JP7397424B2 - A floating moving body and a stirring device equipped with this moving body. - Google Patents

Description

The present invention relates to a moving body floating in a liquid or gas, and further relates to a stirring device equipped with this moving body.

BACKGROUND ART Various technologies have been proposed for a mobile object that floats and moves in a liquid or a gas because it is expected to be used in a wide range of applications. For example, this applies to floating and mobile technologies related to submarines, deep-sea probes, balloons, and airships. In order to obtain power for movement in these moving bodies, it is common to include a movable part such as a propeller provided on the outside. With this configuration, friction and wear occur between the movable parts and stationary parts such as bearings and seals that come into contact with them, and this friction and wear may cause deterioration of the sealing and generation of wear powder. The deterioration of the sealing may have an effect on the external environment on the moving body, and the generation of abrasion powder may conversely have an effect on the external environment.

Having the characteristic of not being affected by or having no effect on the external environment of the moving object may further expand the range of uses of floating moving objects. For example, in stirring and mixing in the production of pharmaceuticals, biotechnology, fine chemicals, etc., where it is required to prevent the contamination of foreign substances, high-quality production can be achieved by using a floating moving body that takes advantage of this feature as an agitator. (See Patent Document 1).

On the other hand, it can be used as a traveling device for robots that work in confined spaces, robots that work in clean rooms or underwater where safety and airtightness are high requirements, and personal robots with high mobility that can coexist with people at home. , a technique for a mobile body having a sealed outer shell has been proposed (see Patent Documents 2 and 3).

JP2007-020387 JP 07-285475 Utility model registration No. 3116275

However, the technology of the non-contact stirring device disclosed in Patent Document 1 places a power source outside the stirring tank, and uses a bulk superconductor to magnetically levitate and rotate the stirring blades inside the tank. , although the expected effects were achieved, there was a possibility that the materials, equipment, etc. would be complicated.

In addition, the technology of a moving body having a sealed outer shell disclosed in Patent Documents 2 and 3 is such that the center of gravity of the moving body itself is moved by providing a moving body independent of the outer shell inside the sealed container. , which uses rocking motion to obtain propulsive force, and cannot be said to be efficient for floating movement in liquid or gas.

The present invention has been made in view of these circumstances in the background, and an object of the present invention is to provide a moving body floating in a liquid or a gas, and furthermore, a stirring device equipped with this moving body.

The present invention is a moving object that moves while floating in liquid or gas. One aspect of the present invention includes a cylindrical or spherical rotating shell that is watertight in a liquid or airtight in a gas, and a rotation control device housed within the rotating shell. The rotation control device includes a rotation shaft of the rotary shell extending in an axial direction of the cylinder or an axial direction passing through the center of the sphere, and a drive unit that rotates the rotary shaft, The rotation control device is supported by the rotating shaft.

The above configuration was created by focusing on the moment of inertia, which is an indicator of the difficulty of turning. For example, if we consider a motorboat equipped with one propeller, the moment of inertia of the hull is extremely large compared to the propeller. In addition, in order to rotate the hull, water resistance is also applied, which further increases the difficulty of turning the hull. Therefore, even when the screw is rotated, the hull does not rotate, and the propellant is obtained by the propeller's blades pushing against the water.

This configuration applies this idea to a rotating shell that serves as a watertight/airtight container, and a rotation control device that connects this rotating shell to the rotating shaft only, reducing the moment of inertia (difficulty of turning) and angular kinetic energy of both. The difference allows the rotating shell (outer shell) to rotate at a higher rate in absolute coordinates than the rotation control device (inside).

With this configuration, the only part of the floating mobile body that is exposed to the outside environment is the rotating shell (outer shell), and environmental resistance can be easily provided by simply selecting the material for the outer shell. The rotation of the rotating shell causes friction with the liquid or gas in the external environment, and can generate propulsive force or stirring force.

Furthermore, with this configuration, there is no friction or wear between the moving parts and stationary parts such as bearings or seals that come into contact with them, eliminating the risk of sealing deterioration due to friction or wear or the generation of wear debris. be able to. That is, it is possible to eliminate the negative influence of the external environment on the movable body due to the deterioration of the sealing, and the negative influence on the external environment due to the generation of abrasion powder.

In the movable body of the aspect, the weight of the rotating shell and the rotation control device and the rotating shaft are determined depending on the rotation speed of the rotating shaft and the resistance force between the rotating shell and the liquid or gas when rotated. The configuration may be such that the moment of inertia around the rotation axis is set by adjusting the shape of the surroundings.

As described above, the rotation control device (the internal drive unit) and the rotating shell that rotate with each other may have different rotation speeds and different rotation directions in the absolute coordinate system. Here, the "rotation speed" and "rotation direction" are determined by 1) the resistance between the rotating shell and the surrounding fluid, 2) the driving force of the motor, and 3) the rotation axis of the rotating shell and the rotation control device. The moment of inertia around According to this configuration, depending on the environment in which the floating moving object is used and the required rotation speed, it is possible to increase the mass by attaching a weight to either the rotating shell or the rotation control device, or to increase the weight This can be done by changing the location of the equipment around the rotation axis, or by changing the external shape.

In the movable body of the above aspect, a plurality of blades may be arranged on the outer shell of the rotary shell so as to be symmetrically positioned with respect to the rotation axis.

Friction between the rotating shell and the surrounding fluid alone cannot provide much propulsive force for movement. According to this configuration, the moving or stirring performance is improved by adding blades to the rotating shell. The blades may be attached to the outside, upper or lower side of the rotating shell. For example, it is also possible to add external blades by attaching radial turbine-like blades above or below the rotating shell. Also, by installing the blades in symmetrical positions, the rotating body can be balanced.

In the movable body of the above aspect, a working gas may be sealed in the rotating shell so that the movable body has buoyancy depending on the liquid or gas in which the movable body floats. .

With this configuration, the type and amount of working gas to be injected into the rotating shell is determined based on the mass of the floating object and the density of the gas or liquid in the external environment. A desired floating state can be achieved even when there is no floating state. According to this configuration, the floating moving body can be retained in the gas or liquid, so that energy consumption for power propulsion can be saved. Furthermore, if there is a flow in the gas or liquid, floating movement can be carried out along with the flow.

In addition, when the floating moving body according to this configuration is used in a liquid, an inert gas that does not react with the liquid even if it leaks or a gas that does not dissolve can be used. Furthermore, a gas with a large molecular weight may be used as the working gas to be sealed in order to improve the sealing effect.

In the moving body according to the above aspect, the rotation control device includes a control section that controls driving of the drive section, a reception section that receives a signal to the control section, and a power supply to the control section and the reception section. and a power supply unit for supplying the rotary shell, and may be configured to drive the drive unit based on the signal transmitted from outside the rotating shell.

According to this configuration, the rotation of the floating mobile body can be controlled by wireless communication from the outside. By controlling the rotational drive, movements such as movement and position maintenance of the floating moving body can be realized. As for the power supply part, it is possible to mount a normal secondary battery or the like, or it is possible to generate electricity by installing solar cells on the surface of the rotating shell or on the outer surface of the rotation control device when the rotating shell is transparent. It may also be in the form of supply.

In the movable body of the above aspect, the power supply unit may be configured to be supplied with electric power from outside the rotating shell in a non-contact manner.

This configuration is so-called wireless power transmission, and it is possible to extend the replacement period for replacement parts such as batteries that need to be replaced according to consumption, making it nearly maintenance-free. There are no particular limitations on the method of wireless power transmission, and it may be a non-radiative type such as magnetic coupling, electric field coupling, or evanescent wave type, or a radiation type such as laser, microwave, or ultrasonic type. , which may be selected depending on the environment in which the floating mobile object is used. Alternatively, a solar cell may be disposed on the outer surface of the rotating shell to irradiate light from the outside to generate electric power.

In the mobile body according to the above aspect, the rotation control device includes a measuring device that measures acceleration of the mobile body, geomagnetism, temperature, humidity, and atmospheric pressure inside the rotating shell, and transmits data acquired by the measuring device to the rotating shell. and a transmitter for transmitting data to the outside.

According to this configuration, the next state of the floating mobile object can be confirmed. That is, regarding the acceleration of a moving body, the rotation speed can be calculated from the analysis result, and the position in the liquid or gas can be calculated as the calculation result by integrating the initial position coordinates and the acceleration. Earth's magnetic field allows us to estimate our own position. Although there is some time lag, changes in the ambient temperature can be obtained from the temperature inside the rotating shell. The humidity and air pressure inside the rotating shell can be used to determine the watertightness and airtightness of the floating object. These physical quantities can be used for control feedback amounts, transmission of alert information, external environmental conditions, and the like. Note that data reception and transmission may be by radio waves or visible light communication, and is not particularly limited.

The movable body of the above aspect may be a stirring device disposed in a container filled with the liquid.

In this configuration, the floating moving body is applied as a stirring device. Stirring in the production of pharmaceuticals, biotechnology, fine chemicals, etc. requires uniform dispersion and mixing of multiple types of gases, fluids, and solids. There is also a need to prevent contamination of foreign matter during stirring as much as possible. Unlike the conventional stirring device, the floating moving body according to the present configuration can stir freely while floating in the stirring tank, so that it becomes easy to uniformly disperse and mix the objects to be stirred in the tank.

In addition, with this configuration, there is no friction or wear between the moving parts and stationary parts such as bearings or seals that come into contact with them, eliminating the risk of sealing deterioration or generation of wear debris due to friction and wear. can do. Therefore, it is possible to eliminate the negative influence of the external environment on the movable body due to the deterioration of the sealing, and the negative influence on the external environment due to the generation of abrasion powder. In addition, floating objects can float independently, so no matter what kind of container (stirring tank) it is, the liquid inside the container can be stirred by inserting the moving object itself into the container. I can do it.

In the stirring device of the above aspect, the rotation control device includes a first magnet,
A second magnet may be disposed outside the container so as to correspond to the first magnet, and the buoyancy may be adjusted by a repulsive force or an attractive force between the first magnet and the second magnet. .

According to this configuration, by providing magnets outside the container that becomes the stirring tank and in the rotation control device, it is possible to maintain the position of the floating moving body in gas or liquid, and to maintain the position of the floating moving body in the gas or liquid. It is possible to prevent contact with the device or move it from the outside to a predetermined position. Note that the relationship between the relative magnetic poles attached, that is, whether they are of the same polarity (repulsion) or of different polarity (attraction), can be set as appropriate depending on the purpose described above and the specifications of the moving body itself. . The placement location of each magnet can also be set as appropriate, such as on the bottom, top, side, etc., depending on the requirements for floating movement. Further, as for the magnet, either a permanent magnet or an electromagnet can be used.

The present invention can provide a moving body floating in a liquid or a gas, and further a stirring device equipped with this moving body.

FIG. 1 is an overall explanatory view showing a side cross section of a floating moving body according to an embodiment of the present invention. FIG. 3 is an explanatory diagram showing the operation of a floating moving body within a container according to an embodiment of the present invention. FIG. 2 is an explanatory diagram of the operating principle of the present invention. 1 is an example of a blade shape according to an embodiment of the present invention. 1 is an example of a moving mechanism according to an embodiment of the present invention. 1 is an example of a moving mechanism according to an embodiment of the present invention. It is an example of installation of the magnet concerning one embodiment of the present invention. 1 is an example of power transmission according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of a moving body floating in a liquid or gas according to the present invention and a stirring device equipped with this moving body will be described with reference to the drawings. In the following description, structures with the same reference numerals in different drawings are assumed to be the same, and the description thereof may be omitted.

A moving body that moves while floating in a liquid or gas, which is an embodiment of the present invention, includes a cylindrical or spherical rotating shell that is watertight in a liquid or airtight in a gas, and a rotating shell that is watertight in a liquid or airtight in a gas. a rotation control device housed within the shell, the rotation control device extending in the axial direction of the cylinder or in the axial direction passing through the center of the sphere; and a drive unit that rotates a shaft, and any specific embodiment may be used as long as the rotary shell and the rotation control device are supported by the rotary shaft. .

(Explanation of overall configuration)
First, one embodiment of the present invention will be described with reference to FIGS. 1 and 2. FIG. 1 is an overall explanatory diagram showing a side cross section of a floating moving body according to an embodiment of the present invention. FIG. 2 is an explanatory diagram showing the operation of a floating moving body within a container according to an embodiment of the present invention. In the following explanation, we will explain the case where the moving object is placed inside a container filled with liquid, but it goes without saying that the moving object itself is not limited to being used inside the container, and it can be used underwater or in the air. can also be applied.

Referring to FIGS. 1 and 2, the present embodiment is a moving body 1 that moves while floating in a liquid 6 in a container 5. The moving body 1 includes a watertight cylindrical rotating shell 100 and a rotation control device 200 housed within the rotating shell 100. The rotation control device 200 includes a rotation shaft 212 extending in the axial direction of the cylindrical rotation shell 100 and a drive unit 210 that rotates the rotation shaft 212. The rotating shell 100 and the rotation control device 200 are mounted on a rotating shaft 212.

The rotating shell 100 is a sealed container that is watertight in liquid or airtight in gas. The rotating shell 100 can be made of any suitable material that is not affected by the external environment, and may be made of metal or resin. Materials can also be selected to allow radio waves or light to easily pass through the rotating shell 100 into and out of it for external communication and power transmission.

The size of the rotating shell 100 is set in order to adjust the buoyancy of the moving body 1 depending on the environment in which it is used, and a working gas depending on the external environment can be sealed inside the rotating shell 100.

A plurality of blades 110 are provided on the cylindrical side surface of the rotating shell 100. The blades 110 can stir the surrounding fluid as the rotating shell 100 rotates. Moreover, by making the blade 110 tilt in the machine axis direction, a propulsive force upward or downward in the machine axis direction can be obtained. The position of the blade 110 is not limited to being placed on the side surface of the cylinder, but may also be placed on the top surface, bottom surface, etc. Further, the blade 110 can be provided with an actuator to form a movable blade that can be tilted or folded. As this actuator, for example, a shape memory alloy can be disposed within the blade 110 and driven by a command from the rotation control device 200.

The rotation control device 200 includes the above-described drive section 210, control section 220, reception/transmission section 230, measurement section 240, and power supply section 250 mounted on the frame 201. Further, a first magnet 50 is provided on the lower surface of the frame 201, and a sensor 242 is provided on the side surface.

The drive unit 210 is an electric motor and includes a rotating shaft 212 serving as a rotor, a bearing 215 that pivotally supports the rotating shaft 212, and a stator 216. The drive unit 210 rotates the rotating shaft 212 and the rotating shell 100 mounted on the rotating shaft 212 by supplying electric power.

A joint 214 is provided between the rotating shell 100 of the rotating shaft 212 and the stator 216. The joint 214 can be a universal joint or the like, and is configured to be able to transmit power to the rotating shell 100 even if the rotating axis of the rotation control device 200 is inclined with respect to the rotating axis of the rotating shell 100. Alternatively, an actuator may be added to the joint 214 to manipulate the inclination. As this actuator, for example, a shape memory alloy can be disposed within the joint 214 and driven by a command from the rotation control device 200.

The control unit 220 supplies power to control the rotation of the drive unit 210. Further, the control unit 220 drives the blades 110 and the joint 214 when the blades are movable. Further, by movably disposing a balance weight (not shown) on the frame 201 and manipulating the position of the balance weight, the posture of the moving body 1 can be stabilized.

The control unit 220 is composed of a microcomputer, and includes a processor CPU that performs calculations, a ROM that stores control programs and various data lists, tables, and maps, and a RAM that temporarily stores calculation results by the CPU. The control unit 220 includes a nonvolatile memory, and stores data necessary for control in the next driving cycle in the nonvolatile memory. The nonvolatile memory can be configured with an EEPROM that is a rewritable ROM, or a RAM with a backup function that maintains memory by being supplied with a holding current even when the vehicle is powered off.

The reception/transmission unit 230 receives commands such as start/stop/speed of rotation, movement, and attitude of the moving body 1 transmitted from the outside as signals, and also receives commands such as the power supply status of the drive unit 210 and other measurement data from the sensor 242. etc. as a signal. The transmission method and reception method are not particularly limited, and radio waves, visible light, infrared light, ultrasonic waves, etc. can be applied.

Further, the receiving/transmitting unit 230 may be a receiving side of power from the power transmission device 10 shown in FIG. 2 . The method of wireless power transmission is not particularly limited, and non-radiative types such as magnetic coupling, electrolytic coupling, and evanescent wave type, and radiation type such as laser, microwave, and ultrasonic types can be selected as appropriate.

The measurement unit 240 transmits data acquired by the plurality of sensors 242 that measure the acceleration of the moving body 1, geomagnetism, temperature, humidity, atmospheric pressure, etc. inside the rotating shell 100 to the outside of the rotating shell 100 via the receiving/transmitting unit 230. Send. As described above, with respect to the acceleration of a moving object, the rotational speed can be calculated from the analysis result, and the position in the liquid or gas can be calculated as the calculation result by integrating the initial position coordinates and the acceleration. Earth's magnetic field allows us to estimate our own position. Although there is some time lag, changes in the ambient temperature can be obtained from the temperature inside the rotating shell. The humidity and air pressure inside the rotating shell can be used to determine the watertightness and airtightness of the floating object. These physical quantities can be used for control feedback amounts, transmission of alert information, external environmental conditions, and the like.

The power supply section 250 uses secondary batteries (storage batteries, rechargeable batteries) such as lead acid batteries, nickel cadmium storage batteries, metal lithium batteries, lithium ion secondary batteries, lithium ion polymer secondary batteries, and sodium ion batteries, fuel cells, and solar cells. It can be applied and is not particularly limited. A configuration may also be adopted in which power is directly supplied by wireless power transmission from the outside.

The first magnet 50 maintains the position of the floating movable body by attraction or repulsion (MF1) with the second magnet 60 disposed in the container 5 shown in FIG. It is possible to prevent contact with the object or move it from the outside to a predetermined position. The relative magnetic polar relationship between the first magnet 50 and the second magnet 60, that is, whether they are of the same polarity (repulsion) or of different polarity (attraction), is determined as appropriate depending on the purpose described above and the specifications of the moving body itself. Can be set. Furthermore, the strength of the magnetic force may also be variable so that multiple objectives can be achieved. There are no particular limitations on the type of magnet, and either permanent magnets or electromagnets can be used.

The container 5 is filled with a liquid 6. Taking a stirring tank as an example, the container 5 is the stirring tank, and the liquid 6 corresponds to the object to be stirred. The materials to be stirred are materials used in the production of pharmaceuticals, biotechnology, fine chemicals, etc., and include multiple types of gases, liquids, and granular materials.

Referring to FIG. 2, the movable body 1 is floating in a container 5 filled with liquid 6, and by operating the drive unit 216 in the rotation control device 200, the movable body 1 rotates about the axis Z. Rotation R is performed as an axis.

In manufacturing the movable body 1, the rotation control device 200 is enclosed within the rotary shell 100, but for example, the upper part of the rotary shell 100 in FIG. 1 may be made into a lid shape so that it can be removed as appropriate. Further, a cap-shaped gas enclosure may be provided in a part of the rotating shell 100, and there is no particular limitation.

(Explanation of operating principle)
The rotation R will be explained below mainly with reference to FIG. 3. FIG. 3 is an explanatory diagram of the operating principle of the present invention. Referring to FIG. 3, in order to simplify the explanation, (a) assumes that the rotation control device 200 is a cylinder, and (b) assumes that the rotating shell 100 is a cylinder. In Figure 3 and the following equations, the respective symbols are: I: moment of inertia, Z: axis of rotation, a: outer diameter, M: mass, F: resistance due to viscosity, w: angular velocity, K: kinetic energy, f: It is the energy increase of the rotating shell 100 caused by F, and also represents the subscripts 1: rotation control device 200, 2: rotating shell 100, and z: rotation axis.

Here, the moment of inertia of the rotation control device 200 (subscript 1) around the Z axis is:
I _1Z = 1/2 x M ₁ x a ₁ ²
The kinetic energy around the Z axis of the rotation control device 200 (subscript 1) is expressed as
K ₁ = 1/2 x I _1Z x w ₁ ²
It is expressed as

Next, the moment of inertia of the rotating shell 100 (subscript 2) around the Z axis is:
I _2Z = M ₂ ×a ₂ ²
The kinetic energy around the Z axis of the rotating shell 100 (subscript 2) is
K ₂ = 1/2 x I _2Z x w ₂ ²
It is expressed as

Here, if I _1Z and I _2Z are set so that I _1Z >> I _2Z , then K ₁ >> K ₂ . This relationship means that the rotating shell 100 (subscript 2) rotates relatively faster than the rotation control device 200 (subscript 1) around the Z-axis of the stationary coordinate system.

Furthermore, when the floating moving body 1 is in a rotating state in a fluid (gas or liquid), there is a resistance due to the viscosity of the fluid and the outer surface of the cylinder or sphere of the rotating shell 100 (subscript 2) or the added blades. occurs.

The energy generated by this resistance acts to apparently increase the kinetic energy of the rotating shell 100 (subscript 2). In this case, for example, by increasing M1 by mounting a weight or suppressing the rotation of the object 1 from the outside so that the following inequality holds true, the following relationship is established: The required outer shell rotation can be obtained.
K ₁ >> K ₂ +f(F)

As explained above, the rotation control device 200 (actuating section inside) and the rotating shell 100 that rotate with each other have different rotational speeds in the absolute coordinate system, and may have different rotational directions. As shown in FIG. 3(c) with respect to the absolute coordinate system, the moving body 1 can be rotated at an angular velocity w3 with a resistance force F due to viscosity being applied.

Here, the factors that determine the "rotation speed" and "rotation direction" are listed again: 1) resistance between the rotating shell and the surrounding fluid, 2) driving force of the motor, 3) rotation of the rotating shell and the rotation control device. The moment of inertia around the axis is. That is, depending on the environment in which the floating mobile body 1 is used and the required rotation speed, it is possible to attach a weight to either the rotating shell 100 or the rotation control device 200 to increase the mass, or to increase the mass of the rotating shell 100 or the rotation control device 200. changing the arrangement of mounted equipment around the rotation axis, adjusting the repulsion of opposing magnets disposed in the rotating shell 100 and the rotation control device 200, and changing the shape of the blades. You can respond with

(Other examples of blade shapes)
Although FIGS. 1 and 2 illustrate an embodiment in which the blades 110 protrude from the outer peripheral surface of the cylindrical rotating shell 100, the shape of the blades is not limited to this type. FIG. 4 shows another example of the blade shape according to an embodiment of the present invention.

The blade 111 shown in FIG. 4 is a so-called centrifugal impeller, and when the blade 111 is given a rotation R, the surrounding fluid (gas or liquid) flows into the inside from the inlet port IN as shown in (a). do. Then, as shown in FIG. 4(b), by expanding the blade chamber from the center of rotation toward the outer periphery, a centrifugal flow in the radial direction from the inlet IN to the outlet OUT is generated.

If the flow paths in the centrifugal direction have the same shape, the flow at the outlet OUT will be a substantially uniform flow rate, and the flow will be directed toward the inner wall surface of the container 5 in FIG. can be avoided. In addition, the shape of this centrifugal impeller makes it easier to adjust the moment of inertia since the viscous resistance force due to the surrounding fluid is lower due to the shorter moment length than the blades protruding from the rotating shell 100.

(Example of attitude change and steering)
Next, examples of posture change and steering will be described with reference to FIGS. 5 to 7. FIG. 5 is an example of a moving mechanism according to an embodiment of the present invention. FIG. 6 is an example of a moving mechanism according to an embodiment of the present invention. FIG. 7 is an example of installing magnets according to an embodiment of the present invention.

Referring to FIG. 5, an actuator is added to a joint 214 provided between the rotating shell 100 of the rotating shaft 212 and the stator 216 to manipulate the inclination. As this actuator, for example, a shape memory alloy can be disposed within the joint 214 and driven by a command from the rotation control device 200. With such a configuration, power can be transmitted to the rotating shell 100 even if the rotation axis of the rotation control device 200 has an inclination.

When the joint 214 is tilted, the relative positional relationship between the rotation control device 200 and the rotating shell 100 changes, and the movable body 1 starts a whirling motion about a new rotation axis AR. Considering the mass distribution, the mass of the rotation control device 200 becomes dominant, so the center of gravity CG of the moving body 1 moves from the center to the left in FIG. 5. The propulsive force by the blades 110 acts in a direction along the rotation axis AR in FIG. 5, and the movable body 1 can change its attitude and move within the container 5 by swinging around due to the position of the center of gravity CG.

Next, referring to FIG. 6, for example, a movable weight (not shown) is placed on the bottom surface of the frame 201 shown in FIG. 1, and by moving this weight, the position of the center of gravity CG changes, and as shown in FIG. A similar effect can be realized. Although the means for moving the weight is not particularly limited, for example, a pendulum-shaped weight arranged in the machine axis direction with a configuration similar to that shown in FIG. 5 can be moved by an actuator.

Next, referring to FIG. 7, a second magnet 62 is disposed on the outer surface of the container 5, and a first magnet 52 corresponding to the second magnet 62 is disposed on the outer surface of the rotation control device 200. .

The first magnet 52 maintains the position of the floating moving body, prevents it from contacting the side wall of the stirring tank, and moves it to a predetermined position from the outside by attraction or repulsion with the second magnet 62. be able to. The relative magnetic polar relationship between the first magnet 52 and the second magnet 62, that is, whether they are of the same polarity (repulsion) or of different polarity (attraction), is determined as appropriate depending on the above-mentioned purpose and the specifications of the moving body itself. Can be set. Furthermore, the strength of the magnetic force may also be variable so that multiple objectives can be achieved.

As explained in FIGS. 5, 6, and 7, by changing the posture, steering, and moving the moving body 1, the stirring device realizes uniform mixing and stirring of the materials to be mixed in the stirring tank. be able to.

(Example of wireless power transfer)
An example of wireless power transmission using light will be described with reference to FIG. 8. FIG. 8 is an example of power transmission according to an embodiment of the present invention.

Referring to FIG. 8, a solar cell 120 is disposed on the surface of the rotating shell of the moving body 1. The container 5 is made of a material that can transmit light, and the outside of the container 5 is provided with a light 15. The light emitted by the lighting 15 reaches the solar cell 120 and generates electricity. Power can be stored in the power supply unit 250 via the rotating shaft 212 and further via a slip ring (not shown).

According to this configuration, for example, when the mobile body 1 is floated in a gas, energy can be supplied using sunlight.

As described above, the present invention can provide a moving body floating in a liquid or a gas, and furthermore, a stirring device equipped with this moving body.

1... Moving body 5... Container 6... Liquid 10... Power transmission device 15... Lighting 50, 52... First magnet 60, 62... Second magnet 100... Rotating shell 110...Blade 200...Rotation control device 201...Frame body 210...Drive section 214...Joint 215...Bearing 216...Stator 220...Control section 230. ...Reception and transmission section 240...Measurement section 242...Sensor 250...Power supply section

Claims (8)

a cylindrical or spherical rotating shell that is watertight in a liquid or airtight in a gas;
a rotation control device housed within the rotating shell;
The rotation control device is
a rotation axis of the rotating shell extending in the axial direction of the cylinder or in the axial direction passing through the center of the sphere;
a drive unit that rotates the rotating shaft;
The rotating shell and the rotation control device are supported by the rotating shaft,
A moving object that floats in liquid or gas. Adjusting the weight and shape of the rotating shell and the rotation control device around the rotating shaft according to the rotational speed of the rotating shaft and the resistance force between the rotating shell and the liquid or gas when rotated. The moving body according to claim 1, wherein a moment of inertia about the rotation axis is set. The moving body according to claim 1 or 2, wherein a plurality of blades are arranged on the outer shell of the rotating shell so as to be symmetrically positioned with respect to the rotation axis. Any one of claims 1 to 3, wherein a working gas is sealed in the rotating shell so that the moving body has buoyancy depending on the liquid or gas in which the moving body floats. The mobile object according to item 1. The rotation control device,
a control unit that controls driving of the drive unit;
a receiving unit that receives a signal to the control unit;
comprising a power supply unit that supplies power to the control unit and the reception unit,
The moving body according to any one of claims 1 to 4, wherein the drive unit is driven based on the signal transmitted from outside the rotating shell. The movable body according to claim 5, wherein electric power is supplied to the power supply unit from outside the rotating shell in a non-contact manner. a measurement device in which the rotation control device measures acceleration of the moving body, geomagnetism, temperature, humidity, and atmospheric pressure in the rotating shell;
The moving object according to any one of claims 1 to 6, further comprising a transmitter that transmits data acquired by the measuring device to outside the rotating shell. A stirring device, wherein the moving body according to claim 1 is placed in a container filled with the liquid.