JP2000255203A - Traveling device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable vehicle body to travel without falling or dropping without providing a strong magnet especially in an axle part even at the time of traveling with external wheels attracted to a greatly inclining or downward traveling surface. SOLUTION: This traveling device includes right and left external wheels 1 freely running on a traveling surface C, right and left internal wheels 2 for driving fitted in each external wheel 1 rotatably along the inner peripheral surface 1a of the external wheels 1 and with preventing slipping-out in the direction of a rotatinal axis X and an axle part 4 mutually connecting the right and left internal wheels 2. The traveling device is adapted to travel on the traveling surface C with the external wheels 1 attracted to the traveling surface C by the magnetic attraction force generated by a magnetic circuit formed to pass the internal wheels 2, the external wheels 1 and the traveling surface C. An exposure part 6 formed by exposing a part of the internal wheels 2 outside the external wheels 1 is magnetically attracted to the traveling surface C.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to left and right outer wheels that can run on a running surface, and to be free to roll along the inner peripheral surface of the outer wheel and to slip out in the direction of the rotation axis. Left and right driving inner wheels attached to each outer wheel in a blocked state,
An axle section connecting the left and right inner wheel bodies,
The magnet provided on the axle portion forms a magnetic circuit passing through the left and right inner wheels, the left and right outer wheels, and the running surface, and the outer wheel is attached to the running surface by magnetic attraction. The present invention relates to a traveling device configured to travel while being adsorbed.

[0002]

2. Description of the Related Art The above-mentioned traveling apparatus drives and rotates an inner ring body magnetically attracted to an inner peripheral surface of an outer ring body. When the vehicle rotates and runs, and when it reaches a step that is difficult to overcome by the rotation of the outer ring, the inner ring rotates on the outer ring inner peripheral surface, and the inner ring is stepped along the outer ring inner peripheral surface. , So that the vehicle can be driven over the step by swinging of the outer ring with the top of the step as a fulcrum. As shown in FIG. 4, the conventional traveling device has an outer peripheral portion of an inner ring body 2 inserted into a circumferential groove 20 formed on an inner peripheral surface of an outer ring body 1 over the entire width thereof, The inner ring 2 is prevented from coming out of the outer ring 1 in the direction of the rotation axis X.

[0003]

For this reason, even when the vehicle is driven in a posture in which the vehicle body is largely inclined with respect to the horizontal, or when the vehicle is driven while being attracted to the downward running surface from below, the external wheel body is required. In order for the vehicle 1 to be separated from the running surface so that the vehicle body does not overturn or fall, a strong magnet 5 that tends to cause problems such as an increase in manufacturing cost and an increase in the weight of the vehicle body is provided by an axle portion. 4, there is a disadvantage that the magnetic attraction between the outer wheel 1 and the running surface C must be increased. The present invention has been made in view of the above circumstances, and provides a particularly strong magnet on the axle portion even when the vehicle is to be attracted and traveled on a largely inclined traveling surface or a downward traveling surface. It is another object of the present invention to allow the vehicle to travel without falling or falling.

[0004]

According to a first aspect of the present invention, a left and right outer wheel that can travel on a running surface and a free rolling along the inner peripheral surface of the outer wheel are provided. A left and right driving inner wheel body attached to each outer wheel body in a state where it is prevented from coming off in the direction of the rotation shaft center, and an axle portion connecting the left and right inner wheel bodies to each other, provided on the axle portion. The magnets form a magnetic circuit passing through the left and right inner wheels, the left and right outer wheels, and the running surface, and the outer wheels are caused to travel while being attracted to the running surface by magnetic attraction. The traveling device is configured as described above, wherein an exposed portion that exposes a part of the inner ring to the outside of the outer ring is magnetically attracted to the traveling surface.

[Operation] In addition to the magnetic attraction between the outer wheel and the running surface, a part of the inner wheel is exposed to the outside of the outer wheel, and the exposed portion is magnetically attracted to the running surface. The magnetic attraction force to the surface increases. By the way, the axle that connects the left and right inner rings is made of permanent magnets (NEOMAX-48 made by Sumitomo Special Metals), and the inner rings are directly magnetically attracted to a 27 mm thick steel plate. When the magnetic attraction force of the case where the inner ring is magnetically attracted is compared with the case where the outer ring on which the inner ring is mounted is magnetically attracted, the result is 17.8 kgf when the inner ring is directly magnetically attracted. As shown in FIG. 1, when the outer ring having the inner ring with the exposed part magnetically attracted to the running surface is magnetically attracted, 15.8 is applied.
At kgf, the rate of decrease in magnetic attraction was about 11%. On the other hand, as in the prior art shown in FIG. 4, when the magnetic attraction force when all the inner wheels were mounted inside the outer wheels was measured, it was 10.3 kgf, and a decrease of about 42% was confirmed. Was.

[Effect] Therefore, even in the case where the vehicle travels while being attracted to a greatly inclined running surface or a downward running surface, the vehicle body may fall over without providing a particularly strong magnet on the axle portion. It can be run so that it does not fall.

A feature of the invention according to claim 2 is that the exposed portion is provided such that an end of the inner ring in the rotation axis center direction is exposed outside the outer ring.

[Operation] The inner race body is formed by partially projecting the rolling surface side of the inner race body at intervals in the circumferential direction and forming through holes at the outer race body at intervals in the circumferential direction. With the rotation of, if there is provided an exposed portion configured to expose the protruding portion from the through hole to the outside of the outer ring body,
The inner ring travels intermittently while magnetically attracted to the running surface, but the end of the inner ring in the direction of the axis of rotation is exposed outside the outer ring, so the inner ring is attached to the running surface. On the other hand, the vehicle can be driven while continuously attracting magnetically.

[Effect] Therefore, the vehicle can be stably run without falling or falling.

According to a third aspect of the present invention, a groove is formed along an outer peripheral portion of the inner ring body along a circumferential direction, and a projection engaging with the groove is provided on the outer ring body.
The engagement between the groove and the projection prevents the inner ring from coming off the outer ring in the direction of the axis of rotation.

[Operation] The projection of the outer ring is engaged with the groove formed in the inner ring, so that the inner ring and the outer ring are not hindered from rolling on the inner surface of the outer ring. Can be suppressed from being relatively displaced in the rotation axis direction.

[Effect] Accordingly, it is possible to prevent the outer ring from slipping out of the inner ring in the direction of the rotation axis.

A feature of the invention according to claim 4 is that the protrusion is made of a material that is less magnetically attracted to the inner ring than the outer ring.

[Operation] When the groove formed in the inner ring and the protrusion formed in the outer ring are magnetically attracted in the direction of the axis of rotation,
When the inner wheel rolls with respect to the outer wheel, the attraction force becomes a resistance and the driving torque of the inner wheel increases,
Since the protrusion is made of a material that is less likely to be magnetically attracted to the inner ring than the outer ring, resistance when the inner ring rolls with respect to the outer ring can be reduced.

[Effect] Accordingly, an increase in the driving torque of the inner wheel body can be suppressed.

[0016]

Embodiments of the present invention will be described below with reference to the drawings. In the drawings, portions denoted by the same reference numerals as those of the conventional example indicate the same or corresponding portions. [First Embodiment] FIGS. 1 and 2 show a traveling device A that travels in a ferromagnetic steel gas pipe B along the pipe axis direction.
An outer wheel 1 that can run on a downward running surface C formed by the inner circumferential surface of the gas pipe is provided on an outer wheel 1 that is free to run, and an inner driving wheel 2 that is rollable along the inner circumferential surface 1a of the outer wheel 1 is provided with a rotation axis X. Left and right double wheels 3 mounted in a state where escape in the direction is prevented
And an axle part 4 for connecting the left and right inner ring bodies 2 to each other. The permanent magnets 5 provided on the axle part 4
And a magnetic circuit passing through the left and right outer wheels 1 and the running surface C to form the outer wheel 1 and an exposed portion 6 exposing a part of the inner wheels 2 to the outside of the outer wheel 1. The vehicle is configured to travel while being attracted to the traveling surface C from below by the attraction force of the vehicle.

The outer wheel body 1 can travel while its outer peripheral surface is magnetically attracted to the running surface C over substantially the entire width.
It is formed of a ferromagnetic steel material in a narrow cylindrical shape whose cross section along the radial direction curves along the circumferential direction of the running surface C, and a disk-shaped closing plate 7 is welded and fixed to one end of the small diameter side. With
An annular projection 8 projecting radially inward is fixed to the other end of the large diameter side by welding.

The closing plate 7 and the annular projection 8 are connected to the outer ring 1
The inner ring 2 is made of stainless steel which is less likely to be magnetically attracted.

The inner ring 2 is provided with a closing plate 7 for the outer ring 1.
A rolling part 9 that enters between the ring-shaped projection 8 and the inner ring 2 and rolls along the inner peripheral surface 1a of the outer ring 1;
That is, the end of the inner ring 2 in the direction of the rotation axis X is connected to the outer ring 1.
And the exposed portion 6 exposed outside is integrally formed of a ferromagnetic steel material.

The rolling portion 9 extends along the width direction of the inner peripheral surface 1a so that the outer peripheral surface thereof can roll while being magnetically attracted to the inner peripheral surface 1a of the outer ring body 1 over substantially the entire width. It is formed in a disk shape in a curved state.

The exposed portion 6 is formed in a disk shape having a curved peripheral surface 10 curved along the circumferential direction of the running surface C so that the outer peripheral surface can run while being magnetically attracted to the running surface C. , The axle 4 is concentrically fixed to the center of rotation of the axle 4.

A circumferential groove 11 extending in the circumferential direction is formed on the outer peripheral portion between the rolling portion 9 and the exposed portion 6 so as to form a series of annular grooves. The engagement prevents the inner ring 2 from coming out of the outer ring 1 in the direction of the rotation axis.

The axle portion 4 has a permanent magnet 5 having different magnetic poles at both ends inside a cylindrical shaft 12 connecting the left and right inner wheel bodies 2 to each other. A drive shaft 15 rotatably supported and driven by an electric motor (not shown) provided on the vehicle body 13 is driven to rotate the inner wheel 2 by interlocking with the cylinder shaft 12 via a bevel gear mechanism 16. It is configured in.

[Second Embodiment] FIG. 3 shows an embodiment in which the exposed portion 6 is provided outside the rolling portion 9, and the outer ring is formed of a ferromagnetic steel material in a narrow cylindrical shape. A ring-shaped plate member 17 is fixed to one end of the body 1 on the large diameter side by welding, and an annular projection 8 protruding radially inward is provided on the other end of the small diameter side.
Are welded and fixed in series, and the annular groove 8 is engaged with the circumferential groove 11 of the inner ring 2 to prevent the inner ring 2 from coming out of the outer ring 1 in the direction of the axis of rotation. is there. Note that the ring-shaped plate member 17 and the annular projection 8 are formed of stainless steel which is less likely to be magnetically attracted to the inner ring 2 than the outer ring 1.

According to the present embodiment, the left and right exposed portions 6 having a large magnetic attraction force can be arranged at a large interval.
The overturning moment of the vehicle body can be increased. Other configurations are the same as those of the first embodiment.

[Other Embodiments] The traveling device according to the present invention is configured such that the outer peripheral surface of the outer ring body and the outer peripheral surface of the exposed portion provided on the inner ring body are formed on the peripheral surface parallel to the rotation axis, so as to travel on a flat traveling surface. It may be configured. 2. The traveling device according to the present invention is configured such that the rolling surface side of the inner race is partially protruded at intervals in the circumferential direction, and a through-hole is formed at the outer race at intervals in the circumferential direction. An exposed portion configured to expose the protruding portion from the through hole to the outside of the outer ring body with the rotation of the body may be provided. 3. The traveling device according to the present invention travels on an inner peripheral surface of a pipe through which a fluid such as water, hot water or steam flows, an inner peripheral surface of a duct or a tank, a wall of a heat exchanger in a nuclear reactor, or the like. Is also good.

[Brief description of the drawings]

FIG. 1 is a front view of a traveling device.

FIG. 2 is a side view of a main part.

FIG. 3 is a front view showing a second embodiment.

FIG. 4 is an explanatory diagram of a conventional technique.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Outer ring body 1a Inner peripheral surface 2 Inner ring body 4 Axle part 5 Magnet 6 Exposed part 8 Projection part 11 Groove part C Running surface X Rotation axis

Continued on the front page (72) Inventor Takashi Kikuta 4-1-2, Hirano-cho, Chuo-ku, Osaka City, Osaka Prefecture Inside Osaka Gas Co., Ltd. (72) Inventor Yukio Fukagawa 2-5-1 Marunouchi, Chiyoda-ku, Tokyo Inside Heavy Industries, Ltd. (72) Inventor Taku Sasaki 2-5-1 Marunouchi, Chiyoda-ku, Tokyo Inside Mitsubishi Heavy Industries, Ltd.

Claims (4)

[Claims] 1. A left and right outer wheel body that can run on a running surface,
A left and right driving inner ring attached to each outer ring in a state of being rotatable along the inner peripheral surface of the outer ring and preventing escape in the direction of the rotation axis; An axle portion that connects the wheel bodies to each other, and a magnet provided on the axle portion forms a magnetic circuit that passes through the left and right inner wheel bodies, the left and right outer wheel bodies, and the running surface, and A traveling device configured to travel while adsorbing the ring to the traveling surface with a magnetic attraction force, wherein an exposed portion exposing a part of the inner ring to the outside of the outer ring. A traveling device configured to be magnetically attracted to the traveling surface. 2. The traveling apparatus according to claim 1, wherein the exposed portion is provided such that an end of the inner ring in the rotation axis center direction is exposed outside the outer ring. 3. A groove is formed along an outer peripheral portion of the inner ring body in a circumferential direction, and a protrusion engaging with the groove is provided on the outer ring body, and the engagement between the groove and the protrusion is provided. 3. The travel device according to claim 1, wherein the inner ring is prevented from coming off from the outer ring in the direction of the axis of rotation. 4. The projection is made of a material that is less likely to be magnetically attracted to the inner ring than the outer ring.
Traveling device as described.