JP2000052702A - Attractive wheel for magnetic body running incorporating running drive mechanism - Google Patents

Abstract

PROBLEM TO BE SOLVED: To a wheel driving mechanism in a compact manner in the internal space of a wheel itself by fixing a wheel drive mechanism such as a motor, a reducer, a brake and a power transmission gear for driving a wheel to an axle suspending a magnetic body by use of a surplus space. SOLUTION: An axle 3 is fixed in the rotation constraint state to the body element 11 of a wall surface moving device by a key and a key and a key way, and an axle flange 1 is disposed rotatably in a body with the wheel side plate 2 around the axle 3. In the internal space of the axle, a driving part fitting bracket 6 is fixed to the waxle 3 in a surplus space produced outside the movable range of the magnetic body 4. A series of wheel driving mechanisms such as a running drive reducer 7a, a light-weighted and small-sized running drive electric motor 7b with high power density, and power transmission gears 8, 9 are disposed in a suitable combination on the bracket 6 to construct an attractive wheel for magnetic body running incorporating the running drive mechanism. Even if the magnetic body 4 is rotated in the direction of exhibiting the maximum magnetic force in a difference in level, it will not interfer with the running drive mechanism fixed to the axle 3.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for assembling a structure such as a steel tower of a suspension bridge, an oil storage tank, a spherical gas holder, and a ship by freely moving the walls of the structure made of a magnetic material. The present invention relates to a traveling wheel drive mechanism of a self-propelled wall moving device capable of performing maintenance.

[0002]

2. Description of the Related Art A conventional self-propelled wall moving apparatus using wheels as a moving means includes a method in which a wall adsorbing means such as a magnet and a suction cup is disposed on an airframe independently of wheels, and a method in which a permanent magnet is used as a wall adsorbing means. There are two large series with the wheel included. The latter also includes a magnet wheel in which the entire outer periphery of the wheel is formed of magnets, and an inner space of a wheel formed of a non-magnetic thin plate described in Japanese Patent Application No. 119411 (patent appraisal) by the present inventors. There is a "magnet built-in type suction wheel" with a built-in magnet body. In any of the above-described self-propelled wall moving devices, a power transmission mechanism such as a driving motor and a reduction gear, which are driving mechanisms for the wheels, is arranged outside the wheels to apply a driving torque to the wheels. However, the above-described driving method requires an installation space for an electric motor and a power transmission mechanism on the body of the wall moving device, a mounting base for fixing those devices to the body, and the like.
An important requirement for this type of wall moving device is small size
There was a problem that weight reduction was hindered.

[0003]

SUMMARY OF THE INVENTION The present invention solves the above-mentioned problem relating to a self-propelled wall moving device using wheels as a moving means. The purpose is to develop a suction wheel for running a magnetic material housed in the internal space.

[0004]

The gist of the present invention will be described with reference to the accompanying drawings. FIG. 3 shows a side view of a conventional suction wheel described in Japanese Patent Application No. 119411 (hereinafter, referred to as a "prior application patent") which is a parent of the present invention. Since the suction wheel of this prior application has a structure in which a strong permanent magnet is suspended inside the wheel flange, regardless of the rotation of the wheel flange, the magnet body always exerts a suction force in the direction of the wall surface which is a magnetic material, Compared to a normal magnet wheel that uses magnets around the entire circumference of the wheel, it has excellent features such as a significant reduction in weight, a dramatic increase in the attraction force per wheel mass, and the ability to overcome large steps. On the other hand, in the suction wheel of the prior application, the movable range of the magnet body suspended on the axle is limited to a part of the wheel internal space as shown in FIG. 3, and there is an unused space area. Therefore, a wheel drive mechanism such as a wheel drive motor, a speed reducer, a brake, and a power transmission gear is fixedly attached to an axle on which a magnet body is suspended using the surplus space, as shown in FIGS. This constitutes a magnetic body traveling suction wheel incorporating a traveling drive mechanism.

[0005]

DESCRIPTION OF THE PREFERRED EMBODIMENTS This will be described in the section of Examples.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Configuration A magnet 4 is provided in a part of a space between an axle 3 and a wheel flange 1 shown in FIG. The magnet built-in attraction of the prior patent has a structure in which the magnet body 4 is arranged so as to always face the direction of the maximum magnetic force with respect to the steel wall surface c and generates a wheel pressing force between the axle 3 and the steel wall surface c. In the wheels, the axle 3 is fixed to the element 11 constituting the body of the wall moving device by a key and a keyway in a rotation-restricted state, and the wheel flange 1 can rotate integrally with the wheel side plate 2 around the axle 3. The drive unit mounting bracket 6 is fixed to the axle 3 in a surplus space generated outside the movable range of the magnet body 4 in the internal space of the wheel, as shown in FIG. Reduction gear 7a, drive motor 7b for traveling, electromagnetic brake 7
c, a magnetic body traveling suction wheel with a built-in traveling drive mechanism is provided by appropriately combining and arranging a series of wheel drive mechanisms such as a motor rotation detector 7d and power transmission gears 8 and 9. The reason why the drive mechanism can be incorporated inside the wheel in this way is that the power density of the motor itself has been greatly improved and the weight and size of the motor itself have been greatly improved compared to the time of filing the application for the wheel with built-in magnet of the earlier application. Models have become available.

The wheel a is rotatable around the axle 3, so that the electric motor 7
By rotating b, the wheel flange 1 can be rotated via the drive pinion 8 of the output shaft of the speed reducer 7 a directly connected to the electric motor and the spur gear 9 arranged on the wheel side plate 2. on the other hand,
Since the movable range of the magnet body in the use state is as shown in FIG. 4, even if the magnet body 4 rotates in the direction where the maximum magnetic force is exerted at a step or the like, it does not interfere with the traveling drive mechanism fixed to the axle 3. . Further, since the axle 3 is provided with the power supply and signal cable take-out holes 10 for connecting the inside and the outside of the wheel as shown in FIG.

FIG. 5 shows an example of the structure of a self-propelled wall moving device using three suction wheels according to the present invention. In this method, since the traveling drive unit is built into the wheels, the vehicle does not need the traveling drive unit or its mount. In this case, as shown in FIG. 6, the wheel "a" was suspended from the airframe via the rotating yoke 11 so as to be rotatable about the yoke axis. If all three wheels are suspended on the fuselage as described above, and the shaft of each rotating yoke is rotated by one link chain 13 via the sprocket 12, the directions of the three wheels can be changed arbitrarily. As a result, an omnidirectional steering mechanism, which was unprecedented in a conventional self-propelled wall moving device using wheels, could be easily configured. The omnidirectional free movement is as shown in FIG.

FIG. 7 shows an example of the structure of a self-propelled wall moving apparatus in which the number of wheels, the outer dimensions and the attraction force are the same as those in FIG. . In this case, since all the wheels have their traveling drive units disposed outside the wheels, the body is inevitably larger and heavier than in the case of FIG. In addition, the steering of the fuselage is performed with the lower one wheel, and the traveling drive unit suspended outside the wheels also moves with the wheels, so the steering angle is limited to a small range that does not interfere with the fuselage, and therefore, the aircraft turns slowly. However, it is difficult to quickly approach an arbitrary target position obliquely or laterally on a narrow wall surface.

[00010]

Since the present invention is configured as described above, it exhibits the following effects.
The wall moving device of FIG. 5 using the magnet wheel with a built-in wheel drive mechanism of the present invention can realize a significant reduction in size and weight as compared with the structure example of FIG. 7 using a conventional suction wheel. FIG. 9 shows a comparison of the sizes of the two airframes. In addition, in terms of specific numerical values of weight reduction, in the case of the present invention, although the use of a drive motor with an improved power density is one factor, FIG.
In the example of FIG. 5, the weight of the entire apparatus was 150 kg, whereas in the example of FIG. 5, the weight was significantly reduced to 100 kg.

In the above two embodiments, the wheels having the same suction force and the motor having the same capacity are used. However, the weight of the apparatus reduced by using the wheels of the present invention is directly added to the loading capacity. That is, the loading capacity of the embodiment shown in FIG. 7 using the conventional wheels is 100 kg, whereas the loading capacity of the embodiment of FIG. 5 is increased to 150 kg.

FIG. 6 using the suction wheel of the present invention.
By adopting the all-wheel steering system shown in the structural example of the above, while responding to the demand for miniaturization and weight reduction of the entire device, there was no previous example of the self-propelled wall moving device using wheels, as shown in FIG. All directions can be freely moved.

Incidentally, as one expression method of the mounting performance of the wall surface moving device, there is a ratio of a practical load on a flat wall surface to its own weight. The practical loading load in this case is a value that allows for a safety factor on a realistic wall surface having some irregularities, steps, dirt, and the like. When the mounting performance is defined as described above, the mounting performance of various existing wall surface moving devices can be plotted as shown in FIG. According to this figure, the mounting performance of the wall surface moving device using the suction wheel of the present invention shows a value far exceeding the previous example.

[Brief description of the drawings]

FIG. 1 is a side view of a suction wheel.

FIG. 2 is a front sectional view of a suction wheel.

FIG. 3 is an explanatory side view of a conventional suction wheel without a built-in wheel drive mechanism and a movable range of a built-in magnet body thereof.

FIG. 4 is an explanatory side view showing a relationship between a swing state of a built-in magnet at a step or the like of an attraction wheel and a wheel driving mechanism fixed to a shaft according to the present invention.

FIG. 5 is a structural conceptual view of a wall moving device using a suction wheel having a built-in wheel driving mechanism of the present invention.

FIG. 6 is a front view showing a structure in which a suction wheel having a built-in wheel drive mechanism of the present invention is suspended from an airframe so as to be steerable.

FIG. 7 is a structural example of a conventional wall moving device in which a wheel drive mechanism is arranged outside a wheel.

FIG. 8 is an explanatory view of omnidirectional free movement of the wall moving device using the suction wheel of the present invention.

FIG. 9 is an explanatory diagram comparing the scale of a wall moving device using a suction wheel according to the present invention and a conventional wall moving device having a wheel driving mechanism arranged outside a wheel.

FIG. 10 is an explanatory diagram comparing the mounting performance of a conventional wall moving device and a wall moving device using a suction wheel incorporating a drive mechanism of the present invention.

[Explanation of symbols]

Reference Signs List 1 wheel flange 2 wheel side plate 3 axle 4 magnet body 5 magnet body suspension bracket 6 wheel drive equipment fixing bracket 7a wheel drive reduction gear 7b wheel drive motor 7c electromagnetic brake 7d rotation or position detector 8 drive pinion gear 9 flat Gears 10 Cable take-out holes 11 Elements constituting the body (body body or wheel yoke, etc.) 12 Wheel steering sprockets 13 Steering link chains a Wheels b Wall moving device Body c Magnetic body wall

Claims (1)

[Claims] 1. A magnet body 4 that can swing independently of the wheel flange 1 around a shaft center in a part of a space between the axle 3 and the wheel flange 1, and the magnet body 4 is always provided. A magnet-incorporated attraction wheel having a structure in which the direction of the maximum magnetic force is directed to the steel wall surface c and generates a wheel pressing force between the axle 3 and the steel wall surface c; The axle 3 is fixed to the constituent element 11 in a rotation-restricted state,
A wheel flange 1 is rotatably disposed integrally with the wheel side plate 2 around the axle 3, and a drive unit is mounted on the axle 3 in an area outside the movable range of the magnet body 4 in the inner space of the wheel. The bracket 6 is fixed, and a series of wheel drive mechanisms such as a traveling drive speed reducer 7a, a traveling drive motor 7b, an electromagnetic brake 7c, an electric motor rotation detector 7d, and a power transmission gear are appropriately combined and disposed on the bracket. A suction wheel, wherein a magnet body serving as a wall surface suction means and a drive mechanism for rotating the wheel are included together inside the suction wheel.