JPH0354068A - Magnetic attraction running truck - Google Patents

Abstract

PURPOSE:To provide a magnetic attraction running truck which has simplified structure and excellent running ability by a method wherein a number of endless chainform magnetic sheets are rotatably wound around a truck frame, and a plurality of electromagnets are mounted on the truck frame at a pitch different from that of the magnetic sheet and with a given distance therebetween. CONSTITUTION:A number of endless chainform magnetic sheets 3 are relatively movably wound through a conveyor chain 2 around the outer periphery of a truck frame 1 on which a necessary base material, e.g. camera, sensors, is loaded, and a plurality of electromagnets 4 are secured to the truck frame 1. The tip of a core 5 of the electromagnet 4 is positioned facing the magnetic sheet 3, positioned on the earthing side, with a given distance therebetween. The tips of the cores are mounted on the frame 1 at a pitch different from that of the magnetic sheet 3 with a given distance therebetween, and the adjoining cores 5 are magnetically interconnected through a coupling part 6. By feeding an alternating given exiting current to each electromagnet 4, the magnetic pole of the electromagnet 4 train is orderly changed and the magnetic sheet 3 is pulled around as it is attracted on a running surface S.

Description

Detailed Description of the Invention (Industrial Field of Application) The present invention is designed to magnetically adsorb onto the surface of a steel structure such as a steel frame of a building, a tank, or a bridge by mounting a simple robot, sensor, camera, etc. This relates to a trolley that travels while moving.

(Prior Art) Conventionally, when working on a structure at a height, it is necessary to construct scaffolding each time, and the work requires skill, so there is a problem in that it takes a lot of time and money.

(Problem M to be solved by the invention) Therefore, the present invention is equipped with a simple robot, sensor, camera, etc. necessary for work in dangerous places such as work at heights, and moves easily to the destination. Our goal is to provide a traveling trolley that can do this.

(Means for Solving the Problems) In the present invention, in order to solve the above problems, a frame 1 on which required equipment is mounted has a large number of magnetic pole plates 3 arranged in an endless chain.
A plurality of electromagnets 4 are attached to the frame 1 at predetermined intervals at a pitch different from that of the magnetic pole plates 3, and the tip surfaces of the iron cores 5 of these electromagnets 4 are located on the ground plane side. A plurality of magnetic pole plates 3 are arranged to face each other at a predetermined interval, and each iron core 5 is magnetically connected to each other on the side opposite to the magnetic pole plates 3, and these electromagnets 4 are alternately energized by a predetermined excitation via a controller 8. By supplying an electric current, the magnetic poles of the four rows of electromagnets were sequentially changed, and the magnetic pole plate 3 was drawn around while being attracted to the running surface S, thereby constructing a magnetically attracted traveling trolley.

(Function) In the magnetic adsorption traveling trolley 10 of the present invention, each electromagnet 4
The magnetic circuit M is constructed as follows: "iron core 5, gap G, magnetic pole plate 3, running surface S, magnetic pole plate 3, gap G, iron core 5".

The gap G between the tip of the iron core 5 and the magnetic pole plate 3 has the minimum magnetic resistance and prevents interference between the iron core 5 and the magnetic pole plate 3. Since the magnetic circuit M has a tendency to become shorter, an attractive force is generated between the magnetic pole plate 3 and the running surface S, so that no gap G is created. Moreover, since the magnetic circuit M as a whole tends to become shorter, an attractive force is also generated between the iron core 5 and the running surface S.

Therefore, the truck 10 is attracted to the running surface S. The traveling body S forms a part of the magnetic circuit M. At the tip of the iron core 5 of each electromagnet 4, either an N pole, a S pole, or a non-excited state is created. The excitation state of each electromagnet 4 changes depending on the excitation current, and the excitation current is freely changed by the controller 8 to control forward movement, backward movement, and stoppage. When the excitation current is continuously alternated, the tip of each iron core 5 switches between N pole, S pole, and non-excitation, thereby moving the magnetic pole plates 3 differentially. That is, as the position of the non-excited iron core 5 moves, the magnetic pole plate 3 continuously moves relative to the iron core 5 in an attempt to form a magnetic circuit M with the lowest magnetic resistance at that time.

However, since the magnetic pole plate 3 is attracted to the running surface S, the cart 10 moves on the running surface S by winding up and letting out the magnetic pole plate 3. When the truck 10 stops, the excitation state at that time can be maintained, and the truck 10 can be stopped while adhering to the running surface S.

(Embodiment) A first embodiment of the present invention is shown in Figs. 1 to 6. Figure 1 is a front view of the running trolley, Figure 2 is a cross-sectional view of Figure 1, Figure 3 is a cross-sectional view of Figure 1, Figure 4 is a diagram of the running trolley in use, and Figure 5. is an explanatory diagram of the magnetic sequence, and FIG. 6 is an explanatory diagram of the operating principle.

In the traveling trolley 10 shown in the drawings 1 to 3, a large number of endlessly chained magnetic pole plates 3, 3, . ing. Necessary equipment such as cameras, sensors, and robots (not shown) are fixed on this frame 1. The magnetic pole plates 3, 3, . . . are magnetically insulated from each other and flexibly connected. Five electromagnets 4, 4, . . . are fixed to the frame 1. Iron core 5 of each electromagnet 4,
The tips of 5,... are on the ground side (downward in Figure 1)
The magnetic pole plates 3, 3, . . . At a different pitch from the magnetic pole plates 3, 3,...
They are attached to the frame 1 at a predetermined distance from each other. In this embodiment, five pitches of the iron core 5 correspond to six pitches of the magnetic pole plate 3. The respective iron cores 5 are magnetically connected to each other by connecting portions 6 on the side opposite to the magnetic pole plate 3 (upper side in FIG. 1). An excitation current is supplied to the coil 7 of each electromagnet 4, 4, . . . from a power source via a controller 8.

As shown in FIG. 4, for example, this cart 10 is used so as to move while adhering to a lower running surface S of a horizontally installed steel frame.

Next, FIG. 5 shows the operating principle of the traveling trolley 10 of this embodiment.
This will be explained with reference to FIG. Traveling trolley 10 of this embodiment
, the magnetic circuit M of each electromagnet 4 is composed of "iron core 5, gap G, magnetic pole plate 3, running surface S, magnetic pole plate 3, gap G, iron core 5.
”. The gap G between the tip of the iron core 5 and the magnetic pole plate 3 is set to minimize magnetic resistance and prevent interference between the iron core 5 and the magnetic pole plate 3. Since the magnetic circuit M has a tendency to shorten itself, an attractive force is generated between the magnetic pole plate 3 and the running surface S, and the gap G is shortened.
do not make Furthermore, since the magnetic circuit M as a whole tends to become shorter, an attractive force is also generated between the iron core 5 and the running surface S. Therefore, the truck 10 is attracted to the running surface S. The running surface S forms part of the magnetic circuit M. At the tip of the iron core 5 of each electromagnet 4. Either N-pole, S-pole, or non-excitation state is created. The excitation state of each electromagnet 4 changes depending on the excitation current, and the excitation current is freely changed by the controller 8 to control forward movement, backward movement, and stoppage. When the excitation current is continuously alternated, the tip of each iron core 5 switches between N pole, S pole, and non-excitation, thereby moving the magnetic pole plates 3 differentially. That is, in FIGS. 5 and 6, five iron cores 5
At the tips of a, 5b, 5c, 5d, and 5e, there are two N poles and two S poles at any time according to the excitation sequence shown in Figure 5.
One non-excited state is created. Therefore, as shown in FIG. 6, there are two magnetic circuits M connecting the north and south poles, and the six excitation sequences are as follows. A cycle is constructed using O pulse signals.

That is, when the pulse is ro-IJ, the iron core 5a is de-energized, so the iron core 5b → iron core 5c, iron core 5d → iron core 5
A magnetic circuit M is formed between e. When the pulse becomes rl-2J, the iron core 5a is energized and the iron core 5b is de-energized, so a magnetic circuit M is formed between the iron core 5a → iron core 5C, iron core 5d → iron core 5e, and is opposed to the iron core 5b. Magnetic pole plate 3
The magnetic clamping force of is lost, and the magnetic pole plate 3 facing the iron core 5a approaches the iron core 5a due to the magnetic force that attempts to form the shortest magnetic circuit M. Then, the iron core 5c→5(1→5
e, the magnetic pole plate 3 continuously moves relative to the iron core 5 in an attempt to form a magnetic circuit M with the smallest magnetic resistance at each time. The moving speed of the cart at this time is two pitches of the magnetic pole plate 3 per 10 pulses (l period).

Regardless of the continuous movement of the magnetic pole plate 3 relative to the iron core 5, the magnetic pole plate 3 is attracted to the running surface S.
What about trolley 10? i! The electrode plate 3 is rolled up either forward or backward to move on the running surface S. When the truck 10 stops, the excitation state at that time can be maintained, and the truck 10 is moved to the running surface S.
It can be stopped while being adsorbed to.

A second embodiment is shown in FIGS. 7 to 10.

FIG. 7 is a front view of the traveling truck, FIG. 8 is a cross-sectional view of FIG. 7, FIG. 9 is a cross-sectional view taken along line IX-IK of FIG.

The first embodiment has five electromagnets and a five-phase excitation current, but the second embodiment has three electromagnets and a three-phase excitation current. Since the basic structure of the device is the same as that of the previous embodiment, the same parts are given the same reference numerals and a detailed explanation will be omitted. In this embodiment, three electromagnets 14 are provided, and three pitches of the electromagnets 14 correspond to eight pitches of the magnetic pole plate 3. Iron core 15a of each electromagnet 14
, 15b, 15c are branched into two, each facing the magnetic pole plate 3. The pitch of the tips of the branched iron cores 15 is the same as the pitch of the magnetic pole plates 3. The electromagnet 14 is supplied with three-phase excitation current as shown in FIG. 10 from the controller. The phases of the respective excitation currents are shifted by 120°. Due to the excitation current, @core L5a, 15b, 1
The tip of 5c is switched between N pole, S pole, and non-excitation, and in response to this, the magnetic pole plate 3 moves differentially. That is, when the period of the exciting current is O°, the iron core 15c (N pole) and the iron core 15
A magnetic circuit M is formed between the iron core 15 and b (S pole).
Since a is not energized, iron core 15c. The magnetic pole plate 3 faces the iron core 15b in an attempt to shorten the magnetic circuit M, but the magnetic pole plate 3 does not face the iron core 15a. The period of excitation a current is 3
0'', the iron cores 15a and 15c become N poles and the iron core 15b becomes S poles, forming two magnetic circuits M.At this time, all the iron cores 15a, 15b, 15
Since C is excited, all the iron cores 15a, 15b,
Each magnetic pole plate 3 moves slightly to face the tip of the magnetic pole 15c. In this manner, as the period progresses, the magnetic pole plate 3 continuously moves relative to the iron cores 15a, 15b, and 15c in an attempt to form the magnetic circuit M with the smallest magnetic resistance at each time. At this time, the cart moves backward by two pitches of the magnetic pole plate 3 per one cycle (360') of the excitation current.

This is similar to the first embodiment, but the iron cores 15a, 15
Since there are branched protrusions at the tips of b and 15c and the spacing between the magnetic pole plates 3 is relatively narrow, the dimensional accuracy of the stop position can be improved. When the truck stops, the controller can maintain the current excitation state and keep the truck attracted to the running surface.

As described above, the present invention has been developed with regard to the number of electromagnets, the number of phases and waveform of exciting current, the shape of the tip of the iron core, the pitch of magnetic pole plates, etc.
It is not limited in any way.

(Effects of the Invention) As described above, in the present invention, a large number of magnetic pole plates 3 in an endless chain are rotatably hung around the frame A on which necessary equipment is mounted, and the magnetic pole plates 3 are attached to the frame (2). A plurality of electromagnets 4 are mounted at predetermined intervals with different pitches, and the tip surfaces of the iron cores 5 of these electromagnets 4 are opposed to the plurality of magnetic pole plates 3 located on the ground plane side at predetermined intervals, and Each iron core 5 is magnetically connected to each other on the opposite side to the magnetic pole plate 3, and these electromagnets 4 are connected via a controller 8.
By alternating a predetermined excitation current, the magnetic poles of the four rows of electromagnets are sequentially changed, and the magnetic pole plate 3 is pulled around while being attracted to the running surface S. This makes it possible to construct a magnetic attraction traveling trolley, making it easier to work at heights. It is possible to provide a traveling trolley that is equipped with simple robots, sensors, cameras, etc. necessary for work in dangerous locations and that can be easily moved to a destination.

[Brief explanation of drawings]

1 to 6 show the first embodiment of the present invention, the first construction drawing is a front view of the traveling truck, and FIG. 2 is the first embodiment of the present invention.
3 is a sectional view taken along m-n+ in FIG.
Fig. 6 is an explanatory diagram of the operating principle, Figs. 7 to 10 show a second embodiment of the present invention, Fig. 7 is a front view of the traveling truck, and Fig. 8 is (2) A cross-sectional view, FIG. 9 is a cross-sectional view taken along line (2)--(2) in FIG. 8, and FIG. 10 is an explanatory diagram showing the relationship between the exciting current and the polarity of the iron core. 1●●-Frame 3...Magnetic pole plate 4, l4...Electromagnet 5, 15...Iron core 8...Controller 10...Bogie S...Running surface

Claims (1)

[Scope of Claims] A trolley that travels while being magnetically attracted to a running surface made of steel, comprising a frame on which necessary equipment is mounted, and which are connected to each other in an endless chain with flexibility, and are rotatable to the frame. a large number of magnetic pole plates hung around the ground plane, and facing the plurality of magnetic pole plates located on the ground plane side, attached to the frame at a predetermined distance from each other at a pitch different from that of the magnetic pole plates, and attached to each iron core. A plurality of electromagnets whose tips face the magnetic pole plates at predetermined intervals and are magnetically connected to each other on the opposite side to the magnetic pole plates, and a controller that supplies a predetermined excitation current alternating to these electromagnets. A magnetic adsorption traveling trolley characterized by: