JP2023055454A - Carriage and inspection device equipped with the same - Google Patents

Abstract

To provide a suitable carriage for inspection device for a magnetic material structure.SOLUTION: A carriage according to an embodiment includes a first magnet wheel including an electric magnet. When the first magnet wheel is used as a rear wheel and the rear wheel is about to get over a protrusion, magnetic force of the first magnet wheel is temporarily reduced, the first magnet wheel is lifted up from the body of a magnetic material structure, and the first magnet wheel gets up the protrusion.SELECTED DRAWING: Figure 9

Description

TECHNICAL FIELD The present invention relates to a truck and an inspection apparatus provided with the same.

Patent Literatures 1 and 2 disclose a carriage capable of self-propelled on the outer peripheral surface of a pipe to be inspected in order to inspect high-place pipes such as chimneys. In addition, in this specification, piping includes a chimney.

JP-A-10-071976 Japanese Patent Application Laid-Open No. 2002-087342

The inventors have found various problems in developing a cart capable of self-propelled on the surface of a magnetic structure such as a pipe having projections on the surface.
Other problems and novel features will become apparent from the description of the specification and the accompanying drawings.

In one embodiment, the first magnet wheel includes an electromagnet. When the first magnet wheel is used as the rear wheel and the rear wheel tries to climb over the protrusion, the magnetic force of the first magnet wheel is temporarily reduced to levitate the first magnet wheel from the surface of the magnetic structure. , the first magnet wheel rides on the protrusion.

According to the one embodiment, it is possible to provide a carriage suitable for an inspection apparatus for magnetic structures.

FIG. 3 is a side view schematically showing the configuration of a truck according to a comparative example; FIG. 3 is a side view schematically showing the configuration of a truck according to a comparative example; It is a perspective view showing typically composition of a trolley concerning a 1st embodiment. It is a front view which shows typically the structure of the trolley|bogie which concerns on 1st Embodiment. FIG. 4 is a schematic plan view showing the steering operation of magnet wheels MW1 and MW2 with respect to the platform PF; 4 is a timing chart for explaining the operation of the truck according to the first embodiment; FIG. 7 is a side view schematically showing the posture of the truck at time t1 in FIG. 6; FIG. 7 is a side view schematically showing the posture of the truck at time t2 in FIG. 6; FIG. 7 is a side view schematically showing the posture of the truck at time t3 in FIG. 6; FIG. 7 is a side view schematically showing the posture of the truck at time t4 in FIG. 6; FIG. 7 is a side view schematically showing the posture of the truck at time t5 in FIG. 6; FIG. 7 is a side view schematically showing the posture of the truck at time t6 in FIG. 6; FIG. 7 is a side view schematically showing the posture of the truck at time t7 in FIG. 6;

Specific embodiments will be described in detail below with reference to the drawings. However, it is not limited to the following embodiments. Also, for clarity of explanation, the following description and drawings are simplified as appropriate.

(First embodiment)
<Preliminary consideration by the inventor>
First, with reference to FIGS. 1 and 2, the configuration of a truck according to a comparative example studied in advance by the inventor will be described. 1 and 2 are side views schematically showing the configuration of a truck according to a comparative example.
The right-handed xyz orthogonal coordinates shown in FIGS. 1, 2, and other drawings are for convenience in explaining the positional relationship of the constituent elements, and are common among the drawings.

As shown in FIGS. 1 and 2, the truck according to the comparative example includes a platform PF, a pair of wheel support members WS1 and WS2, and a pair of magnet wheels MW1 and MW2. Here, FIGS. 1 and 2 show cross-sectional views of a pipe 10 to be inspected. As shown in FIGS. 1 and 2, piping 10 is composed of a plurality of pipes. Each pipe includes a body portion 11 and a flange portion 12 , and the flange portions 12 are connected to each other by a connecting member 13 . The connecting member 13 includes a bolt 13a and a nut 13b. Here, the pipe 10 is made of a metal such as steel that can be attracted by a magnet. 1 and 2 show how the carriage moves in the longitudinal direction (x-axis direction) of the pipe 10. FIG.

Thus, the pipe 10 is a magnetic structure having projections (flanges 12) on its surface (outer peripheral surface). The protrusion that the pipe 10 has on the outer peripheral surface is not limited to the flange portion 12, and may be, for example, a stiffener.
A cart according to a comparative example is a cart for a magnetic structure inspection apparatus capable of self-propelled on the surface of a magnetic structure to be inspected. The magnetic structure to be inspected is not limited at all as long as it is a structure made of a magnetic material having protrusions on its surface, and includes, for example, a pipe including a chimney, a tank, and the like.

The platform PF is a main body of the truck, and is a plate-like member on which a probe for inspecting the pipe from the outside is mounted.
Here, FIG. 1 shows a probe PR mounted on the platform PF and an arm AR supporting the probe PR. In the example shown in FIG. 1, the base of an L-shaped arm AR is rotatably supported by the platform PF, and the probe PR is fixed to the tip of the arm AR. The probe PR is, for example, an echography probe. As indicated by a two-dot chain line in FIG. 1, the probe PR is brought close to the outer peripheral surface of the pipe 10, and ultrasonic waves are applied to the pipe 10 for inspection such as wall thickness measurement and internal flaw detection. Note that FIG. 2 shows only the carriage, and the probe PR and the arm AR are not shown.

The wheel support member WS1 rotatably supports the magnet wheel MW1 and connects the magnet wheel MW1 to the platform PF. Similarly, wheel support member WS2 rotatably supports magnet wheel MW2 and connects magnet wheel MW2 to platform PF.

The magnet wheels MW1 and MW2 are wheels made of permanent magnets, and are rotationally driven by a drive source (not shown) such as a motor. The magnet wheels MW1 and MW2 can advance on the outer peripheral surface of the pipe 10 while being attracted to the pipe 10 made of steel or the like.

As shown in FIGS. 1 and 2, when the truck travels in the positive direction of the x-axis, magnet wheel MW1 is the rear wheel and magnet wheel MW2 is the front wheel. Conversely, when the truck travels in the negative direction of the x-axis, the magnet wheel MW1 becomes the front wheel and the magnet wheel MW2 becomes the rear wheel. That is, the magnet wheels MW1 and MW2 can be front wheels or rear wheels depending on the traveling direction of the bogie.

Here, as shown in FIG. 1, an attractive force due to magnetic force acts on the magnet wheels MW1 and MW2 in the negative z-axis direction. Further, as shown in FIG. 1, when the bogie travels in the positive direction of the x-axis, a moment reaction force corresponding to the drive torque of the magnet wheel MW1 acts on the magnet wheel MW2, which is the front wheel, in the positive direction of the z-axis. Therefore, a force obtained by subtracting the reaction force from the attraction force acts on the magnet wheel MW2 in the negative z-axis direction. Therefore, as shown in FIG. 2, the magnet wheel MW2, which is the front wheel, can easily ride on the flange portion 12. As shown in FIG.

On the other hand, a moment reaction force corresponding to the drive torque of the magnet wheel MW2 acts on the magnet wheel MW1, which is the rear wheel, in the negative z-axis direction. Therefore, a force obtained by adding a reaction force to the attraction force acts on the magnet wheel MW1 in the negative z-axis direction. Therefore, as shown in FIG. 2, the magnet wheel MW1, which is the rear wheel, cannot float while being attracted to the body portion 11 of the pipe 10, and cannot run over the flange portion 12. As shown in FIG.

In the example shown in FIG. 2, the magnet wheel MW1, which is the rear wheel, idles while being attached to the main body portion 11 of the pipe 10, and cannot run over the flange portion 12. In the example shown in FIG. Furthermore, if the magnetic force of the permanent magnets forming the magnet wheels MW1 and MW2 (the attraction force shown in FIG. 2) is made relatively small with respect to the driving torque of the magnet wheels MW1 and MW2 (the reaction force shown in FIG. 2), two As indicated by the dashed line, the magnet wheel MW2, which is the front wheel, floats up from the flange portion 12, and the truck rolls backward.

As described above, in the truck according to the comparative example, even if the driving forces of the magnet wheels MW1 and MW2 are adjusted or the magnetic force is changed, when the rear wheels try to get over the flange portion 12 of the pipe 10, the rear wheels The ring cannot float while being attached to the main body 11 of the pipe 10. - 特許庁As a result, the truck according to the comparative example had a problem that it could not climb over the flange portion 12 .
In addition, as a matter of course, in FIG. 2, gravity acts on the truck in the vertical downward direction. In FIG. 2, for example, the z-axis negative direction is the vertically downward direction, but it is not limited to this.

<Configuration of Carriage According to First Embodiment>
Next, the configuration of the truck according to the first embodiment will be described with reference to FIGS. 3 and 4. FIG. FIG. 3 is a perspective view schematically showing the configuration of the truck according to the first embodiment. FIG. 4 is a front view schematically showing the configuration of the truck according to the first embodiment.

As shown in FIG. 3, the truck according to the first embodiment includes a platform PF, a pair of wheel support members WS1 and WS2, and a pair of magnetic wheels MW1 and MW2, similarly to the truck according to the comparative example shown in FIG. It has

Here, in the truck according to the comparative example shown in FIG. 1, the magnet wheels MW1 and MW2 are composed of permanent magnets. On the other hand, in the truck according to the first embodiment, as shown in FIG. 4, the magnet wheels MW1 and MW2 are composed of the permanent magnet members PM made of permanent magnets, and the electromagnet members EM1 and EM1 made of electromagnets. It has EM2. That is, in the truck according to the first embodiment, the magnetic force of the magnet wheels MW1 and MW2 (attractive force to the pipe 10) can be dynamically changed.

The platform PF is a main body of the truck, and is a plate-like member on which a probe for inspecting the pipe from the outside is mounted. The platform PF shown in FIG. 3 is a rectangular plate-like member in an xy plane view, but the shape is not limited as long as the probe can be mounted thereon.
A configuration example of the probe mounted on the cart according to the first embodiment is the same as that of the comparative example shown in FIG. 1, for example.

The wheel support member WS1 rotatably supports the magnet wheel MW1 and connects the magnet wheel MW1 to the platform PF. Similarly, wheel support member WS2 rotatably supports magnet wheel MW2 and connects magnet wheel MW2 to platform PF.

More specifically, as shown in FIG. 3, each of the wheel support members WS1 and WS2 includes a top plate that faces the platform PF and a pair of pillars that rise substantially vertically from both ends of the top plate in the longitudinal direction (y-axis direction). a corner U-shaped member in the yz section with sidewalls.

Since the wheel support members WS1 and WS2 have similar configurations, only the wheel support member WS1 will be described.
A pair of side walls of the wheel support member WS1 rotatably supports both ends of an axle WSF of the magnet wheel MW1.

A top plate of the wheel support member WS1 is rotatably connected to the platform PF about a rotation axis parallel to the z-axis. Therefore, as shown in FIG. 5, the magnet wheels MW1 can also rotate with respect to the platform PF about a rotation axis parallel to the z-axis, and the truck according to the present embodiment can be steered. FIG. 5 is a schematic plan view showing the steering operation of the magnet wheels MW1 and MW2 with respect to the platform PF.

Thus, the truck according to the present embodiment is steerable, and not only can it move forward or backward along the longitudinal direction of the pipe, but it can also spirally move in the circumferential direction of the pipe. Furthermore, although not particularly limited, as shown in FIG. 5, in the bogie according to the present embodiment, the magnet wheels MW1 and MW2 can be steered in the same phase.

The magnet wheels MW1 and MW2 are wheels made of magnets. As shown in FIG. 4, the magnet wheel (first magnet wheel) MW1 includes an axle (wheel shaft) WSF, a permanent magnet member PM, electromagnet members EM1 and EM2, and yoke members Y11, Y12, Y21 and Y22. there is The configuration of the magnet wheel (second magnet wheel) MW2 is also the same as the configuration of the magnet wheel MW1.

That is, in the truck according to the first embodiment, the magnet wheels MW1 and MW2 are provided with the electromagnet members EM1 and EM2, and the magnetic force (attractive force to the pipe 10) of the magnet wheels MW1 and MW2 can be dynamically changed.
Note that only one of the magnet wheels MW1 and MW2 may dynamically change the magnetic force.

As shown in FIG. 4, the magnet wheel MW1 is rotationally driven by a motor (first drive source) MT, and the magnet wheel MW2 is also rotationally driven by the motor (second drive source) MT similarly to the magnet wheel MW1. be done.
Moreover, although not shown, the outer peripheral surfaces of the magnet wheels MW1 and MW2 may be coated with a resin material. The coefficient of friction between the magnet wheels MW1, MW2 and the pipe 10 can be increased. As the resin material, for example, urethane resin is suitable.

Although the details of the configuration of the magnet wheel MW1 will be described below, the configuration of the magnet wheel MW2 is the same.
The permanent magnet member PM is a disc-shaped or ring-shaped member made of a permanent magnet. The permanent magnet member PM may be divided into a plurality of pieces. That is, the permanent magnet member PM may be composed of a plurality of permanent magnets arranged in a disk shape or a ring shape. As shown in FIG. 4, the permanent magnet member PM is provided at the center of the axle WSF of the magnet wheel MW1. Disc-shaped yoke members Y11 and Y21 are provided on both sides of the permanent magnet member PM in the y-axis direction. In this manner, the permanent magnet member PM is held between the yoke members Y11 and Y21, and its magnetic force is enhanced.

The electromagnet member EM1 is composed of an electromagnet with an annular coil. As shown in FIG. 4, the electromagnet member EM1 is provided on the y-axis negative direction side of the permanent magnet member PM via the yoke member Y11. Here, a disk-shaped yoke member Y12 is further provided on the y-axis negative direction side of the electromagnet member EM1. In this manner, the electromagnet member EM1 is held between the yoke members Y11 and Y12, and its magnetic force is enhanced.

The electromagnet member EM2 is composed of an electromagnet with an annular coil. As shown in FIG. 4, the electromagnet member EM2 is provided on the y-axis positive direction side of the permanent magnet member PM via the yoke member Y21. Here, a disc-shaped yoke member Y22 is further provided on the positive y-axis side of the electromagnet member EM2. In this manner, the electromagnet member EM2 is held between the yoke members Y21 and Y22, and its magnetic force is enhanced.

The permanent magnet member PM, the electromagnet members EM1 and EM2, and the yoke members Y11, Y12, Y21, and Y22, which constitute the magnet wheel MW1, are fixed to the axle WSF and rotate together with the axle WSF. As shown in FIG. 4, magnet wheel MW1 is rotationally driven by motor MT via motor shaft gear MG and axle gear WG. Although not particularly limited, in the example shown in FIG. 4, the motor MT is fixed to the side wall of the wheel support member WS1.

Specifically, as shown in FIG. 4, the motor shaft gear MG is fixed to the tip of the rotating shaft of the motor MT penetrating the side wall of the wheel support member WS1, and rotates as the rotating shaft of the motor MT rotates. Rotate. The axle gear WG is provided between the side wall of the wheel support member WS1 on the y-axis positive direction side and the magnet wheel MW1 (that is, the yoke member Y22), and is fixed to the axle WSF. The motor shaft gear MG and the axle gear WG are in mesh with each other, and the rotation of the motor MT is transmitted to the axle WSF via the motor shaft gear MG and the axle gear WG. With such a configuration, the magnet wheel MW1 is rotationally driven by the motor MT.

On the other hand, as shown in FIG. 4, a slip ring SR is provided between the side wall of the wheel support member WS1 on the negative side of the y-axis and the magnet wheel MW1 (that is, the yoke member Y12). The slip ring SR is an electrode member for supplying current to the rotating electromagnet members EM1 and EM2, and includes ring electrodes R1 and R2 and brush electrodes B1 and B2.

As shown in FIG. 4, electrically, the ring electrode R1 is commonly connected to one end of the electromagnet members EM1 and EM2, and the ring electrode R2 is commonly connected to the other ends of the electromagnet members EM1 and EM2. That is, the electromagnet members EM1 and EM2 are connected in parallel between the ring electrodes R1 and R2. The ring electrode R1 mechanically rotates with the electromagnet members EM1, EM2.

The brush electrodes B1 and B2 are fixed, for example, to the wheel support member WS1 (not shown in FIG. 4). When the brush electrode B1 comes into contact with the outer peripheral surface of the rotating ring electrode R1, both are electrically connected. Similarly, when the brush electrode B2 comes into contact with the outer peripheral surface of the rotating ring electrode R2, both are electrically connected.

In the example shown in FIG. 4, current is supplied to the electromagnet members EM1 and EM2 via the brush electrode B2 and the ring electrode R2, and current is discharged from the electromagnet members EM1 and EM2 via the ring electrode R1 and the brush electrode B1. be. Naturally, the direction in which the current flows is appropriately determined. By changing the amount of current supplied to the electromagnet members EM1 and EM2, the magnetic force of the electromagnet members EM1 and EM2 (that is, the magnetic force of the magnet wheel MW1) can be changed.

Here, the operation of the motor MT that drives the magnet wheels MW1 and MW2 and the magnetic force of the electromagnet members EM1 and EM2 are controlled by, for example, a control unit (not shown). The control unit has a function as a computer, for example, a calculation unit such as a CPU (Central Processing Unit), a RAM (Random Access Memory) storing various control programs and data, a ROM (Read Only Memory), etc. and a storage unit for

As shown in FIG. 4, the magnet wheel MW1 can advance on the outer peripheral surface of the pipe 10 while adhering to the pipe 10 made of steel or the like. In FIGS. 3 and 4, when the truck travels in the positive direction of the x-axis, magnet wheel MW1 is the rear wheel and magnet wheel MW2 is the front wheel. On the other hand, in FIGS. 3 and 4, when the truck travels in the negative direction of the x-axis, the magnet wheel MW1 becomes the front wheel and the magnet wheel MW2 becomes the rear wheel. That is, the magnet wheels MW1 and MW2 can be front wheels or rear wheels depending on the traveling direction of the bogie.

In the truck according to the present embodiment, the magnet wheels MW1 and MW2 have the pair of electromagnet members EM1 and EM2 facing each other with the permanent magnet member PM interposed therebetween, but the present invention is not limited to this. For example, in FIG. 4, the permanent magnet member PM may be replaced with an electromagnet member, and the pair of electromagnet members EM1 and EM2 may be replaced with permanent magnet members. Alternatively, only one of the electromagnet members EM1 and EM2 may be provided. Alternatively, the magnet wheels MW1 and MW2 may be composed of only the electromagnet members without the permanent magnet members PM.

Furthermore, as shown in FIG. 4, the bogie according to this embodiment includes a speed sensor RE and a tilt sensor TS.
The speed sensor RE is, but not limited to, a rotary encoder, for example. In the example shown in FIG. 4, the speed sensor RE is rotatably supported by the wheel support member WS1. The speed sensor RE can detect the speed of the trolley by rotating while contacting the pipe 10 .
As shown in FIG. 4, the tilt sensor TS is mounted, for example, on the platform PF, and can detect the tilt angle of the truck.
Note that the speed sensor RE and the tilt sensor TS are not essential.

As described above, in the truck according to the present embodiment, the magnet wheel MW1 includes the electromagnet members EM1 and EM2, and the magnetic force of the magnet wheel MW1 (attractive force to the pipe 10) can be dynamically changed. As shown in FIG. 9, which will be described later, when the magnet wheel MW1 is used as a rear wheel and the rear wheel is about to climb over the flange portion 12 of the pipe 10, the magnetic force of the magnet wheel MW1 is temporarily reduced, and the magnet wheel MW1 is moved to the pipe. 10 is floated from the body portion 11, and the magnet wheel MW1 rides on the flange portion 12. - 特許庁Therefore, the truck according to the present embodiment can climb over the flange portion 12 when traveling with the magnet wheels MW1 as the rear wheels.

Similarly, in the truck according to the present embodiment, the magnet wheel MW2 also includes the electromagnet members EM1 and EM2, and the magnetic force of the magnet wheel MW2 (attractive force to the pipe 10) can be dynamically changed. When the magnet wheel MW2 is used as a rear wheel and the rear wheel is about to get over the flange portion 12 of the pipe 10, the magnetic force of the magnet wheel MW2 is temporarily reduced to float the magnet wheel MW2 from the main body portion 11 of the pipe 10, Magnet wheel MW2 rides on flange portion 12 . Therefore, the truck according to the present embodiment can climb over the flange portion 12 even when traveling with the magnet wheels MW2 as the rear wheels.

<Operation of the cart according to the first embodiment>
Next, operation of the carriage according to the first embodiment will be described with reference to FIGS. 6 to 13. FIG. FIG. 6 is a timing chart for explaining the operation of the truck according to the first embodiment. 7 to 13 are side views schematically showing the attitude of the truck at times t1 to t7 shown in FIG. 6, respectively.

7 to 13 schematically show only the platform PF of the truck, the wheel support members WS1 and WS2, and the magnet wheels MW1 and MW2 for easy understanding. Similar to FIGS. 1 and 2, FIGS. 7 to 9 show the attraction forces and moment reaction forces acting on the magnet wheels MW1 and MW2. On the other hand, in FIGS. 10 to 13, the attraction force and moment reaction force acting on the magnet wheels MW1 and MW2 are omitted.

FIG. 6 is a timing chart in the case where the truck runs at a constant speed in the positive direction of the x-axis with the magnet wheel MW1 as the rear wheel and the magnet wheel MW2 as the front wheel, as shown in FIGS. is.
In FIG. 6, in order from the top, ON/OFF of the electromagnet of the magnet wheel MW1, ON/OFF of the electromagnet of the magnet wheel MW2, the tilt angle θ of the truck (−90°<θ<90°), and the speed of the truck It is shown.

As shown in FIG. 6, the electromagnets of magnet wheels MW1 and MW2 (electromagnet members EM1 and EM2 shown in FIG. 4) are both normally in an ON state. The ON state of the electromagnets of the magnet wheels MW1 and MW2 is a state in which current is supplied to the electromagnet members EM1 and EM2 shown in FIG. On the other hand, the state in which the electromagnets of the magnet wheels MW1 and MW2 are OFF is a state in which the current supply to the electromagnet members EM1 and EM2 shown in FIG. 4 is interrupted.

The inclination angle θ shown in FIG. 6 is the angle of the main surface of the platform PF with respect to the horizontal plane. As shown in FIG. 7, if the main surface of the platform PF is parallel to the horizontal plane, the inclination angle θ=0°. For example, as shown in FIG. 8, when the position of the magnet wheel MW2 is higher than the position of the magnet wheel MW1, the tilt angle θ takes a positive value. Conversely, as shown in FIG. 11, for example, when the position of the magnet wheel MW2 is lower than the position of the magnet wheel MW1, the tilt angle .theta. becomes a negative value.

A detailed description will be given along the timing chart shown in FIG.
First, until time t1 shown in FIG. 7, the truck travels in the positive direction of the x-axis at a constant speed with the inclination angle θ=0°. At time t<b>1 shown in FIG. 7 , the magnet wheel MW<b>2 that is the front wheel comes into contact with the flange portion 12 .

From time t1 shown in FIG. 7 to time t2 shown in FIG. Since it advances in the direction (positive direction of the z-axis), the tilt angle θ gradually increases. At time t2 shown in FIG. 8, the magnet wheel MW2 rides on the flange portion 12 and the inclination angle θ becomes maximum.

From time t2 shown in FIG. 8 to time t3 shown in FIG. The tilt angle θ is maintained because the movement proceeds in the positive direction of the x-axis. At time t3 shown in FIG. 9, the magnet wheel MW1, which is the rear wheel, comes into contact with the flange portion 12. As shown in FIG.
As described with reference to FIG. 2, the magnet wheel MW1 cannot be floated from the main body 11 of the pipe 10 in this state. That is, the carriage stops while the motor MT is driven. Therefore, at time t3, the speed of the truck becomes zero.

In the truck according to the present embodiment, when the truck stops while the motor MT is being driven, it is determined that the magnet wheel MW1 as the rear wheel has come into contact with the flange portion 12 . Then, as shown in FIG. 6, the electromagnet of the magnet wheel MW1, which is the rear wheel, is temporarily turned off from time t3. The OFF state period is, for example, within 1 second. As shown in FIG. 9, when the electromagnet of the magnet wheel MW1 is temporarily turned off, the attracting force of the magnet wheel MW1 is reduced and the magnet wheel MW1 can be floated from the main body 11 of the pipe 10.

From time t3 shown in FIG. 9 to time t4 shown in FIG. 10, the magnet wheel MW1 moves upward (positive direction of the z-axis) on the flange portion 12 while the truck maintains its speed, and the magnet wheel MW2 moves toward the flange portion. 12 in the positive direction of the x-axis, the inclination angle θ gradually decreases. At time t4 shown in FIG. 10, the tilt angle θ=0°.

From time t4 shown in FIG. 10 to time t5 shown in FIG. 11, the magnet wheel MW1 moves on the flange portion 12 in the positive direction of the x-axis while the magnet wheel MW2 moves downward on the flange portion 12 while the truck maintains its speed. direction (negative z-axis direction), the tilt angle θ gradually decreases from 0°. At time t5 shown in FIG. 11, the magnet wheel MW2 comes into contact with the main body 11, and the inclination angle .theta. becomes minimum.

From time t5 shown in FIG. 11 to time t6 shown in FIG. Since it proceeds in the positive direction of the x-axis, the tilt angle θ is kept at a minimum.

From the time t6 shown in FIG. 12 to the time t7 shown in FIG. 13, the magnet wheel MW1 moves downward (z-axis negative direction) on the flange portion 12 while the truck maintains its speed, and the magnet wheel MW2 moves toward the body portion. 11 in the positive direction of the x-axis, the inclination angle .theta. gradually increases, and at time t7 shown in FIG.
After time t7 shown in FIG. 13, the magnet wheels MW1 and MW2 advance on the main body 11 in the positive direction of the x-axis while the truck maintains its speed, and the inclination angle θ is maintained at 0°.

As described above, in the truck according to the present embodiment, when the magnet wheels MW1 are used as the rear wheels to travel, the magnet wheels MW1 come into contact with the flange portion 12, and when the truck stops, the magnets move as shown in FIG. The electromagnet of wheel MW1 is temporarily turned off. As shown in FIG. 9, when the electromagnet of the magnet wheel MW1 is temporarily turned off, the attracting force of the magnet wheel MW1 is reduced, and the magnet wheel MW1, which is the rear wheel, can be floated from the main body 11 of the pipe 10. can. Therefore, the truck according to the present embodiment can climb over the flange portion 12 when traveling with the magnet wheels MW1 as the rear wheels.

Similarly, when the truck according to the present embodiment runs with the magnet wheels MW2 as the rear wheels, the magnet wheels MW2 come into contact with the flange portion 12, and when the truck stops, the electromagnets of the magnet wheels MW2 are temporarily turned off. do. When the electromagnet of the magnet wheel MW2 is temporarily turned off, the attracting force of the magnet wheel MW2 is reduced, and the magnet wheel MW2, which is the rear wheel, can be floated from the main body 11 of the pipe 10. Therefore, the truck according to the present embodiment can climb over the flange portion 12 even when traveling with the magnet wheels MW2 as the rear wheels.

If the attracting force of the magnet wheels MW1 and MW2 can be reduced, the electromagnets of the magnet wheels MW1 and MW2 (the electromagnet members EM1 and EM2 shown in FIG. 4) need not be turned off. For example, instead of cutting off the current supplied to the electromagnet members EM1 and EM2 shown in FIG. 4, the current may be reduced.

The invention made by the present inventor has been specifically described above based on the embodiments, but the present invention is not limited to the embodiments already described, and various modifications can be made without departing from the gist of the invention. It goes without saying that there is.

AR Arms B1, B2 Brush electrodes EM1, EM2 Electromagnet member MG Motor shaft gear MT Motor MW1, MW2 Magnet wheel PF Platform PM Permanent magnet member PR Probes R1, R2 Ring electrode RE Speed sensor SR Slip ring TS Tilt sensor WG Axle gear WS1, WS2 wheel support member WSF axle (wheel shaft)
Y11, Y12, Y21, Y22 Yoke member 10 Piping 11 Main body 12 Flange 13 Connecting member 13a Bolt 13b Nut

Claims (14)

A carriage capable of self-propelled on the surface of a magnetic structure having projections on the surface,
first and second magnet wheels that can be attracted to the magnetic structure;
and first and second drive sources that rotationally drive the first and second magnet wheels, respectively,
The first magnet wheel includes an electromagnet,
When the first magnet wheel is used as a rear wheel and the rear wheel tries to climb over the protrusion, the magnetic force of the first magnet wheel is temporarily reduced, and the first magnet wheel is moved to the magnetic structure. and the first magnet wheel rides on the protrusion,
trolley. the second magnet wheel includes an electromagnet;
When the second magnet wheel is used as the rear wheel and the rear wheel tries to get over the protrusion, the magnetic force of the second magnet wheel is temporarily reduced, and the second magnet wheel is moved to the magnetic structure. and the second magnet wheel rides on the protrusion,
A trolley according to claim 1. The first and second magnet wheels further comprise permanent magnets,
A truck according to claim 2. In the first and second magnet wheels,
The permanent magnet is provided centrally in the axle direction,
A pair of the electromagnets are provided so as to face each other with the permanent magnet interposed therebetween,
A truck according to claim 3. In the first and second magnet wheels,
The electromagnet is provided centrally in the axle direction,
A pair of the permanent magnets are provided so as to face each other across the electromagnet,
A truck according to claim 3. The first and second magnet wheels are coated with a resin material,
A trolley according to claim 1. wherein the resin material is a urethane resin;
A trolley according to claim 6. a probe for inspecting a magnetic structure having projections on its surface from the surface;
An inspection apparatus comprising a carriage on which the probe is mounted and capable of self-propelled on the surface of the magnetic structure,
The truck is
first and second magnet wheels that can be attracted to the magnetic structure;
and first and second drive sources that rotationally drive the first and second magnet wheels, respectively,
The first magnet wheel includes an electromagnet,
When the first magnet wheel is used as a rear wheel and the rear wheel tries to climb over the protrusion, the magnetic force of the first magnet wheel is temporarily reduced, and the first magnet wheel is moved to the magnetic structure. and the first magnet wheel rides on the protrusion,
inspection equipment. the second magnet wheel includes an electromagnet;
When the second magnet wheel is used as the rear wheel and the rear wheel tries to get over the protrusion, the magnetic force of the second magnet wheel is temporarily reduced, and the second magnet wheel is moved to the magnetic structure. and the second magnet wheel rides on the protrusion,
The inspection device according to claim 8. The first and second magnet wheels further comprise permanent magnets,
The inspection device according to claim 9 . In the first and second magnet wheels,
The permanent magnet is provided centrally in the axle direction,
A pair of the electromagnets are provided so as to face each other with the permanent magnet interposed therebetween,
The inspection device according to claim 10. In the first and second magnet wheels,
The electromagnet is provided centrally in the axle direction,
A pair of the permanent magnets are provided so as to face each other across the electromagnet,
The inspection device according to claim 10. The first and second magnet wheels are coated with a resin material,
The inspection device according to claim 8. wherein the resin material is a urethane resin;
The inspection device according to claim 13.

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