JP2008012947A - Magnetic body moving car - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a magnetic body moving car which can pass steep external and internal angles. <P>SOLUTION: A plurality of supporting shafts arranged between a wheel of a front end and a wheel of a rear end seen in the axial direction are constituted of: first supporting shafts 12a, 12d arranged outside of the wheels; and second supporting shafts 12b, 12c arranged inside of the wheels, and more the first and second supporting shafts are provided respectively more than one. Stable travelling is provided by this magnetic body moving car furnished with this constitution since it can hold attraction against magnetic bodies of the wheels in passing the steep external and internal angles. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  At nuclear power plants, thermal power plants, chemical plants, various tanks, ships, etc., the maintenance status of equipment must be inspected and repaired as necessary. However, when the repair site is severely uneven, steeply inclined, a narrow place, a high place, etc., it is difficult for an operator to approach and an efficient work cannot be performed. In addition, depending on the work site, the worker may not be able to approach from the viewpoint of safety.

  From such a point of view, there has been proposed a magnetic vehicle that is equipped with a work device and can travel while adsorbed on a road surface made of a magnetic material.

  Patent Document 1 discloses a magnetic moving vehicle in which a vehicle body includes a link mechanism (three-bar rotation chain mechanism) as shown in FIG.

  The vehicle body main body includes a chassis 112 and wheel support members 118 and 119 that are pivotally supported around rotation shafts 116 provided at both left and right ends of the chassis 112. Axle 120, 121 is provided at the end opposite to the rotating shaft 116, and wheels 114, 115 are pivotally supported on the axles 120, 121, respectively. A spring 128 is connected between the chassis 112 and the wheel support members 118 and 119, and the rotation range of the wheel support members 118 and 119 relative to the chassis 112 is limited by the spring force of the spring 128.

  Patent Document 2 discloses a magnetic vehicle having magnetic wheels 203 at both ends of a cylindrical body 202 as shown in FIG. The magnetic wheel 203 is provided with an auxiliary leg 208 for maintaining the posture of the vehicle body protruding radially outward, and an auxiliary wheel 210 is provided at the tip of the auxiliary leg 208.

Furthermore, Patent Document 3 discloses a moving device that can travel on rough terrain. As shown in FIG. 13, the wheel 304 is supported by a multi-indirect link 305, and multi-indirect according to unevenness of the rough terrain. The link 305 is configured to rotate around each support shaft 307.
JP 54-131209 A Japanese Unexamined Patent Publication No. 62-26172 JP-A-9-142347

  However, in Patent Document 1, there is a possibility that the chassis 112 and the wheel support members 118 and 119 may come into contact with the magnetic body constituting the road surface of the magnetic body moving vehicle when the magnetic body moving vehicle passes through the sharp corner.

  Further, a method of avoiding contact of the magnetic mobile vehicle with the magnetic body by setting the spring constant of the spring 128 low and widening the rotation range of the wheel support members 118 and 119 with respect to the chassis 112 can be considered. Then, when passing through the corner, the front and rear wheels 114 and 115 approach each other, making it difficult to get over. Further, when traveling on each of the top surface, the side surface, and the bottom surface of the magnetic body, the load direction due to gravity applied to the entire vehicle body changes, and the extension amount of the spring 128 changes. For this reason, stable running becomes difficult because the center of gravity of the vehicle body is far away from the running surface or the front and rear wheels 114 and 115 are too close. Therefore, it is difficult for the moving vehicle shown in Patent Document 1 to move beyond an inclined surface with a steep angle or an entrance corner or exit corner with a steep angle.

  In Patent Document 2, since the position of the vehicle body by the auxiliary legs 208 becomes difficult to maintain when the angle of the protruding corner is steep or when the vehicle moves from the climbing inclined surface to the descending inclined surface, the vehicle body is strictly driven and controlled. There is a need, but no countermeasure is disclosed. Furthermore, when passing through the corner, the magnetic wheel 203 is in a state straddling the V-shaped running surface (magnetic body), and high torque is required to pull the magnetic wheel 203 away from one running surface, Since the auxiliary leg 208 must be constructed in a strong structure capable of withstanding this high torque, the cost increases. Therefore, it is difficult for the moving vehicle shown in Patent Document 2 to move beyond an inclined surface with a steep angle or an entrance corner or exit corner with a steep angle.

  Patent Document 3 is a moving device for traveling on rough terrain that moves over large irregularities and obstacles, and is not a magnetic vehicle. That is, it is not configured to move along a magnetic surface with a steep inclination angle by adsorbing to the surface of the magnetic material, or to get over a magnetic surface that greatly changes the inclination angle of the exit and entry corners. In particular, the articulated link is strong when subjected to vertical force, but is a weak mechanism when subjected to the axial force in the link axis direction, and traverses the vertical plane. There is a concern that the articulated link may be bent when a thrust wheel receives thrust force, or the necessary steering may be difficult. In other words, when the wheel 304 is changed to a magnetic wheel and moved on the magnetic body, the vehicle body portion 306 comes into contact with the steep exit corner and the entrance corner, and a smooth ride over operation becomes difficult. Therefore, it is difficult for the moving vehicle shown in Patent Document 3 to move beyond an inclined surface with a steep angle or an entrance corner or exit corner with a steep angle.

  Accordingly, the present invention has an object to provide a low-cost magnetic mobile vehicle that can travel stably on a magnetic surface having a steep inclination or on a magnetic surface that has a sharply entering or exiting corner. And

In order to solve the above-described problems, a magnetic vehicle according to the present invention has the following characteristics.

(1) A rigid body arranged in parallel in the traveling direction of the vehicle, and five or more body nodes, and four or more support shafts that support each body node so that it can be folded and unfolded with respect to an adjacent body node. A vehicle body equipped with,
6 or more wheels having a magnetic force supported rotatably on the axle with respect to the vehicle body, and
The four or more support shafts arranged between the front end wheel and the rear end wheel are, as viewed in the axle direction, a first support shaft arranged between the wheels on the outside of the wheel, and on the inside of the wheel. A second spindle arranged,
There are two second spindles inside the wheels (hereinafter referred to as middle wheels) other than the front and rear wheels, as viewed in the axle direction.
Each of the axles is provided on the front body part, the rearmost body part, and the body part between the second support shafts arranged inside the same wheel, and runs on the surface of the magnetic body. A magnetic moving vehicle characterized by that.

(2) Four or more body nodes with rigid bodies arranged side by side in the traveling direction of the vehicle, and three or more support shafts that support each body node so that it can be folded and unfolded with respect to the adjacent body node. A vehicle body equipped with,
6 or more wheels having a magnetic force supported rotatably on the axle with respect to the vehicle body, and
The three or more support shafts arranged between the front end wheel and the rear end wheel are, as viewed in the axle direction, a first support shaft arranged between the wheels on the outside of the wheel and an inner side of the wheel. A second spindle arranged,
Each of the axles is provided on the front body part, the rear part of the body part, and the bearing part of the second support shaft, and travels on the surface of the magnetic body. .

  (3) The magnetic mobile vehicle according to (1) or (2), wherein all the support shafts and the axles are substantially parallel at least during straight running.

(4) The vehicle body has a load mounted on the body node or the support shaft,
In a state where the magnetic body moving vehicle is positioned on the magnetic body plane which is a running surface, the lower end portion of the mounted object is disposed above the magnetic body plane, and the mounted object is the wheel at the front end. The magnetic mobile vehicle according to any one of (1) to (3), wherein the vehicle is disposed between a foremost part of the vehicle and a rearmost part of the rear end wheel.

  (5) When the adjacent vehicle body nodes sandwiching the arbitrary first support shaft rotate so that the first support shaft moves away from the surface of the magnetic material, which is the running surface, the front and rear of the first support shaft When the rotation is limited so that the wheels arranged side by side do not come into contact with each other and the first support shaft is rotated so as to approach the magnetic body, the first support shaft and the adjacent sides thereof are arranged. The magnetic mobile vehicle according to any one of (1) to (4), further including a rotation restricting unit that restricts rotation so that a vehicle body node does not come into contact with the magnetic body.

(6) A direction in which an arbitrary second support shaft disposed inside the same middle wheel and a vehicle body node sandwiched between the second support shaft and the arbitrary second support shaft approach a recess or a corner of the magnetic surface. When rotating to
As viewed from the axle direction,
When the outer angle of the angle formed between the line connecting the arbitrary middle wheel and the axle of the immediately preceding wheel and the line connecting the arbitrary axle of the middle wheel and the axle of the immediately following wheel is θ, the rotation The restricting means restricts the rotation so that the upper limit value of θ is 100 ° or more, and the magnetic body moving vehicle according to (5) above.

According to the present invention, the magnetic vehicle of the present invention is
A vehicle main body including five or more body nodes in a rigid body arranged side by side in the traveling direction of the vehicle, and four support shafts that support each body node so that it can be folded and unfolded with respect to an adjacent body node; ,
6 or more wheels having a magnetic force supported rotatably on the axle with respect to the vehicle body, and
The four or more support shafts arranged between the front end wheel and the rear end wheel are, as viewed in the axle direction, a first support shaft arranged between the wheels on the outside of the wheel, and on the inside of the wheel. A second spindle arranged,
There are two second spindles inside the wheels (hereinafter referred to as middle wheels) other than the front and rear wheels, as viewed in the axle direction.
Since the axle is provided at the vehicle body node at the foremost part, the vehicle body node at the rearmost part, and the vehicle body node between the second support shafts arranged inside the same wheel, It is possible to travel stably on the surface of a magnetic material having a steep inclination or on the surface of a magnetic material having an entrance or exit at a steep angle.

Further, according to the present invention, the magnetic vehicle of the present invention is
A vehicle having four or more body nodes in a rigid body arranged in parallel in the traveling direction of the vehicle, and three or more support shafts that support each body node so that it can be folded and unfolded with respect to an adjacent body node. The body,
6 or more wheels having a magnetic force supported rotatably on the axle with respect to the vehicle body, and
The three or more support shafts arranged between the front end wheel and the rear end wheel are, as viewed in the axle direction, a first support shaft arranged between the wheels on the outside of the wheel and an inner side of the wheel. A second spindle arranged,
The axle is provided at the foremost body section, the rearmost body section, and the bearing portion of the second support shaft, so that the steep inclination is obtained in a state where the magnetic body moving vehicle is attracted to the magnetic body. It is possible to travel stably on the surface of the magnetic material having the magnetic material or on the surface of the magnetic material that becomes an entrance corner or an exit corner at a steep angle.

Embodiments of the present invention will be described below with reference to the drawings.
(Example 1)
FIG. 1 is a perspective view of a magnetic vehicle. For ease of viewing, the front wheels and the middle wheels on the left side of the vehicle are not shown. FIG. 2 is a cross-sectional view in the conveyance direction of the magnetic vehicle, in which (a) shows the positional relationship between the support shaft and the wheels, and (b) shows the pan head camera, the magnetic material, and the wheels as mounted objects. The positional relationship is shown. FIG. 3 is a view for explaining the rotation ranges of the front vehicle body node and the front middle vehicle body node. FIG. 4 is a view for explaining the folding and unfolding operations with respect to the middle vehicle body section (gear box) of the front middle vehicle body section and the rear middle vehicle body section. FIG. 5 shows the rotation range of the vehicle body node when the middle wheel passes through the exit corner and the entrance corner. 6A and 6B are diagrams of a camera with a pan head, where FIG. 6A is a perspective view and FIG. 6B is a block diagram. FIG. 7 is a cross-sectional view in the conveyance direction of the magnetic material moving vehicle, and illustrates an operation state when the magnetic material moving vehicle moves from the front surface to the back surface of the magnetic material. FIG. 8 is a perspective view of the magnetic material moving vehicle, and illustrates an operation state when the magnetic material moving vehicle moves from the front surface to the back surface of the magnetic material.

  The magnetic body moving vehicle of this embodiment has six-wheeled wheels made of permanent magnets, and can travel on the magnetic body while being attracted to the magnetic body. This magnetic vehicle is equipped with a camera with a camera platform that will be described later. Details of the camera with a camera platform will be described later.

  In FIG. 1, a vehicle body section 11 is five body sections made of a plate-shaped rigid body. A front body section (frontmost body section) 11a, a front middle body section 11b, and a middle body section (second body section) are sequentially arranged from the front of the vehicle. A gear box 15b as a vehicle body node between the support shafts, a rear middle vehicle body node 11c, and a rear vehicle body node (rearmost vehicle body node) 11d are configured.

  The front vehicle body section 11a and the front middle vehicle body section 11b are connected via a front support shaft (first support shaft) 12a extending in the vehicle width direction. In particular, it can be folded and unfolded by rotating around the front support shaft 12a. The front support shaft 12a is disposed between the front wheel 17a and the middle wheel 17b (see FIG. 2A).

  The front vehicle body section 11a is provided with a rotation limiting member 13a extending in an arch shape toward the front middle vehicle body section 11b. The rotation limiting member 13a is provided with a pin guide along the outer shape of the rotation limiting member 13a. A groove 131a is formed.

  A pin support member 14a extending toward the front vehicle body section 11a is fixedly disposed on the front middle vehicle body section 11b, and a rotation limiting pin 141a projects toward the center of the vehicle at the tip of the pin support member 14a. Is provided. The rotation restricting pin 141a is engaged with the pin guide groove 131a of the rotation restricting member 13a, and the pin guide groove 131a is operated when the front vehicle body node 11a is folded or unfolded with respect to the front middle vehicle body node 11b. It is designed to move inside.

  Here, the rotation limiting member 13a limits the rotation range of the front vehicle body section 11a and the front middle vehicle body section 11b, and the rotation operation stops when the rotation restriction pin 141a contacts the end of the pin guide groove 131a.

  More specifically, as shown in FIG. 3A, when the front vehicle body section 11a and the front middle vehicle body section 11b are rotated so that the front support shaft 12a approaches the magnetic body 10 (in the direction of the arrow). The length of the pin guide groove 131a is set so that the front support shaft 12a stops at the rotational drive end at a distance d1 above the surface of the magnetic body 10 (d1> 0).

  Further, as shown in FIG. 3B, when the front vehicle body section 11a and the front middle vehicle body section 11b are rotated so that the front support shaft 12a moves away from the magnetic body 10 (in the direction of the arrow), the front wheels The length dimension of the pin guide groove 131a is set so that the front support shaft 12a stops when the distance between 17a and the middle wheel 17b reaches d2.

  Further, the distance d2 needs to be set to such a length that the front wheel 17a and the middle wheel 17b are not attracted to each other by magnetic force. Further, as shown in FIG. 3C, the distance d2 is thin. When the magnetic plate moving vehicle runs on the magnetic body 10, the condition of d2 ≦ d3 must be satisfied.

  In the case of d2> d3, the front wheel 17a and the middle wheel 17b cannot be attracted to the magnetic body 10 at the same time when the magnetic body moving wheel turns back the end of the magnetic body 10, so that the folding is impossible. Because it becomes. Specifically, it is preferable to set the distance d2 to about 10 mm. In addition, the pin guide groove part 131b mentioned later is set to the same dimension as the pin guide groove part 131a. By configuring the rotation restricting means as described above, the front support shaft 12a comes into contact with the magnetic body 10 and the front wheel 17a and the middle wheel 17b are adsorbed when passing through the steep exit and entry corners. Can be prevented.

  The rear middle vehicle body section 11c and the rear vehicle body section 11d are connected to each other via a rear support shaft (first support shaft) 12d extending in the vehicle width direction. In particular, it can be folded and unfolded by rotating around the rear support shaft 12d. The rear support shaft 12d is disposed between the middle wheel 17b and the rear wheel 17c (see FIG. 2A).

  The rear middle vehicle body section 11c is provided with a rotation limiting member 13b extending in an arch shape toward the rear vehicle body section 11d. The rotation limiting member 13b is provided with a pin guide along the outer shape of the rotation limiting member 13b. A groove 131b is formed.

  A pin support member 14b extending toward the rear middle vehicle body section 11c is fixedly disposed on the rear vehicle body section 11d, and a rotation limiting pin 141b projects toward the center of the vehicle at the tip of the pin support member 14b. Is provided. The rotation restricting pin 141b is engaged with the pin guide groove 131b of the rotation restricting member 13b, and the pin guide according to the rear middle vehicle body section 11c being folded or unfolded with respect to the rear vehicle body section 11d. It moves in the groove 131b.

  A front middle support shaft (second support shaft) 12b and a rear middle support shaft (second support shaft) 12c are provided at the vehicle rear end portion of the front middle vehicle body section 11b and the vehicle front end portion of the rear middle vehicle body section 11c, respectively. These support shafts 12b and 12c are arranged inside the middle wheel 17b at a predetermined interval in the vehicle front-rear direction.

  The pair of left and right gear boxes 15b are placed on the support shafts 12b and 12c, and a motor and a transmission gear (not shown) are stored in the gear box 15b. The final gear arranged at the final stage of the transmission gear is engaged with the middle axle 16b extending in the vehicle width direction. A middle wheel 17b having magnetic force is attached to the tip of the middle axle 16b.

  By folding the front middle vehicle body section 11b and the gear box 15b as the middle vehicle body section relative to each other around the front middle support shaft 12b, folding and unfolding operations can be performed. Further, the rear middle vehicle body section 11c and the gear box 15b as the middle vehicle body section can be folded and unfolded by relatively rotating around the rear middle support shaft 12c.

  A pair of left and right gear boxes 15a, a front axle 16a and a front wheel 17a are also provided on the front vehicle body section 11a, and a pair of left and right gear boxes 15c, a rear axle 16c and a rear wheel 17c are also provided on the rear body section 11d. Since these structures are the same as those of the gear box 15b, the middle axle 16b, and the middle wheel 17b, description thereof is omitted. However, the gear boxes 15a and 15c do not have a function as a vehicle body section like the gear box 15b.

Next, with reference to FIG. 4, the folding and unfolding operations of the front middle vehicle body section 11b and the rear middle vehicle body section 11c with respect to the gear box 15b when the middle wheel 17b turns back the magnetic body 10 will be described. Here, theta ₁ is the angle between the body section 11b and the gearbox 15b in front, theta ₂ is the angle between the body section 11c and the gear box 15b in later.

Incidentally, each of the front in the vehicle body section 11b and the vehicle body section 11c in later angle theta _1, when rotated in the direction of theta ₂ is reduced, and having been subjected to the operation folding against gearbox 15b, the angle theta _1, when rotated in the direction of theta ₂ is large, and having been subjected to the development operation with respect to the gear box 15b.

When the middle wheel 17b is in contact with the end face of the magnetic body 10 (see FIG. 4 (a)), when the magnetic body moving vehicle is advanced, the front middle vehicle body section 11b rotates counterclockwise with the front support shaft 12a as the rotation axis. Rotate in the direction. Depending on the vehicle body section 11b during the previous rotates, the angle theta ₁ is gradually reduced (see FIG. 4 (b) (c)) , when the middle wheel 17b is possessed entirely on the rear surface of the magnetic body 10 The angle becomes 0 ° (see FIG. 4D).

When the magnetic vehicle is moved forward from the state shown in FIG. 4A, the rear middle vehicle body section 11c rotates counterclockwise about the rear support shaft 12d as a rotation axis. During in response to the vehicle body section 11c is rotated after the angle theta ₂ is gradually reduced, it becomes 0 ° when the rear wheels 17c is possessed entirely on the rear surface of the magnetic body 10 (not shown).

Further, as shown in FIG. 5B, when the outer angle of the angle formed by the one-dot chain line connecting the front axle 16a and the middle axle 16b and the one-dot chain line connecting the middle axle 16b and the rear axle 16c is θ _3. , as the upper limit value of theta ₃ is equal to or greater than 100 °, the length of the pin guide groove 131a is set. If θ ₃ ≧ 100 °, it is possible to pass through the 90 ° corner with a margin. Further, by setting the theta ₃ to pass through the internal corner of 90 °, as shown in FIG. 5 (a), it can pass through with a margin the external corner of 90 °.

Next, with reference to FIG. 2B and FIG. 6, a camera with a pan / tilt head mounted on a magnetic vehicle is described. Here, FIG. 6 is a configuration explanatory view of a camera with a pan head, (a) is a perspective view of the camera with a pan head, and (b) is a block diagram of the camera with a pan head.
A camera 19 with a pan / tilt head illustrated in FIG. 6 is connected to an operating device 21 via a communication line 20 and can be remotely operated by operating the operating device 21. The camera with pan head 19 is provided with a pan head / camera control circuit 91 that controls the entire camera 19 with pan head. The pan head is moved in the pan direction with respect to the pan head / camera control circuit 91. A pan driving circuit 92 for driving the zoom lens, a tilt driving circuit 93 for driving in the tilt direction, a zoom driving circuit 94 for driving the zoom lens in the optical axis direction, and a focus driving circuit 95 for driving the focus lens in the optical axis direction are electrically connected. Has been.

  In the above configuration, when the operation device 21 is operated to drive the pan head in the pan direction, this operation signal is transmitted to the pan head / camera control circuit 91 via the communication circuit, and the pan head / camera control circuit. 91 drives the pan head in the pan direction based on this operation signal. Here, the panning, tilting, zooming, and focusing controls all have the same description, and thus the description of the tilting, zooming, and focusing is omitted.

  When the camera 19 with the pan head moves to the photographing position, the photographing operation is started by operating the operation device 21, and this photographed image is transmitted to the operation device 21 through the communication line 20.

  The image data transmitted to the operating device 21 is displayed on the display 21a, and maintenance work such as maintenance / inspection can be performed by the operator confirming the image displayed on the display 21a.

  The camera 19 with a pan head is installed on the front middle vehicle body node 11b and the rear middle vehicle body node 11c, and as shown in FIG. 2 (b), above the lower ends of the wheels 17a to 17c, And it arrange | positions from the front-end part of the front wheel 17a to the rear-end part of the rear wheel 17c. Thereby, when passing the steep exit corner and the entrance corner on the magnetic body 10, it is possible to prevent the camera 19 with a pan head from coming into contact with the magnetic body 10 and hindering the passing operation.

  Next, the operation of the magnetic vehicle will be described with reference to FIGS. 7A, 7B, and 7C correspond to FIGS. 8A, 8B, and 8C, respectively.

  When the front wheel 17a of the magnetic vehicle moving on the surface of the magnetic body 10 reaches the corner (end) of the magnetic body 10, the front body node 11a rotates counterclockwise around the front support shaft 12a. The rotation operation is started in the direction, that is, the folding direction with respect to the front middle vehicle body node 11b. As shown in FIG. 2 (a), all the axles 16a to 16c and the support shafts 12a to 12d of the magnetic body moving vehicle traveling on a plane are arranged in parallel to the vehicle width direction. The traveling of the body moving vehicle is stabilized.

  When the magnetic body moving vehicle is linearly moving on the surface of the magnetic body 10, the rotation limiting pin 141a is in contact with the end portion on the vehicle front side in the pin guide groove portion 131a, and as described above, the front vehicle body section 11a. Starts rotating, the pin guide groove 131a starts moving toward the rear of the vehicle.

  Then, as shown in FIG. 8B, when the front wheel 17a moves from the front surface of the magnetic body 10 to the back surface, the rotation limiting pin 141a abuts the end portion on the vehicle rear side in the pin guide groove portion 131a. The front middle vehicle body node 11b starts to rotate counterclockwise about the front middle support shaft 12b (deployment operation with respect to the gear box 15b as the middle vehicle body node). At this time, the folding operation of the magnetic mobile vehicle is performed in a state where all the axles 16a to 16c and the support shafts 12a to 12d are held in a positional relationship parallel to the vehicle width direction, so that the folding operation is stabilized. Since d2 ≦ d3 is set as described above (see FIG. 3C), the front wheel 17a is rotated before moving to the back surface of the magnetic body 10 as shown in FIG. 8B. The limiting pin 141a can be prevented from coming into contact with the end of the pin guide groove 131a to stop the rotation operation.

  When the magnetic vehicle moves further from the position shown in FIG. 8 (b) and the middle wheel 17b reaches the end of the magnetic body 10, the front and middle wheels that have been rotated in the folding direction with respect to the front vehicle body node 11a until then. The vehicle body section 11b starts to rotate in the counterclockwise direction, that is, in the unfolding direction about the front support shaft 12a. At this time, the rotation limiting pin 141a that has been in contact with the end of the pin guide groove 131a on the rear side of the vehicle is detached from the pin guide groove 131a, and moves in the pin guide groove 131a toward the front of the vehicle.

  When the middle wheel 17b of the magnetic body moving vehicle is linearly moving on the surface of the magnetic body 10, the rotation limiting pin 141b is in contact with the end portion of the pin guide groove 131b on the vehicle front side, and as described above. When the middle vehicle body section 11c starts rotating, the middle vehicle body section 11c is detached from the middle body section 11c and moves in the pin guide groove 131b toward the rear of the vehicle.

  The operation of the rear middle vehicle body node 11c and the rear vehicle body node 11d when the rear wheel 17c changes from the front surface of the magnetic body 10 to the rear vehicle body when the middle wheel 17b changes from the front surface of the magnetic body 10 to the rear surface of the magnetic body 10. Since the operation is the same as that of the node 11a and the front middle vehicle body node 11b, description thereof is omitted.

  As described above, in the magnetic vehicle of the present embodiment, the front support shaft 12a and the rear support shaft 12d are arranged outside the middle wheel 17b, and the front middle support shaft 12b and the rear middle support shaft 12c are connected to the middle wheel. Since the front wheel 17a, the middle wheel b, and the rear wheel c are attracted to the magnetic body 10, the steep exit corner and the entrance corner can be passed. Thereby, a magnetic body moving vehicle can be drive | worked stably.

  In the present embodiment, the camera 19 with a pan head is mounted, but various devices (for example, work arms, non-destructive inspection devices) related to maintenance and inspection of facilities can be mounted instead.

In the above-described embodiment, the pin guide groove is used as the rotation restricting means. However, the rotation may be restricted by connecting the vehicle body nodes adjacent in the vehicle front-rear direction with elastic means such as a spring. Furthermore, it is good also considering a magnetic body moving vehicle as a structure of 8 or more wheels.

(Example 2)
With reference to FIGS. 9 and 10, the magnetic vehicle according to this embodiment will be described. FIG. 9 is a perspective view of the magnetic vehicle according to the second embodiment. FIG. 9 (a) illustrates the operating state of the magnetic vehicle moving on the plane, and FIG. The state of a magnetic body moving vehicle when a front middle body node rotates in the folding direction is illustrated, and (c) is another perspective view of (b). FIG. 10 is a cross-sectional view in the conveyance direction of the magnetic material moving vehicle, and members other than the wheels, the support shaft, and the vehicle body node are omitted. In addition, about the component same as Example 1, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  Two convex-shaped portions 111b projecting toward the vehicle rear side are formed at the vehicle rear side end portion of the front middle vehicle body node 11b, and the vehicle front side end portion of the rear middle vehicle body node 11c is provided with a vehicle Two convex-shaped portions 111c projecting forward are formed, and a concave-shaped portion 112b for avoiding interference with the convex-shaped portion 111c formed on the rear middle vehicle body node 11c is formed in the front middle vehicle body node 11b. The rear middle vehicle body section 11c is formed with a concave portion 112c for avoiding interference with the convex portion 111b formed on the front middle vehicle body section 11b.

  A bearing member 18 is provided on the convex portions 111b and 111c, and the bearing member 18 is rotatable around the support shaft 12e inserted into the opening 18e. A middle axle 16b having a diameter smaller than that of the support shaft 12e is disposed on the same axis as the support shaft 12e, and the middle axle 16b projects from the support shaft 12e. The middle axle 16b and the support shaft 12e may be integrally formed, or a long hole extending in the axial direction may be formed in the support shaft 12e, and the middle axle 16b may be press-fitted into the long hole.

  Only the second support shaft that is inside the middle wheel as viewed in the axle direction is described, but it may be inside the front wheel or the rear wheel.

  According to the magnetic vehicle of the present embodiment, the same effects as those of the first embodiment can be obtained, and as shown in FIG. 10, the support shaft 12e and the middle axle 16b are arranged coaxially. The structure is simplified and the cost can be reduced.

It is a perspective view of a magnetic body moving vehicle. It is sectional drawing of the conveyance direction of a magnetic body moving vehicle, (a) has shown the positional relationship of a spindle and a wheel, (b) has shown the positional relationship of a load, a magnetic body, and a wheel. It is a figure for demonstrating the rotation range of a front vehicle body node and a front middle vehicle body node. It is a figure for demonstrating folding and expansion | deployment operation | movement with respect to the middle vehicle body node (gear box) of a front middle vehicle body node and a rear middle vehicle body node. It is a rotation range of the vehicle body node when the middle wheel passes the exit corner and the entrance corner. It is a figure of a camera with a pan head, (a) is a perspective view, (b) is a block diagram. It is sectional drawing of the conveyance direction of a magnetic body moving vehicle, and has shown the operation state when a magnetic body moving vehicle moves to the back surface from the surface of a magnetic body. It is a perspective view of a magnetic body moving vehicle, and shows an operation state when the magnetic body moving vehicle moves from the front surface to the back surface of the magnetic material. It is a perspective view of the magnetic body moving vehicle of Example 2, (a) has illustrated the operation state of the magnetic body moving vehicle which moves on a plane, (b) has folded the front vehicle body node and the front middle vehicle body node. The state of the magnetic body moving vehicle when rotated in the direction is illustrated, and (c) is another perspective view of (b). It is sectional drawing of the conveyance direction of the magnetic body moving vehicle of Example 2. FIG. It is sectional drawing of the magnetic body moving vehicle of patent document 1. FIG. It is a perspective view of the magnetic body moving vehicle of patent document 2. FIG. It is sectional drawing of the rough terrain moving apparatus of patent document 3.

Explanation of symbols

10 Magnetic material
11 Body Section
12 Support shaft
13 Rotation limiting member
14 pin support member
15a, 15c gearbox
15b Gearbox (medium body section)
16 axles
17 wheels
18 Bearing members
18e opening
19 Camera with pan head
20 Communication line
21 Controller
21a display
91 Camera control circuit
92 Pan drive circuit
93 Tilt drive circuit
94 Zoom drive circuit
95 Focus drive circuit
111b 111c Convex part
112b 112c Concave part
112 Chassis of Patent Document 1
116 Rotating shaft of Patent Document 1
118 Wheel Support Member of Patent Document 1
118 Wheel Support Member of Patent Document 1
120 Patent Document 1 Wheel
121 Wheel of Patent Document 1
128 Patent Document 1 Spring
202 Body body of Patent Document 2
203 Magnetic Wheel of Patent Document 2
208 Auxiliary Leg of Patent Document 2
210 Auxiliary Wheel of Patent Document 2
304 Patent Document 3 Wheel
305 Multiple Indirect Link of Patent Document 3
306 Body body of Patent Document 3
307 Support shaft of Patent Document 3

Claims (6)

A vehicle having five or more body nodes in a rigid body arranged in parallel in the traveling direction of the vehicle, and four or more support shafts that support each body node so that it can be folded and unfolded with respect to an adjacent body node. The body,
6 or more wheels having a magnetic force supported rotatably on the axle with respect to the vehicle body, and
The four or more support shafts arranged between the front end wheel and the rear end wheel are, as viewed in the axle direction, a first support shaft arranged between the wheels on the outside of the wheel, and on the inside of the wheel. A second spindle arranged,
There are two second spindles inside the wheels (hereinafter referred to as middle wheels) other than the front and rear wheels, as viewed in the axle direction.
Each of the axles is provided on the front body part, the rearmost body part, and the body part between the second support shafts arranged inside the same wheel, and runs on the surface of the magnetic body. A magnetic moving vehicle characterized by that. A vehicle having four or more body nodes with rigid bodies arranged in parallel in the traveling direction of the vehicle, and three or more support shafts that support each body node so that it can be folded and unfolded with respect to an adjacent body node. The body,
6 or more wheels having a magnetic force supported rotatably on the axle with respect to the vehicle body, and
The three or more support shafts disposed between the front end wheel and the rear end wheel are, as viewed in the axle direction, a first support shaft disposed between the wheels on the outside of the wheel, and an inner side of the wheel. A second spindle arranged,
Each of the axles is provided on the foremost body section, the rearmost body section, and the bearing portion of the second support shaft, and travels on the surface of the magnetic body. .   3. The magnetic mobile vehicle according to claim 1, wherein all the support shafts and the axles are substantially parallel during at least a straight running. 4. The vehicle body has a load mounted on the vehicle body node or the support shaft,
In a state where the magnetic body moving vehicle is positioned on the magnetic body plane which is a running surface, the lower end portion of the mounted object is disposed above the magnetic body plane, and the mounted object is the wheel at the front end. The magnetic mobile vehicle according to any one of claims 1 to 3, wherein the vehicle is disposed between a foremost portion of the vehicle and a rearmost portion of the rear end wheel.   When the vehicle body nodes on both sides sandwiching an arbitrary first support shaft rotate so that the first support shaft moves away from the surface of the magnetic body, which is a running surface, they are arranged before and after the first support shaft. When the rotation is limited so that the wheels arranged do not come into contact with each other and the first support shaft is rotated so as to approach the magnetic body, the first support shaft and the vehicle body nodes adjacent to the first support shaft are 5. The magnetic vehicle according to claim 1, further comprising a rotation restricting unit that restricts rotation so as not to contact the magnetic body.   Arbitrary second support shaft arranged inside the same middle wheel and the vehicle body node sandwiched between them or the optional second support shaft rotate in a direction approaching the concave portion or corner of the magnetic surface. When the vehicle is viewed in the axial direction, an outer angle of an angle formed by a line connecting the arbitrary middle wheel and the immediately preceding wheel axle and a line connecting the arbitrary middle wheel axle and the immediately following wheel axle is θ 6. The magnetic mobile vehicle according to claim 5, wherein the rotation limiting means limits the rotation so that the upper limit value of θ is 100 ° or more.

Images