JPH0457551B2 - - Google Patents

Description

[Detailed Description of the Invention] [Object of the Invention] (Industrial Application Field) The present invention relates to a moving device using a magnetic wheel, and particularly relates to a magnetic wheel suitable for inspection and inspection of nuclear power plants. Regarding the mobile device used.

(Conventional technology) At nuclear power plants, in-service inspections (ISI) are conducted to confirm the integrity of reactor pressure vessels, boundary piping, etc. It is extremely important to reduce radiation exposure. This in-service inspection is mainly conducted using ultrasonic flaw detection tests during periodic inspections. Currently, during this work, scanning of the object to be inspected with an ultrasonic probe is carried out by a worker holding the ultrasonic probe directly in his hand, or by using a rail attached to the reactor pressure vessel or its boundary piping. This is done by laying rails and mounting a probe on a moving device that moves on the rails.

(Problem to be solved by the invention) In this way, the inspection work in which the worker directly scans the ultrasonic flaw detection probe is not only time-consuming, but also requires a single worker to keep the radiation exposure as low as possible. Because the working hours of workers are limited,
It requires a lot of manpower. Furthermore, when rails are laid at the location to be inspected, the rails must be laid during the construction and installation of equipment, which is a factor in increasing costs.

The present invention has been made in consideration of the above-mentioned circumstances, and it is possible to inspect magnetic pipes and walls at nuclear power plants by adsorbing them with magnetic wheels and running them without laying rails or the like. - The purpose is to provide a moving device using a magnetic wheel that can be inspected.

[Structure of the invention]

(Means for solving the problem) The present invention provides running wheels on the front, rear, left and right sides of the vehicle body,
In the moving device, the traveling wheels are configured to travel with driving force from a driving motor, and the traveling wheels can be steered with driving force from a steering motor, and the traveling wheels are configured with magnetic wheels. The net wheel consists of a disk-shaped permanent magnet, a disk-shaped magnetic yoke which is configured to sandwich the disk-shaped permanent magnet in a variable-thickness and removable manner, and which has a larger diameter than the disk-shaped permanent magnet, and this disk-shaped magnetic yoke. The yoke is composed of a disc-shaped magnetic material yoke and a disc-shaped non-magnetic material of the same shape, and each traveling wheel is driven by an independent travel drive motor, and Each running wheel is steered by an independent steering motor, and the front left and right running wheels and the rear left and right running wheels are each formed to be bendable relative to the vehicle body. As a result, the magnetic surface is magnetically adsorbed and run using the magnetic wheel without laying a rail or the like, and inspections and inspections can be carried out without exposing workers to a radiation exposure environment.

(Function) When the moving device according to the present invention is applied to a nuclear power plant, it can move freely on the surface of magnetic materials such as piping and reactor pressure vessels, and can be used to move mobile robots that inspect and inspect them. It is ideal as a device and can reduce radiation exposure of workers and save labor. Furthermore, since the magnetic wheel has a disc-shaped permanent magnet protected by a disc-shaped magnetic material, reliability can be improved, and the thickness of the disc-shaped magnetic yoke and the disc-shaped non-magnetic material can be changed. This allows the adsorption force to be varied.

(Example) An example of the present invention will be described below with reference to the drawings.

In FIG. 1 and FIG. 2, reference numerals 11a, 1
1b and 11c indicate vehicle body frames of the moving device 1, and these vehicle body frames 11a, 11b, 11
The front and rear parts of c (in FIGS. 1 and 2, for convenience of explanation, it is assumed that the left side is the front part and the right side is the rear part) are each composed of a set of two rotating arms 33a, 3.
4a, 33b, 34b, 33c, and 34c. One rotating arm 33a, 3
3b, 33c are vehicle body frames 11a, 11b, 1
1c is rotatably supported via a vehicle body bending shaft 12a, and the other rotating arms 34a, 34b, 34c are connected to the vehicle body frame 11.
It is rotatably supported on the right side portions of a, 11b, and 11c via a vehicle body bending shaft 12a. The rotating arms 33a, 33b, 33c are mounted on the front vehicle body bending base 13a.
a, 34b, 34c are rear vehicle body bending bases 13
b, respectively, and each car body bending base 13
a, 13b are vehicle body frames 11a, 11b, 11
For each car body bending shaft 12
It is rotatably connected around a and 12b. However, nuts 14 are screwed to both ends of the vehicle body bending shafts 12a, 12b, and by tightening the nuts 14, the vehicle body bending bases 13a, 13b are attached to the vehicle body frames 11a, 11.
It can be fixed at any angle with respect to b and 11c.

On the other hand, the front vehicle body bending base 13a includes a travel drive motor 21a for driving the magnet wheel 17a, and a steering motor 31 for driving the magnet wheel 17a.
a, and a travel drive motor 21 that drives the magnet wheel 17b for travel and steering.
b and a steering motor 31b are respectively attached. Similarly, the rear vehicle body bending base 13b includes a running drive motor 21c and a steering motor 3 for driving the magnetic wheels 17c and 17d for running and steering.
1c: A traveling drive motor 21d and a steering motor 31d are attached. That is, the moving device 1 has a total of four magnetic wheels 17 at both ends of the vehicle body bending bases 13a and 13b.
a, 17b, 17c, and 17d, and these magnetic wheels are connected to a traveling drive motor 21.
a, 21b, 21c, and 21d can be independently driven, and the steering motor 3
1a, 31b, 31c, and 31d so that they can be independently steered, and the vehicle body bending bases 13a, 13b are formed to be bendable relative to the vehicle body frames 11a, 11b, and 11c. The moving device 1 is magnetically attached to a magnetic pipe, a wall surface, or the like in a nuclear power plant, and is adapted to roll.

Travel drive motors 21a, 21b, 21c, 2
1d is the magnet wheel 17a, 17b, 17
The mechanisms for driving the wheels c and 17d are the same, and the steering motor 31
Since the functions of a, 31b, 31c, and 31d for steering the magnetic wheels 17a, 17b, 17c, and 17d are the same, hereinafter, the driving motor 21b will be used as the mechanism for driving the magnetic wheel 17b and for steering. The motor 31b is the magnetic wheel 17
The function of driving the steering wheel b will be described in detail.

First, a mechanism for driving the magnetic wheel 17b by the driving motor 21b will be explained. In FIG. 3, the magnet wheel 17
b and the spur gear 18b are fixed to a wheel shaft 35b, and the wheel shaft 35b is rotatably supported by a bearing (not shown) on the running wheel support base 15b. On the other hand, the traveling drive motor 21b is fixed to the traveling wheel support base 15b via a reducer 20b, a spur gear 19b is attached to the output shaft of the reducer 20b, and the spur gear 19b meshes with the spur gear 18b. ing. That is, the rotational force of the travel drive motor 21b is increased by the reduction gear 20b, and the increased rotational force is applied to the spur gear 1 attached to the output shaft of the reduction gear 20b.
9b to spur gear 18b, wheel shaft 35b
The signal is then transmitted to the magnet wheel 17b.

Next, the function of the steering motor 31b to drive the magnetic wheel 17b will be explained. In FIG. 3, the running wheel support base 15b is connected to the steering shaft 24b.
is fixed to the lower end of the steering shaft 24.
b is rotatable by a steering bearing 25b attached to the vehicle body bending base 13a. Note that the steering bearing 25b is a bearing retainer 27b.
This prevents vertical movement. A bevel gear 28b is fixed to the upper end of the steering shaft 24b, and if the steering shaft 24b is loosened in the vertical direction, a spacer 26b is fixed to the steering shaft 24b.
5b and the bevel gear 28b to prevent this.

On the other hand, the steering motor 31b is connected to the reducer 3
It is fixed to the vehicle body bending base 13a via 0b. The rotational force of the steering motor 31b is appropriately increased by the reducer 30b, and the increased rotational force is transmitted to the bevel gear 29b attached to the output shaft of the reducer 30b.
9b is adapted to transmit rotational force to a bevel gear 28b that meshes with the bevel gear 28b. That is, the rotational force of the steering motor 31b is transmitted to the running wheel support base 15b via the reducer 30b, the bevel gear 29b, the bevel gear 28b, and the steering shaft 24b.
As a result, the magnetic wheel 17b is steered.

As described above, the running drive motor 21b drives the magnetic wheel 17b, and the steering motor 31b drives the magnetic wheel 17.
Although the mechanism for steering driving the drive motor 21a, 21c,
21d is the magnet wheel 17a, 17c, 1
The same applies to the mechanism for driving the magnetic wheels 7d, respectively, and the mechanism for driving the steering motors 31a, 31c, and 31d to drive the magnetic wheels 17a, 17c, and 17d, respectively.

Next, the magnetic wheels 17a, 17b, 1
The structures of 7c and 17d will be explained.

Magnet wheels 17a, 17b, 17c,
17d, as shown in FIGS. 4 and 5, an appropriate number of disk-shaped magnetic yokes 41a, 41b, 42a, and 42b are arranged on both end surfaces of the disk-shaped permanent magnet 40, and the permanent magnet 40 is sandwiched therebetween. It is formed into a multilayer structure in which each magnetic material yoke 42a, 42b is sandwiched between an appropriate number of disc-shaped nonmagnetic materials 43a, 43b from the outside.

Specifically, the direction of magnetization of the permanent magnet 40 is along the axial direction of the cylinder as shown in FIG. , 42b, and further, a non-magnetic material 43a such as SUS,
43b from the outside, one permanent magnet type magnet wheel 17a, 17b, 17c, 17
d has improved adhesion to the magnetic surface (running surface).

At this time, since the permanent magnet 40 is a sintered product, it is vulnerable to impact. Magnetic material 43
The diameter of the magnetic yokes 41a, 41b, 42 is smaller than that of the magnetic yokes 41a, 41b, 42b.
The diameters of a, 42b and non-magnetic yokes 43a, 43b are made equal.

In this way, the magnetic wheels 17a, 17
b, 17c, 17d are disk-shaped permanent magnets 40,
Magnetic yokes 41a, 41b, 42a, 42b,
By forming a multilayer structure consisting of non-magnetic materials 43a and 43b, the attraction force to the magnetic material surface can be increased or decreased. That is, when increasing the attraction force, replace the non-magnetic materials 43a and 43b with magnetic yokes, and when decreasing the attraction force, replace the magnetic yokes 4.
What is necessary is to replace 2a and 42b with non-magnetic materials. Further, fine adjustment of the attraction force can be achieved by reducing the thickness of the magnetic yoke and the non-magnetic material, increasing the number of them, and finely adjusting the ratio of the magnetic yoke to the non-magnetic material. Therefore, by adjusting the attraction force of the magnetic wheels 17a, 17b, 17c, and 17d, the magnetic wheels 17a, 17d
The magnetic wheels 17a, 17b,
It becomes possible to appropriately adjust the frictional force between 17c, 17d and the magnetic surface.

Next, in order to explain how the moving device 1 runs on a pipe, FIG. 6 shows a case where the moving device 1 runs circumferentially on a carbon steel pipe 60, and FIG. A case where the steel pipe 60 is run in the pipe axis direction is shown. Incidentally, FIG. 7 is a diagram in which all four magnet wheels have been rotated by 90 degrees from the state shown in FIG. 6.

In the state shown in FIG. 6, the moving device 1 is driven by the traveling drive motors 21a, 21b, 21c, and 21d to move the magnetic wheels 17a, 17b, 1.
7c and 17d, it is possible to magnetically adsorb and travel in the circumferential direction on the carbon steel pipe 60. In addition, in the state shown in FIG. 6, the moving device 1 is driven by the steering motors 31a, 31b, 31c, and 31d.
Magnet wheels 17a, 17b, 17c, 1
7d as traveling drive motors 21a, 21b, 21
c, 21d are vehicle body frames 11a, 11b, 11
If it is rotated 90 degrees so that it is located inside c, it will be in the state shown in Figure 7.

To transition from Figure 7 to Figure 6,
Just do the opposite of this movement. In Figure 7,
The moving device 1 includes running drive motors 21a, 21b,
By driving 21c and 21d, the magnetic wheels 17a, 17b, 17c, and 17d can magnetically attract and run the carbon steel pipe 60 in the pipe axis direction. However, first move the moving device 1 to the carbon steel pipe 6.
Before installing the pipe by magnetic adsorption on the pipe, assume that the pipe is running in the axial direction as shown in Fig.
Bend the vehicle body bases 13a, 13 so that the extension line of the steering shaft 7d passes approximately through the center of the pipe cross section.
Adjust the angle of the magnetic wheels 17a, 17b with respect to the vehicle body frames 11a, 11b, 11c.
Make sure that the edges of the end faces of 7b, 17c, and 17d do not stick to the piping.

As described above, the greatest feature of the moving device according to the present invention is that it can freely move on the magnetic pipe in the circumferential direction and the pipe axis direction.

Furthermore, this moving device 1 is equipped with an inspection/inspection device and can freely move on magnetic walls and piping without installing rails or the like.

Moreover, since magnetic wheels are used for the running wheels, there is no need for any complicated mechanism or control to attract the running wheels to the magnetic surface, and even if the power is lost, the wheels will not fall off the magnetic surface that serves as the running surface. . Since the running wheels are all-wheel drive and are directly rotationally driven by four drive motors, a situation where the driving force becomes insufficient during running can be avoided, and reliable running can be ensured. In other words, in a two-wheel drive system with front wheels or rear wheels, when one of the four wheels floats off the magnetic surface for some reason, and if that floating wheel is the drive wheel, the driving force that is attracting it will be reduced. However, in the present invention, such a situation cannot occur.

〔Effect of the invention〕

As explained above, in the moving device according to the present invention, the front left and right running wheels and the rear left and right running wheels are formed so that they can be bent with respect to the vehicle body. It can move freely and is ideal as a moving device for mobile robots that carry out these inspections and inspections, and when applied to nuclear power plants, it can reduce radiation exposure of workers and save labor. Furthermore, since the disk-shaped permanent magnet is protected by the disk-shaped magnetic yoke having a diameter larger than that of the disk-shaped permanent magnet, the reliability of the matinet wheel can be improved. Further, since the thickness of the disc-shaped magnetic yoke and the disc-shaped non-magnetic material can be made variable, the strength of the attraction force of the magnetic wheel can be adjusted as required. Then,
The frictional force between the magnetic wheel and the magnetic surface can be appropriately adjusted in accordance with the friction coefficient of the magnetic surface on the attracting side.

[Brief explanation of the drawing]

FIG. 1 is a partially broken plan view of an embodiment of a moving device according to the present invention, FIG. 2 is a side view partially cut away from FIG. 1, and FIG. 3 is a partial cross-sectional view of FIG. 1. 4 is a front view of the running wheel in FIG. 1, FIG. 5 is a side view of the running wheel in FIG. 4, and FIG. 6 is a front view showing a cross section of the traveling wheel in FIG. FIG. 7 is a side view showing a state in which the moving device is running in the circumferential direction, and a front view (in the traveling direction) showing a state in which the moving device is running in the pipe axis direction on the outer surface of the carbon steel pipe. DESCRIPTION OF SYMBOLS 1...Movement device, 11a-c...Vehicle body frame, 12a, b...Vehicle body bending shaft, 13
a, b...Car body folding base, 14...Natsuto,
15a, b, 16a, b... Traveling wheel support base, 17a-d... Magnetic wheel, 18a
~d, 19a-d... Spur gear, 20a-d... Speed reducer, 21a-d... Travel drive motor, 22a
~d...Speed detector, 23a-d...Position detector, 24a-d...Steering shaft, 2
5a-d...Steering bearing, 26a-d...
...Spacer, 27a~d...Bearing holder, 28a~
d, 29a-d...Bevel gear, 30a-d...Reduction gear, 31a-d...Steering motor, 3
2a~d...Steering angle detector, 33a~
c, 34a-c...rotating arm, 35a-d...
Wheel shaft, 40...Permanent magnet, 41a,
b, 42a, b...Magnetic material yoke, 43a, b...
...Non-magnetic material.

Claims (1)

[Claims] 1. A moving device in which running wheels are provided on the front, rear, left and right sides of a vehicle body, the running wheels are driven by driving force from a driving motor, and the running wheels can be steered by driving force from a steering motor,
The above running wheels are composed of magnetic wheels,
This magnet wheel is composed of a disk-shaped permanent magnet, a disk-shaped magnetic yoke which is configured to sandwich the disk-shaped permanent magnet in a variable thickness and can be attached and detached, and has a larger diameter than the disk-shaped permanent magnet, and It is composed of a disc-shaped magnetic material yoke and a disc-shaped non-magnetic material having the same shape as the disc-shaped magnetic material yoke, which can be freely attached and detached by sandwiching the body yoke, and each of the traveling wheels is rotationally driven by an independent traveling drive motor. , and each of the running wheels is steered by an independent steering motor, and the front left and right running wheels and the rear left and right running wheels are each formed to be bendable with respect to the vehicle body. .