JP2905534B2 - Wall adsorption traveling machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial application] The present invention relates to an endless track-type wall adsorbing and traveling machine, and particularly relates to a cylinder or a spherical shape of a petroleum, a chemical plant, a gas tank, a nuclear power plant, a ship or the like. The present invention relates to a wall surface adsorption traveling machine suitable for traveling on a wall surface having a curved surface, a ceiling, or the like.

[Conventional technology]

As a conventional example of a wall suction traveling machine, Japanese Patent Application Laid-Open No. 61-089184
No. 2, which uses linear guide rails for load distribution. FIG. 8 shows the principle of this conventional traveling machine. It comprises a chain 1, a sprocket 2, a permanent magnet 3, and a guide rail 4 for dispersing a load. A mounting shaft 5 of the permanent magnet 3 slides along a groove 6 of the guide rail 4 to disperse the load. ing. FIG. 9 is an AA view of FIG. Mounting shaft 5 is guide rail 4
In the groove 6. The elastic body 7 such as rubber is provided so as to be able to follow the uneven surface of the driven body 9. FIG. 10 shows the distribution of the load 8, and the load acting on each of the permanent magnets 3 is almost evenly distributed by the use of the load distribution guide rails 4. Thereby, even if the attraction force of each permanent magnet is small, a sufficiently large attraction force can be obtained as a whole.

[Problems to be solved by the invention]

The prior art described above has a problem that, when the surface of the driven body is a curved surface such as a cylinder or a spherical surface, the surface cannot follow the curved surface sufficiently, and it is difficult to travel or rotate on the curved surface.

An object of the present invention is to provide an endless track-type wall traveling machine having good trackability without losing the advantage of load distribution.

[Means for solving the problem]

The above object is achieved by the following means: (1) A guide rail for load distribution is divided into a plurality of parts, and each guide rail is connected by a hinge and a pin to change the angle between adjacent guide rails. A pressing means is provided which has a structure and generates a force so that the center guide rail always comes into close contact with the surface of the running body.

(2) Each permanent magnet of each guide rail is supported by a spring such that its relative position is variable toward the surface of the running object.

(3) A rotation axis is a direction perpendicular to the traveling direction of the traveling machine,
The endless track frame is configured to be rotatable with respect to the traveling machine body.

(4) A support point for supporting each of the guide rails other than the center of the divided guide rails is provided at an intermediate point, not at an end of the guide rail.

[Action]

The above means operates as follows: (1) By dividing the load distribution guide rail into a plurality of parts and making the angles mutually variable, each of the guide rails comes into contact with a curved surface.

(2) Further, since the relative positions of the individual permanent magnets are made variable, it is possible to absorb irregularities in the plane in contact with one guide rail.

(3) By making the endless track frame rotatable with respect to the traveling machine body, even when the wall traveling machine is positioned at, for example, 45 degrees with respect to the axis of the cylindrical surface, the four ends of the endless track are provided. Can be in contact with a curved surface, and can be rotated on a cylindrical surface.

(4) By setting the support points of the guide rails other than the center to the inside, the load distribution can be more improved than when the support points are provided at the ends of the guide rails.

〔Example〕

Hereinafter, an embodiment of the present invention will be described. FIG. 1 is a view showing an embodiment of a wall suction traveling machine according to the present invention, which is different from the conventional apparatus shown in FIG.
The center guide rail 11 is divided into three parts, 0 and 12, and a center guide rail 11 which are connected by hinges 13 and 14 and pins connecting the hinges. The point is that a mechanism for generating a force that comes into contact with the surface of the driven body 9 is provided.

The details of this latter mechanism are shown in FIG. 2 as viewed from AA in FIG. The center part guide rail 11 is always moved upward in FIG. 2 by a spring 19 having a support plate 17 fixed to an endless track 16 as a fixed end via a hinge 14 fixed to the guide rail and a tension shaft 18. Being pulled. With such a configuration, the guide rails 10 to 12 are linear when running on a plane, similarly to FIG. 8, but when running on a curved surface, for example, a cylindrical surface, as shown in FIG. , 12 are pulled by a spring 19 to form a C-shape, and the central guide rail 11 is formed by connecting the vertices of the inverted C-shape with a straight line. In this manner, the traveling machine of the present invention can travel with each permanent magnet in contact with the curved surface even on a curved surface.

Further, the permanent magnet 3 has a pressing shaft as shown in FIG.
It is fixed to 24 and supported by a spring 25. By this mechanism, the relative position (the distance from the surface of the driven body) of the permanent magnet 3 in each of the guide rails 10 to 12 is variable, and fine irregularities on the surface of the driven body can be absorbed.

FIG. 3 shows a case where the wall surface suction traveling machine of the present invention is inclined at 45 degrees with respect to the cylindrical axis (vertical axis) on the cylindrical surface of the driven body 9. Such a state appears when the traveling direction of the traveling machine is changed by reversing the left and right endless tracks with each other or rotating only one side. Here, the traveling machine 29 is driven by a motor 27,
It shall be driven via 28. In such a case,
Generally, the three ends of the ends A and B on the cylindrical shaft and one of the ends C and D are in contact with each other, but the remaining one may float. In this case, the endless track on one side floats, and the traveling machine goes straight in this posture due to the rotation of the other endless track that is being sucked, and the traveling direction cannot be changed.

However, the present invention has a structure for keeping the four ends A, B, C, and D in constant contact with each other even in the state shown in FIG. This is achieved by providing an elastic body such as a spring at the connection between the traveling machine body 29 and the frame 16 of the endless track. FIG. 4 shows connecting portions 30, 31, and 32 between the traveling machine body 29 and the frame 16 of the endless track.
The details are shown below. The main body side mounting portion 30 is rotatable around the rotation shaft 34 to the position of the stopper 35, and this rotation and the spring 33 mounted on the endless track side mounting portion 31 and the pressing shaft 32 are performed.
Constitutes a suspension mechanism. When the traveling machine travels on a cylindrical surface (peripheral direction), the guide rails 10 to 12 travel in a trapezoidal shape as shown in FIG. When the state shown in the figure is reached, the endless tracks AD, B
As for C, points A and B are high when viewed from the center O of the traveling machine body 29, and points C and D
Can be symmetrically tilted so as to be lower. As a result, both of the two endless tracks adsorb without floating from the running body surface 9, and can subsequently change the traveling direction.

Next, an embodiment for equalizing the load distribution of the permanent magnets will be described. FIG. 5 shows how the load on the end guide rail 10 in the configuration of FIG. 1 is distributed. Since the load is transmitted to each permanent magnet via a spring, the load is distributed in relation to the reciprocal of the relative stroke. Therefore, as shown in the configuration of FIG. 1, when the support point is placed at the end of the guide rail 10 (the same applies to the guide rail 12), the permanent end of the guide rail 10 as shown by the size of the arrow in FIG. A large load is applied to the magnet, and it works so as to become smaller in order.

FIG. 6 shows an embodiment for equalizing the load, in which a support point 36 of the guide rail 10 is provided at an intermediate portion in a direction along the guide rail. In this case, a large load is applied to the permanent magnet 38 closest to the fulcrum, and the permanent magnet 38 works so as to gradually decrease on both sides. As a result, the load is more evenly distributed in FIG. 6 where the fulcrum 36 is provided in the middle.

FIG. 7 shows a case in which a drive shaft 39 is used in place of the tension shaft 18 of the center guide rail 11. Gear 40 is motor 41
To move the drive shaft 39 in the axial direction. The gap between the permanent magnet in the center guide rail 11 of the gap sensor 42 and the surface of the driven body 9 is detected, and the detected value is amplified by the amplifier 43 and applied to the motor 41. Thus, the drive shaft 39 is moved up and down so that the gap is always constant. According to this method, the followability of the curved surface of the endless track can be improved as compared with the case where the spring 19 shown in FIG.

〔The invention's effect〕

ADVANTAGE OF THE INVENTION According to this invention, in the endless track type wall traveling machine which has the guide rail for load distribution, the following property with respect to a curved surface, such as a cylindrical surface or a spherical surface, can be improved significantly without losing the advantage of load distribution, There is an effect that it is possible to realize a wall traveling machine capable of rotation and the like.

[Brief description of the drawings]

FIG. 1 is a view showing one embodiment of a wall suction traveling machine of the present invention,
FIG. 2 is a view taken along line AA of FIG. 1, FIG. 3 is a view showing a traveling machine on a cylindrical surface, and FIG. 4 is a view showing details of a connecting portion between a traveling machine body and a frame of an endless track. FIG. 5 is an explanatory view of the load distribution of each permanent magnet in the configuration of FIG. 1, FIG. 6 is a view showing an embodiment for equalizing the load of each permanent magnet, and FIG. FIG. 8 to FIG. 10 are views showing a configuration and operation of a conventional wall suction traveling machine. 3 ... permanent magnet, 9 ... driven object, 10, 12 ... end guide rail, 11 ... center guide rail, 13, 14 ... hinge, 15 ... pin, 16 ... endless track frame, 19 ... spring, 29 ...
... Traveler body, 36 ... Support point, 41 ... Motor.

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Shinji Naito 1168 Moriyamacho, Hitachi City, Ibaraki Prefecture Inside Energy Research Laboratory, Hitachi, Ltd. (72) Inventor Hiroshi Kimura 3-2-1 Sachicho, Hitachi City, Hitachi, Hitachi, Hitachi Within Engineering Co., Ltd. (72) Inventor Kimio Kanda 3-2-1, Sachimachi, Hitachi City, Ibaraki Prefecture Within Hitachi Engineering Co., Ltd. (72) Hiroto Uozumi 3-1-1, Sachimachi, Hitachi City, Ibaraki Prefecture Hitachi, Ltd. Inside Hitachi, Ltd. (56) References JP 6-45347 (JP, B2) (58) Field surveyed (Int. Cl. ⁶ , DB name) B62D 55/265 B62D 57/024

Claims (5)

(57) [Claims] 1. A wall suction traveling machine which travels on a surface of an object to be moved by moving an adsorbent to the surface of an object to be moved along guide rails of an endless track attached to both surfaces of a main body. And the adjacent partial guide rails are connected by a hinge attached to each of the adjacent partial guide rails and a pin connecting each of the hinges, so that the angle between the adjacent partial guide rails is variable, A wall suction traveling machine characterized by comprising a mechanism for pressing a central portion guide rail located at the center of an endless track against a surface of a traveling body. 2. The wall suction traveling machine according to claim 1, wherein the main body and the endless track are connected by a rotatable mechanism capable of rotating the endless track inside the side surface of the main body. 3. A wall suction traveling according to claim 1, wherein a support point of an end guide rail located at an end of an endless track among said partial guide rails is provided at an intermediate portion of said guide rail. Machine. 4. The wall suction traveling machine according to claim 1, wherein the pressing mechanism is a spring mechanism provided between a frame of an endless track and the central portion guide rail. 5. A pressing mechanism comprising: a sensor for detecting a distance between the central guide rail and a surface of the object to be moved; and a pressing mechanism for moving the central guide rail in a direction perpendicular to the surface of the object to be driven according to the distance detected by the sensor. The wall suction traveling machine according to claim 1, wherein the traveling mechanism is a driving mechanism for moving.