 , B61B13/06 , G21C17/013 , H04N7/18 , B61B3/00
CPC分类号： H04N7/185 , B61B13/04
摘要： In a traveling inspection robot system, two carriages are each provided with one pair of guide rollers for guiding the travel in the vertical direction and two pairs of side rollers for guiding the travel in the horizontal direction. The two pairs of side rollers are arranged such that one pair locates on each of the front and rear sides of the pair of guide rollers as viewed in the direction of advance. The two carriages are interconnected by a coupling plate through parallel steering shafts, and a sprocket and a motor for driving the sprocket are provided as travel driving device on one carriage for giving a traction force to a transversely central portion of the upper inner surface of the monorail. An antenna and a current collector are provided on the other carriage. A control circuit unit and a span and tilt mechanism are attached to the coupling plate with a sensor unit mounted to the span and tilt mechanism. A swing motor and a tilt motor in the span and tilt mechanism are arranged in respective dead spaces created when the span and tilt mechanism swings and tilts. A chain, a trolley line and an antenna line are laid and wired on the upper inner surface of the monorail. With such an arrangement, the degree of freedom in rail design can be increased, the robot and the monorail can be both made small in size, and therefore the applicable range of the traveling inspection robot can be enlarged.
摘要翻译：在行驶检查机器人系统中，两个托架分别设置有一对引导垂直行进的引导辊和两对侧向辊，用于沿水平方向引导行进。两对侧辊被布置成使得一对位于沿着前进方向观察的一对导辊的前侧和后侧。两个滑架通过平行的转向轴通过联接板相互连接，并且用于驱动链轮的链轮和电动机被设置为一个滑架上的行驶驱动装置，用于向该滑架的上部内表面的横向中心部分提供牵引力单轨铁路在另一个托架上设置天线和集电器。控制电路单元和跨距和倾斜机构通过安装到跨距和倾斜机构的传感器单元附接到联接板。跨度和倾斜机构中的摆动电机和倾斜电机布置在跨越倾斜机构摆动和倾斜时产生的相应死空间中。链条，电车线和天线线布置在单轨的上内表面上。通过这样的布置，可以提高轨道设计的自由度，机器人和单轨的尺寸都可以小，因此可以扩大行驶检查机器人的适用范围。

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