JPH09156549A - Crawler type magnetic travelling device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a crawler type magnetic travelling device having such high travelling performance that it is capable of turning without damaging a travelling surface. SOLUTION: As a travelling device, that comprising crawlers A, B connected to each other by a car main body 31 of a connection device 30, etc., in which a chain to drive rotation of a side plate and a magnet is of a flexible constitution is used. Travelling is performed by attraction of connected magnets to a travelling surface, and in turning of the travelling device, the crawlers A, B are separately adjustable for their steering speed and bending angle, so in the case of turning when the crawler A is on the inner side, turning can be performed as the travelling device by setting travelling speed of the crawler A lower and that of the crawler B on the outer side higher. By rotating a handle 33 in the turning direction at the time of turning, the travelling device can be moved in a turning direction about a support point 32a of an arm 32 at a tip part of each crawler A, B.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endless track type magnetic traveling device, and in particular, an endless track is formed by permanent magnets, and the wall surface of a magnetic material such as a steel structure is used for vertical wall surfaces and ceilings by utilizing the attraction force of the permanent magnets. The present invention relates to an endless track type magnetic traveling device capable of traveling on a surface by itself.

[0002]

2. Description of the Related Art Conventionally, as a technique of this kind, Japanese Patent Laid-Open No.
No. 40635, "Travel device for wall work vehicle", Japanese Patent Laid-Open No. Sho 5
1-79498 "Operating method of magnetically driven vehicle", Japanese Patent Laid-Open No. 56-79069, "Magnetic-adhesive trackless transport device", Japanese Patent Laid-Open No. 60-18464 "Endless track body with magnet for running machine". For example, a device for each purpose such as ultrasonic flaw detection has been manufactured.

The above-mentioned conventional trackless magnetic traveling apparatus has excellent performance because it allows smooth running of the uneven portion of the running surface in horizontal running. However, the above-mentioned conventional trackless magnetic traveling apparatus has not taken into consideration the case where there is a large uneven portion on the traveling surface when traveling on a vertical surface or a ceiling surface.

Further, the structure of the conventional traveling apparatus of this kind is one traveling apparatus in which endless tracks of the same size are arranged on both sides of the vehicle body, one of which is composed of a vehicle body and two endless tracks. There is.

Therefore, the present inventors have improved the above-mentioned conventional infinite magnetic traveling device to improve the ability to follow uneven portions on the traveling surface, and to travel in a range that could not be achieved in the past, for example, continuous travel from a horizontal plane to a vertical plane. In addition, we have invented a crawler track type magnetic traveling device that can be combined with other devices, such as non-destructive inspection equipment, and can broaden the scope of application of the crawler type traveling device. 6-
134570).

[0006]

DISCLOSURE OF THE INVENTION Problems to be solved by the prior art crawler track type traveling device including the crawler track type traveling device developed by the present inventors have the following problems to be solved.

[0007] First, in the case where the conventional endless track type traveling device in which the endless tracks capable of traveling independently of this kind are arranged in parallel and connected to each other, the left and right endless tracks are moved in opposite directions, The traveling device was turned by changing the speed of the left and right endless tracks.

[0008] However, in such a traveling device, the magnets provided on the respective endless tracks are slipped while being attracted to the traveling surface by turning, and the traveling surface is damaged. In particular, if the running surface is a painted surface, the coating film may be greatly damaged, which may impair the durability of the devices and structures constituting the running surface. On the other hand, in order to prevent scratches, measures have been taken, for example, by inserting a lubricant between the running surface and the magnet, or weakening the attraction force of the magnet. However, when the attraction force of the magnet is weakened, there is a problem that the traveling device falls from the traveling surface.

Further, when the running surface is hot, the running device of the conventional trackless type magnetic running device also becomes hot and the durability thereof is impaired.

Further, there is no consideration for running in a high temperature part, there is a problem in durability of the running device, and the use of a strong magnet does not sufficiently prevent magnetic leakage. Further, when the traveling device is out of order, the traveling device is still attracted to the traveling surface by the magnet, and it is difficult to collect the traveling device. Furthermore, no waterproof measures have been taken to prepare for underwater.

Therefore, an object of the present invention is to provide an endless track type magnetic traveling device which is excellent in usability.

Another object of the present invention is to provide an endless track type magnetic traveling device which has a high traveling property such that it can turn without damaging the traveling surface.

Another object of the present invention is to provide an endless track type magnetic traveling device which has a high traveling property such as traveling on a high temperature traveling surface.

[0014]

The above object of the present invention is achieved by the following constitution. That is, an endless track formed by connecting a plurality of magnets by a chain is provided on the outer periphery of the vehicle body with side plates on both sides, and the endless track is driven while attracting the magnets of the endless track to the running surface made of magnetic material. In a crawler track type magnetic traveling device in which a chain drive wheel and its drive source are provided in a vehicle body, the chain and side plates on both sides have a flexible structure, and the vehicle body has a structure for connecting the two side plates and the both side plates. A chain drive wheel with its ends supported on both side plates, and a drive source for the chain drive wheel inside or outside one of the side plates. It is a track type magnetic traveling device.

In the above trackless magnetic traveling apparatus of the present invention, the both side plates of the vehicle body are composed of a plurality of side plate pieces loosely and elastically connected to each other in the traveling direction and the vertical direction of the traveling apparatus. Can be adopted. Also, the chain is configured by connecting a pair of chain side plates arranged in parallel and a chain unit composed of a connecting shaft of the chain side plates to an adjacent chain side plate via the connecting shaft, and a connection provided on the chain side plate. The shaft insertion hole has a major axis larger than the diameter of the connecting shaft, and a pitch adjusting collar for adjusting the distance between the pair of chain side plates arranged in parallel on the outer peripheral portion of the connecting shaft and a pair of parallel inside the pitch adjusting collar. A spring may be provided to urge the arranged chain side plates in the direction of separating them.

Further, in the above-described endless track type magnetic traveling apparatus of the present invention, the chain and the side plates on both sides have a flexible structure, and a plurality of endless track pressing auxiliary wheels with suspensions supported by the vehicle body and the endless track are respectively formed. Or an elastic member arranged between the magnet and the chain, and a free wheel supported on the vehicle body via the elastic member while engaging with the chain of the endless track, or an auxiliary track pressing wheel with suspension. By providing an adjusting means for adjusting the pressing force of the suspension, the followability to uneven portions on the running surface is also improved. At this time, it is desirable that the chain is provided with a suspension wheel auxiliary wheel detachment prevention mechanism with suspension.

Further, in the above-mentioned crawler track type magnetic traveling apparatus of the present invention, if the drive source of the chain drive wheels is provided with a drive control device by a remote control device, remote control by a radio control or the like becomes possible.

By disposing elastic members in all the portions of the respective magnets that come into contact with the running surface or at least the corner portions that come into contact with the running surface, the anti-slip effect with the running surface and the heat insulating effect are achieved. Out. In addition, two protrusion shapes are provided on the inside of both side plates of the vehicle body, and a stroke adjusting portion that regulates the stroke range of the endless track is provided between the two protrusion shapes.
With the configuration in which the guide wheels that move the stroke adjusting unit are attached to the endless track, the traveling device can follow the curved surface or the uneven surface of the traveling surface and move the guide wheels within the stroke range to travel.

Further, the steering device for changing the traveling direction of the traveling device of the present invention is connected to the front and side plates of the vehicle body and both side plates of the rear part, and the traveling device is bent by bending the front or rear side plate. It can be moved in the turning direction.

Further, a coupling device for coupling two or more of the crawler track type magnetic traveling devices of the present invention may be provided to form a crawler track type magnetic traveling device.

At this time, if a steering device is provided in a connecting device for connecting two or more endless track type magnetic traveling devices, and the steering device is connected to the front side plates and / or the rear side plates, respectively, each endless track is connected. The endless track type magnetic traveling device can change the traveling direction. Further, if a space is provided between the endless track type magnetic traveling device and the connecting device for connecting the endless track type magnetic traveling device, it is possible to smoothly turn without interference between the devices during turning traveling. Further, the connecting device for connecting two or more endless track type magnetic traveling devices is divided into a plurality of parts and connected to each other so that the device can be smoothly turned.

The size of the traveling device can be changed by making the connecting device for connecting two or more endless track type magnetic traveling devices detachable. Furthermore, an arm-shaped one in which an angle for connecting the endless track type magnetic traveling devices capable of traveling independently of each of the coupling devices can be arbitrarily set,
Alternatively, at least one coupling device that couples two or more endless track type magnetic traveling devices has a three-dimensional upper surface that is different from at least one endless track type magnetic traveling device that can travel independently and another endless track type magnetic traveling device that can travel independently. By providing the connecting mechanism capable of traveling on the traveling surface, it becomes easy to travel on a curved surface, a three-dimensional curved surface, or the like that changes.

Further, it is also within the scope of the present invention to provide a solar thermal power generation panel on the upper part of a continuous track type magnetic running device in which two or more continuous track type magnetic running devices are connected.

An endless track formed by connecting a plurality of magnets by a chain is provided on the outer peripheral portion of a vehicle body having side plates provided on both sides of the present invention, and the magnets of the endless track are attracted to a running surface made of a magnetic material. In a crawler-type magnetic traveling device in which a chain drive wheel for driving a crawler track and a drive source thereof are provided in a vehicle body, the vehicle body has two side plates, a structure connecting the both side plates, and end portions of the side plates. A chain drive wheel drive source is provided inside or outside one of the side shafts of the supported chain drive wheels and one or more endless tracks are arranged between the two side plates to form an endless track part or vehicle body. By making the side plate part to be heat-insulated, it is possible to travel even on a hot running surface. At this time, it is desirable to provide an accessory for cooling the endless track portion.

In the above-described endless track type magnetic traveling device of the present invention, the endless track portion other than the side surface in contact with the running surface is made of a magnetic material or a cover material made of a material having high magnetic permeability and a material having low magnetic permeability. By covering with, magnetic flux can be prevented from leaking to the outside. In addition, since the constituent members other than the magnets forming the endless track are made of a non-magnetic material, the weight can be reduced, and the adhesion of iron powder caused by the abrasion of the vehicle body structure can be prevented.

If a heater for heating the magnet is attached near the magnet of the endless track portion, when the endless track type magnetic traveling device fails and becomes unable to travel, the magnet is attracted by heating the heater. Can be easily removed from the running surface. Furthermore, if a liquid seal mechanism is provided in the vehicle body penetrating portion of the rotary shaft for transmitting power from the drive source, it becomes possible to run underwater or underwater.

Next, the operation at the time of turning when the traveling devices are provided on both sides of the coupling device will be described. 1 (side view of the traveling device) and FIG. 2 (plan view of the traveling device) are schematic diagrams of a crawler track type magnetic traveling device having a flexible side plate structure in which a plurality of small side plate pieces are connected to each other by a loose connecting mechanism. Indicates
3 to 6 are schematic views of the chain 5 of the crawler track type magnetic traveling apparatus of the present invention having a flexible structure. Also,
7 to 10 are conceptual diagrams for explaining the operation at the time of turning in the case where the traveling device having such an endless track is provided on both sides of the coupling device.

The plurality of small side plate pieces loosely connect the upper side plate 13a and the lower side plate 13b with the long holes 13e provided in the respective side plates 13a and 13b and the pins 35 inserted into the long holes 13e, and further, the small side plate pieces of the traveling device are connected. The upper side piece 13a and the lower side plate 13b which are adjacent to each other in the traveling direction are provided in the side pieces 13a and 13b thereof, and the elongated hole 13e and the elongated hole 13 are provided.
It is loosely connected by a pin 35 inserted in e.

Thus, the upper side plate piece 13a, the lower side plate piece 13b, and the upper side plate piece 13a and the lower side plate piece 13b, which are respectively adjacent to the upper side plate piece 13a and the lower side plate piece 13b in the traveling direction of the traveling device, are connected together by a loose connecting mechanism. Pieces 13a, 13
The flexible side plate 13 can be configured as the entire b, and the traveling direction of the traveling device can be easily changed by an external force.

Next, FIGS. 3 to 6 show modified examples of the chain 5 of the crawler track type magnetic traveling apparatus of the present invention having a flexible structure. 3 is a side view of the chain 5, FIG. 4 is a plan view of the chain 5, FIG. 5 is a view taken along the line AA of FIG. 4, and FIG. 6 is a view taken along the line BB of FIG.

The hole 5c for inserting the connecting shaft 5b of the chain side plate 5a is a long hole having an opening diameter larger than the diameter of the connecting shaft 5b.
Also, between the two chain side plates 5a of the connecting shaft 5b inserted in the long holes 5c of the chain side plate 5a, the pitch adjusting collar 5d between the chain side plates 5a and the two chain side plates inside the pitch adjusting collar 5d. A spring 5e for pushing and expanding 5a is provided.

Therefore, the long hole 5c of the chain side plate 5a
The connecting shaft 5b inserted in the
Even when the traveling device travels in a curved direction such as a turning motion, interference between the chain side plates 5a adjacent to each other in the traveling direction is reduced, and due to the elasticity of the spring 5e,
The distance between the chain side plates 5a can be adjusted to the width of the pitch adjusting collar 5d.

Here, how the endless track type traveling device is bent will be described with reference to FIGS. Since the chain 5 forming the endless track has a flexible structure, the magnet 1 is attached to the magnet holder 3 according to the bending angle of the leading side plates 13a and 13b.
6), a force acts to bend the endless track following the leading side plates 13a and 13b on both sides. On the other hand, the endless track is strongly attracted to the traveling surface 60 (see FIG. 16) by the magnet 1, but the magnet 1 newly fed in the traveling direction along with traveling advances by the bending angle given by the front handle 33. Adheres to a curved place in the direction.

This model is shown in FIG. 7 (showing a side view of the endless track portion of the traveling device and a view taken along the line BB of the side view) and FIG.
~ As shown in Fig. 10 and the like. That is, when the traveling device in which the endless tracks A and B arranged in parallel shown in FIG. 7 are connected by the vehicle body 31 of the connecting device 30 and the like bends, the endless tracks A and B are independently operated at their steering speeds. Since the bending angle can be adjusted, when turning with the endless track A inward, the traveling speed of the endless track A is reduced,
By increasing the traveling speed of the outer endless track B, the traveling device can turn. The numbers in the tracks A and B in FIG. 7 show how the magnet 1 changes its position as the traveling device advances.

When the traveling device turns, the traveling surface 60
Since the endless track part in which the magnet 1 part is attracted to does not move as it is, the endless tracks A and B interfere with the vehicle body 31. Therefore, as shown in FIGS. 8 to 9, an arm 32 that connects the inner ends of the end portions and the rear end portions of the endless tracks A and B is attached to the vehicle body 31, and a handle 33 is provided on the arm 32. In this case, when the handle 33 is turned in the turning direction as shown in FIG.
The traveling device can be moved around the fulcrum 32a of the arm 32 at the tip of the traveling device. At this time,
The inner endless track A slightly bends by a method of retreating and then moving forward, and the outer endless track B bends largely.

Further, as shown in FIG. 10, if the vehicle body 31 is divided into a vehicle body 31a and a vehicle body 31b and these are connected, the vehicle body 31 will have the tracks A and B.
You can easily turn without interfering with. Further, since the magnets of the endless tracks A and B attracted to the running surface are fixed and do not move, the running surface is not scratched.

Further, although not shown, if the vehicle body 31 is arranged above the endless track A or the endless track B, the body body 31 can turn without interfering with the endless track A or the endless track B. You can

Also, a plurality of upper side plates 13a and lower side plates 1
By providing an elastic member such as a spring between 3b, it is possible to improve the ability to climb over the uneven portion of the running surface.

As described above, by using the flexible track-type magnetic traveling apparatus of the present invention, it is possible to improve the ability to climb over uneven portions of the traveling surface and the turning performance.

The above-mentioned flexible traveling device having an endless track can independently travel, and a traveling device having a plurality of endless tracks can be used in combination. The present invention is not limited to the structure disclosed in the above drawings.

The present invention also includes the following configurations. That is, an endless track formed by connecting a plurality of magnets by a chain is provided on the outer periphery of the vehicle body with side plates on both sides, and the endless track is driven while attracting the magnets of the endless track to the running surface made of magnetic material. In the magnetic track device of the endless track type in which the chain drive wheel and its drive source are provided on the vehicle body,
The vehicle body is provided with a structure for connecting the two side plates, a structure connecting the both side plates, a rotary shaft of a chain drive wheel whose ends are supported by the both side plates, and a drive source for the chain drive wheel inside or outside one side plate. , A single or multiple endless tracks arranged between two side plates can have the following features.

Endless track type magnetic traveling device The endless track portion or the side plate portion constituting the vehicle body is provided with a heat insulating structure so that traveling on a hot running surface is possible. At this time, if an accessory for cooling the endless track portion is provided, the temperature of the vehicle body portion does not rise even if the temperature of the running surface is high. Magnetic leakage can be prevented by covering the endless track portion other than the side surface in contact with the running surface with a cover material made of a magnetic material or a cover material made of a material having high magnetic permeability and a material having low magnetic permeability. If a heater for heating the magnet is installed near the endless track magnet, if the traveling device fails,
It can be recovered by heating the magnet and weakening its attraction to the running surface. Further, if a liquid seal mechanism is provided in the vehicle body penetrating portion of the rotary shaft for transmitting power from the drive source, traveling underwater or underwater becomes possible. Structures other than magnets and motors, such as chains and side plates, can be made lighter by using all non-magnetic materials such as stainless steel, aluminum, and titanium.
It is possible to prevent iron powder from being attached due to wear of the vehicle body structure itself.

As described above, by using the crawler track type magnetic traveling apparatus of the present invention, the following performance with respect to the uneven portion of the traveling surface is improved, and traveling in a range that could not be achieved in the past,
For example, it can be continuously run from a horizontal surface to a vertical surface, and can be combined with other devices such as non-destructive inspection equipment, for example, to expand the range of application of the tracked traveling device to the wall thickness measurement system for steel structures, coating equipment, etc. You can The traveling apparatus of this embodiment can be applied to a nondestructive inspection around the nozzle of a pressure vessel by combining it with an ultrasonic flaw detector.

Since the endless track type magnetic traveling apparatus of the present invention travels by one endless track, traveling control is easy.

Further, by using the coupled type endless track type magnetic running device in which two or more running devices of the present invention are connected, the number of endless tracks can be adjusted according to the shape of the running surface or the size and weight of the carrying load. You can increase or decrease.

Further, in the traveling device of the present invention, the drive source of the magnetic crawler is a combination of a mechanical generator and a photovoltaic generator, and the battery device can be miniaturized only for emergency recovery.

Furthermore, the endless track type magnetic traveling apparatus of the present invention is provided with, for example, an ultrasonic flaw detector or a television camera, and cannot be accessed by humans by remote control.
For example, it is possible to carry out inspections, transportation of goods, etc. in piping, in high places in large pressure vessels, in a radiation atmosphere.

[0048]

Embodiments of the present invention will be described below with reference to the drawings. 11 to 21 show a concrete example of the endless track type magnetic traveling apparatus of the present invention having a flexible structure. In the traveling device shown in FIGS. 11 to 21, the chain 5 is a loose coupling system, the side plate 13 is divided, and the divided pieces are coupled loosely to form an endless track, and the endless tracks are arranged in parallel. It is a device.

FIG. 11 is a side view of the traveling device, FIG. 12 is its plan view, and FIG. 13 is its front view. In addition, FIG. 14 shows an internal structure diagram with the side plate 13 removed, FIG. 15 shows a view of the flexible traveling device taken along the line AA of FIG. 14, and FIG. Shows an arrow view of line B,
17 is a view taken along the line CC of FIG. 14, and FIG. 18 is an enlarged view of a connecting portion between the side plates in the front-rear direction of FIG. FIG.
9 is a plan view of the inside of the side plate, FIG. 20 is a bird's-eye view of the joint between the upper side plate and the lower side plate, and FIG. It is the arrow line view of B line. Further, FIG. 22 shows a view taken along the line AA of FIG. 16, and FIG. 23 shows an enlarged view of a portion indicated by a leader line A of FIG.

The side plate of the traveling device is formed by connecting a plurality of upper side plates 13a and lower side plates 13b, but the divided side plates 13c at the foremost part and the rearmost part of the endless track are different from the side plates shown in FIG. , Which are not divided in the vertical direction.

Further, as shown in FIG. 20, the upper side plate piece 1
The lower end of 3a has a bent cross section, and the bent part and the side surfaces of the upper end of the lower side plate 13b are loosely connected by a pin 35 (Fig. 16) inserted into the elongated hole 13e, and at the same time, the bent part of the upper side plate 13a is bent. A spring 36 (FIG. 16) is interposed between the upper end portion and the upper and lower end portions of the lower side plate 13b to connect the upper side plate 13a and the lower side plate 13b. In addition, the adjacent upper side plate 13a or lower side plate 13
As for the connecting portion with b, the rear end portions of the front side plates 13a and 13b are bent in cross section, and the bent portions and the side faces of the front end portions of the rear side plates 13a and 13b are connected by a pin 37 inserted into the long hole 13e. Then, a spring 38 is provided on the pin 37 (FIGS. 17 and 18). The upper side plates 13a on both sides are integrally fixed to both ends of the support beam 12a.

As the chain 5, the chain shown in FIGS. 3 to 6 is used. The endless tracks of the traveling device are shown in FIGS.
As shown in FIG. 2, a flat plate-shaped magnet 1 and a magnet receiving portion 2, a magnet holder 3, a pin 20 connecting the magnet receiving portion 2 and the magnet holder 3, and a pair arranged between the magnet receiving portion 2 and the magnet holder 3. It is composed of a spring 4 and a chain 5. The magnet receiving portion 2 and the magnet holder 3 are connected via the pin 20 (FIG. 22 shows the state where the magnet receiving portion 2 (magnet 1) and the magnet holder 3 are connected via the pin 20). The space between the portion 2 and the magnet holder 3 is held by the spring 4. Further, since the magnet holder 3 is connected to the chain 5, the magnet 1, the magnet receiving portion 2, the magnet holder 3 and the chain 5 are connected integrally and with a certain degree of freedom to form an endless track. it can.

The drive wheel 6a with a gear runs on an endless track composed of a plurality of members described above. Drive wheel with gear 6a (Fig. 14,
15) is integrally attached to a rotary shaft 6c (FIG. 15) that is rotatably supported by penetrating the front side plate 13c, and is attached to one end of the rotary shaft 6c that extends to the outside of one side plate 13c. Is attached with a drive wheel 6b with a bevel gear, and the drive wheel 6b with a bevel gear is provided on a rotation shaft (not shown) of a motor 7a provided on the wall surface of the side plate 13c.
Is engaged. In this way, the drive wheel with gear 6a meshes with the intermediate bevel gear 7b provided on the rotation shaft of the motor 7a provided on the wall surface of the vehicle body 31 via the motor support 39 (FIG. 12) to rotate the driving force of the motor 7a. Axis 6c
The rotational force of the rotary shaft 6c is transmitted to the chain 5 via the gear 6a.

The pair of drive wheels 6a with gears are supported by the long side corners of the trapezoidal front and rear side plates 13c (in FIG. 14, for convenience, one long side corner is shown). Only the drive wheel with a gear 6a is shown, but in reality, it is at both corners on the long side.) One of the pair of geared drive wheels 6a can function as a drive wheel, and the other can function as a driven wheel. Further, a pair of idler gears 8a are supported at the corners on the short sides of the front and rear side plates 13c (for convenience, in FIG. 14, the idler gears 8a are provided only at the corners on one of the shorter sides). Although not shown, it is actually located on both short side corners.), And its gear portion has a function of pressing it from the inside of the traveling device while engaging with the chain 5.

As shown in FIG. 15, the idle ring gear 8a is attached to the side plate 13c so as to be freely rotatable on a rotary shaft 8b whose both ends are elastically supported via a pair of springs 8c.

Further, a trapezoidal orbit is formed so that the endless orbit formed by the pair of geared drive wheels 6a and the pair of idler gears 8a made of the flexible chain 5 and the like extends along the outer periphery of the side plate pieces 13a, 13b, 13c. However, it has a function of pressing a plurality of auxiliary bodies 9 with springs arranged in parallel for pressing the track portion on the short side of the trapezoid of the endless track from the inside of the traveling device to the flexible chain 5 part of the endless track. One end of the spring 10 is pressed by a support beam 12b that supports the lower side plate pieces 13b on both sides at the ends. Further, the screw 1 for adjusting the pressing strength of the spring 10
1 is provided on the side surface of the support beam 12b opposite to the spring 10.

A stroke adjusting plate (inside) 14 and a stroke adjusting plate (outside) 15 fixed to the side plate 13 are provided in order to prevent the endless track from coming off the side plate 13.
A guide wheel 16 that travels between the adjusting plates 14 and 15 is attached to the magnet holder 3. These adjusting plates 14 and 15 and the guide wheels 16 can prevent the endless track from being disengaged from the side plates 13a, 13b and 13c, and the guide wheels 16 can be adjusted when the traveling device laterally travels on the vertical wall surface. It is possible to carry the load of the traveling device via the plates 14 and 15.

An auxiliary wheel guide 17 is attached to the magnet holder 3 so as to be connected to the chain 5 and prevent the auxiliary wheel 9 from derailing. Further, a part of the magnet 1 is made of rubber 18 to form a corner (FIG. 14), which serves as a slip stopper. Further, the magnet 1 can be covered with a thin plate (not shown) such as soft stainless steel, and the rubber powder 18 can efficiently remove the iron powder and the like adhering to the magnet.

The front rudder 41 shown in FIGS. 11 to 13 is an actuator 4 connected to a fulcrum 42 provided on the vehicle body 31.
By extending and contracting 3, the front side plate 13c is moved via the rudder support 45, and steering is performed. Further, the rear rudder 46 can also move the rearmost side plate 13c via the rudder support 50 by expanding and contracting the actuator 49 connected to the fulcrum 47 provided on the vehicle body 31.

The operation of the traveling apparatus having the above-described structure during traveling will be described. The magnet 1 forming the endless track is attracted to the traveling surface 60 made of a magnetic material, but when the traveling device travels, the driving force of the motor 7a is generated via the bevel gear 7b, the bevel gear-equipped drive wheel 6b, and the rotary shaft 6c. One of the drive wheels with a gear 6a is rotated, and the teeth of the drive wheel with a gear 6a are meshed with the grooves of the chain 5 so that the chain 5 serves as an orbit and the magnet 1, the magnet receiving portion 2, the magnet holder 3, the connecting pin 20, the guide. A force for driving the endless track formed by the wheels 16, the spring 4 and the chain 5 works. By making this force larger than the attraction force of the magnet 1, the magnet 1 is separated from the traveling surface 60, and the traveling device travels. At this time, a large number of auxiliary wheels with springs 9 provided in parallel are connected to the chain 5 of the endless track.
Since the portion is pressed, the magnet 1 can be reliably attracted to the traveling surface 60.

When the traveling surface 60 has the uneven portion 60a, the movement of the magnet 1 is transmitted to the support beam 12b via the spring 4, the magnet holder 3, the auxiliary wheel 9, and the spring 10.
Further, the movements of the support beam 12b and the lower side plate 13b are transmitted to the side plate piece 13a and the support beam 12a via the pin 35. At this time, as shown in FIG. 21, even if there is a convex portion 60a at a local position on the traveling surface 60, there is a spring 36 between the upper side plate piece 13a and the lower side plate piece 13b, and a total of 3
The movement of the convex portion 60 a of the running surface 60 in the height direction is absorbed by the four springs 4, 10, 36. in this way,
The device of the present embodiment can easily absorb the movement of the uneven portion 60a of the running surface 60 in the height direction.

A guide wheel 16 on the traveling surface 60 of which the height of the uneven portion 60a can move between the stroke adjusting plates 14 and 15
If it is less than the moving distance, the side plate 13 can get over the unevenness of the running surface. However, if the height of the unevenness of the running surface 60 is equal to or more than the sum of the moving distance of the guide wheel 16 which can move between the stroke adjusting plates 14 and 15 and the stroke interval of the spring 4, the side plates are supported via the supporting beams 12a and 12b. 1
The movement of the uneven portion of the traveling surface 60 is transmitted to the entire traveling device including 3a to 3c, and the entire traveling device tries to float up (when the traveling surface 60 is a convex portion) or the entire traveling device sinks. (When the running surface 60 is a concave portion), the springs 10 on the running surface 60 other than the uneven portion among the many springs 10 try to press the magnet 1 against the running surface 60, so The magnet 1 is surely attracted, and the traveling device as a whole can travel stably.

For example, as shown in FIG. 21, even if there is a convex portion 60a at a local position on the traveling surface 60, there are two springs 4 for one magnet 1 in a direction orthogonal to the traveling direction of the traveling device. As a result, the spring 10 is pressed by the magnet holder 3, so that the local protrusion 60
a can be easily overcome. In this way, the uneven portion 6 of the traveling surface 60 extends in the direction orthogonal to the traveling direction of the traveling device.
Even with 0a, the traveling device can easily follow.

Although not shown in the drawing, this traveling device also attracts the magnet 1 to the traveling surface 60 even when traveling on the traveling surface 60 having a curvature, as in the case where there is the uneven portion 60a of the traveling surface 60. The traveling device as a whole can travel stably.

Next, the case where the endless track bends will be described. By manipulating the front rudder 41 shown in FIGS. 11 to 13, the actuator 43 connected to the fulcrum 42 is expanded / contracted, and the front side plate 13c is moved via the rudder support 45 to carry out steering. Since the chain 5 forming the endless track has a flexible structure, the magnet 1 is bent by the guide wheels 16 attached to the magnet holder 3 in accordance with the bending angle of the side plate 13c so as to follow the side plates 13c on both sides to bend the endless track. The force to try works. Here, the side plates 13a, 13
Since b and 13c are subdivided in the traveling direction and the vertical direction and are loosely connected to each other by the pins 35 and 37 and the springs 36 and 38, the turning force by the front rudder 41 acts only on the side plate 13c, and other than that. A gentle bending force acts on the side plates 13a to 13c via the pins 35 and 37 and the springs 36 and 38.

On the other hand, the endless track is driven by the magnet 1 on the running surface 60.
However, the magnet 1 newly fed in the traveling direction as the vehicle travels is attracted to the place turned by the bending angle given by the front rudder 41 in the traveling direction.

This model is as shown in FIGS. That is, while the magnet 1 is attracted to the traveling surface with a new turning angle in the traveling direction, the succeeding magnet 1 is also attracted to the traveling surface bent at the curved direction with a predetermined turning angle. Due to this continuity, the endless tracks A and B travel while bending. Therefore, the vehicle body 31 is also the front rudder 41.
Finally, the entire body can be bent because the vehicle bends via. Further, the rear rudder 46 can be steered by the same means as above.

When the endless track bends, the endless tracks are provided on the left and right sides of the vehicle body 31, so that a curvature difference between the inside and the outside occurs when the entire traveling device bends. Therefore, in order to eliminate this curvature difference, with respect to the center of the turning radius (R) of the traveling device,
A pair of endless tracks arranged in parallel needs to bend at a predetermined turning radius. For example, when turning right, R = 5
00mm, the distance between a pair of endless tracks arranged in parallel is 20
When set to 0 mm, the turning radius of the inner track is R ₁ = 5
00mm, turning radius of outer track R ₂ = 700mm
Becomes

The turning radii R ₁ , R ₂ of the endless track are changed independently of the expansion / contraction ratio of the actuator 43, and the traveling speed is changed according to the curvature of the endless track turning radius. Further, it becomes possible by changing the traveling direction of each endless track.

On the other hand, since the magnet 1 does not turn or slide while being attracted to the running surface 60, the running surface is not scratched. In particular, the effect is increased by attaching the rubber 51 (see FIG. 11) to the portion of the magnet 1 that contacts the traveling surface 60.

Further, FIG. 24 (side view) and FIG. 25 (plan view) show a steering mechanism of a traveling device having a single flexible endless track. The drive motor 7a, the rudder 52, and the actuator 53 are attached to the foremost side plate 13c via a telescopic support 54, and the rudder support 55 and the drive motor 7a are attached to the side plate 13c. By the expansion and contraction of the actuator 53, the force is transmitted to the rudder support 54, and the side plate 13c is bent, so that a single endless track can bend and travel.

As described above, by making the chain 5 and the side plate 13 flexible as shown in FIGS. 3 to 25, interference between the chains 5 and the side plates 13 is reduced, and smooth rotation is possible. . Therefore, when the traveling device turns, the traveling surface 60 and the magnet 1 are
Slip does not easily occur between the running surface 60 and the running surface 60, so that scratches due to friction on the running surface 60 can be prevented.
Even 0a can be easily overcome.

Further, at this time, by using the elastic material 51 (FIG. 11) such as rubber for a part of the magnet 1 having the endless track, the coefficient of friction with the running surface is increased, slipping is prevented, and stable on a vertical wall surface. Can run. Furthermore, the flexible endless tracks can travel independently, and can be used by assembling a traveling device by combining a plurality of endless tracks.

The traveling device is capable of traveling on a wall surface or a ceiling surface. When traveling on a wall, the guide wheel 16 is attached to the side plate 1.
The magnet holder 3 is supported by 3a, 13b, 13c, the magnet holder 3 is supported by the stroke adjusting plate 15 when traveling on the ceiling surface, and the magnet 1 is pressed against the ceiling surface by the spring 10, so that traveling is possible.

Two or more endless track type magnetic traveling devices capable of traveling independently of each other may be combined. In the case of combining a plurality of traveling devices each having an endless track capable of independent traveling as described above, the number of traveling devices may be increased or decreased according to the shape of the traveling surface 60, or the size and weight of the carrying load, or different from each other. It is also possible to combine traveling devices of different sizes.

The flexible endless track type magnetic traveling apparatus of the present invention can be driven without a cable by a battery power source, a generator, and a combination thereof, and can be remotely controlled by a radio control or the like. The flexible trackless magnetic traveling device can be used as a traveling device for various robots by mounting a welding machine, a nondestructive inspection device, a coating device, or the like.

In the endless track type traveling apparatus of the present invention, the magnet 1 and the magnet receiving portion 2 or the side plate 13 are covered with a heat insulating material so that the magnet 1 and the magnet receiving portion 2 are cooled to provide the traveling. Even if the temperature of the surface 60 is high, the temperature of the vehicle body of the traveling device can be reduced.

In the examples shown in FIGS. 26 and 27, the side plate 13 is different from that of the first embodiment, and one side plate is provided on each side of the endless track. However, the side plate 13 may be a combination of the side plate pieces 13a to 13c as in the first embodiment.

For example, in the traveling apparatus shown in FIG. 26 (a modification of the view taken along the line BB in FIG. 14), the magnet receiving portion 2 is provided with a plurality of cavities 2a, or the magnet receiving portion 2 is made of ceramic or the like. It is possible to prevent the vehicle body of the traveling device from reaching a high temperature by, for example, making it with a poor conductor of heat.

Further, the side plate 13 itself may be made of a heat insulating material so that a portion other than the magnet receiving portion 2, for example, the side plate 13 or the like, has heat insulating properties, or the side plate 13 is covered with a heat insulating material 13 '(FIG. 26). It may be configured to.

Further, in the example of the traveling device shown in FIG. 27 as a mechanism for reducing the temperature of the vehicle body of the traveling device even when the temperature of the traveling surface 60 is high, the endless belt fitted in the gap between the adjacent chains 5 on the endless track is used. It is also possible to provide a crawler 21 in the shape of a claw and cool the circumference of the magnet 1 on the endless track that comes into contact with the crawler 21.

In FIG. 27, a plurality of heat radiation rollers 22 for cooling around the magnet 1 on the endless track and the heat radiation rollers 22 are also shown.
Also shown is a configuration in which an air nozzle 23 for cooling is provided. In this case, the magnets 1 can be cooled by sequentially contacting the plurality of heat dissipation rollers 22 with the magnets 1 on the endless track.

In order to reduce the leakage magnetic flux density from the running surface 60 of the infinite drive type magnetic running device of the present invention,
The entire track may be covered with a cover made of a magnetic material or a cover made of a combination of materials having high magnetic permeability and materials having low magnetic permeability.

28 is a side view of the traveling device shown in FIG.
29, which is a view taken along the line AA of FIG. 29, the magnetic material cover 24 covers portions other than the traveling portion of the traveling device. Note that FIG.
In the example shown in FIG. 8 and FIG. 29, the function of the side plate 13 is also the magnetic material cover 2
This is what I had in 4.

When a magnetic material itself such as an iron plate is used for the magnetic material cover 24, since the cover 24 constitutes a magnetic circuit, leakage of magnetism to the outside is reduced. Also, FIG.
As shown in FIG. 30, which is an enlarged view of the circle indicated by the lead line B, the use of a laminated body of the cover 24a made of a material having a high magnetic permeability and the cover 24b made of a material having a low magnetic permeability further reduces the leakage magnetic flux to the outside. Become.

When the traveling device of the present invention fails and does not move, the traveling surface 6 is strongly driven by the magnet 1 on the endless track.
It is necessary to disengage the traveling device adsorbed at 0 from the traveling surface 60. Therefore, a heating element such as a heater can be attached around the magnet. In this way, when the traveling device fails, the heater etc. is caused to generate heat, and the magnet portion is heated to a temperature above the Curie point to eliminate the magnetic force of the magnet,
The traveling device can be recovered by removing it from the traveling surface 60.

In FIG. 31 (a modified example of the view taken along the line BB in FIG. 14), the heater 25 is attached to the outside stroke adjusting plate 1.
5 is shown, and FIG. 32 (a modified example of the view taken along the line BB in FIG. 14) shows an example in which the heating heater 25 is attached to the magnet receiving portion 2.

[Brief description of the drawings]

FIG. 1 is a schematic side view of an endless track type magnetic traveling apparatus according to an embodiment of the present invention.

2 is a schematic plan view of the endless track type magnetic traveling apparatus of FIG. 1. FIG.

FIG. 3 is a side view of the chain of the magnetic track apparatus of the crawler track according to the embodiment of the present invention.

FIG. 4 is a plan view of the chain of FIG.

5 is a plan view of a chain side plate of the chain of FIG. 3. FIG.

FIG. 6 is a plan view of the chain side plate of the chain of FIG. 3 and its accessories are assembled.

FIG. 7 is a conceptual diagram illustrating an operation at the time of turning when the crawler track type magnetic traveling device according to the embodiment of the present invention is provided on both sides of the coupling device.

FIG. 8 is an explanatory diagram of how to bend the endless track type traveling device according to the embodiment of the present invention.

FIG. 9 is an explanatory diagram of how to bend the endless track type traveling device according to the embodiment of the present invention.

FIG. 10 is a modified example of the tracked travel device according to the embodiment of the present invention.

FIG. 11 is a side view of an endless track type traveling apparatus according to an embodiment of the present invention.

FIG. 12 is a plan view of the endless track type traveling device of FIG. 11.

13 is a front view of the tracked traveling apparatus of FIG. 11. FIG.

FIG. 14 is an internal structural diagram of the endless track type traveling device of FIG. 11 with side plates removed.

15 is a view taken along the line AA of FIG.

16 is a view taken along the line BB of FIG.

FIG. 17 is a view taken along the line CC of FIG.

FIG. 18 is an enlarged view of a connecting portion between side plates in the front-rear direction of FIG.

19 is a plan view seen from the inside of the side plate of the flexible traveling device of FIG.

20 is a bird's-eye view of a joint portion between an upper side plate and a lower side plate of the flexible traveling device of FIG.

FIG. 21 is a view taken along the line BB of FIG. 14 showing how the traveling device of FIG. 14 gets over a convex portion of a traveling surface.

22 is a view taken along the line AA of FIG.

23 is a partially enlarged view of the lead line A in FIG.

FIG. 24 is a side view of a single tracked traveling device according to an embodiment of the present invention.

FIG. 25 is a plan view of the traveling device of FIG. 24.

FIG. 26 is a view taken along the line BB of FIG.

FIG. 27 is an internal structure diagram of the crawler track type traveling apparatus according to one embodiment of the present invention with a side plate portion removed.

FIG. 28 is a side view of the tracked travel device according to the embodiment of the present invention.

29 is a view taken along the line AA of FIG. 28.

30 is an enlarged view of a circle indicated by a lead line B in FIG.

31 is a modification of the view taken along the line BB in FIG.

FIG. 32 is a modification of the view taken along the line BB in FIG.

[Explanation of symbols]

1 magnet 2 magnet receiving part 3 magnet holder 4, 10, 3
6 spring 5 chain 5a chain side plate 5b connecting shaft 5c long hole 5d pitch adjusting collar 5e spring 6a gear drive wheel 6b bevel gear drive wheel 6c rotating shaft 7a motor 7b bevel gear 8a idler gear 8b rotating shaft 9 auxiliary vehicle body with spring 12a , 12b Support beam 13a Lower side plate 13b Lower side plate 13c Front and rear side plates 13 'Heat insulating material 14 Stroke adjusting plate (inner side) 15 Stroke adjusting plate (outer side) 16 Guide wheel 17 Auxiliary wheel guide 18, 51
Rubber 21 crawler 22 heat dissipation roller 23 air nozzle 24 magnetic material cover 31 vehicle body 33 41,
52 rudder 35, 37 pin 39 motor support 45, 50, 55 rudder support 43, 53
Actuator 54 Stretchable support 60 Traveling surface 60a Traveling surface irregularities

Claims (23)

[Claims] 1. An endless track formed by connecting a plurality of magnets by a chain is provided on an outer peripheral portion of a vehicle body provided with side plates on both sides, and the endless track magnet is attracted to a running surface made of a magnetic material. In an endless track type magnetic traveling device in which a chain drive wheel for driving a track and its drive source are provided on a vehicle body, the chain and side plates on both sides have a flexible structure,
The vehicle body is provided with a structure for connecting the two side plates, a structure connecting the both side plates, a rotation shaft of the chain drive wheel whose ends are supported by the both side plates, and a drive source for the chain drive wheel inside or outside one side plate. A magnetic track device of the endless track type characterized by disposing a single or a plurality of endless tracks between two side plates. 2. The infinite body according to claim 1, wherein the both side plates of the vehicle body are composed of a plurality of side plate pieces loosely and elastically connected to each other in the traveling direction and the vertical direction of the traveling device. Orbital magnetic traveling device. 3. A chain is configured by connecting a pair of chain side plates arranged in parallel and a chain unit composed of a connecting shaft of the chain side plate to an adjacent chain side plate via the connecting shaft. The connecting shaft insertion hole provided has a major axis larger than the diameter of the connecting shaft, and a pitch adjusting collar for adjusting the distance between a pair of chain side plates arranged in parallel on the outer peripheral portion of the connecting shaft and the inside of the pitch adjusting collar. 3. The endless track type magnetic traveling device according to claim 1, further comprising a spring that urges the pair of parallel chain side plates in a direction in which they are separated from each other. 4. A plurality of endless track pressing auxiliary wheels with suspensions supported by the vehicle body, elastic members arranged between each magnet and the chain that form the endless track, and the vehicle body while engaging with the chain of the endless track. The idler wheel supported by an elastic member is provided on the above.
4. The tracked magnetic traveling apparatus according to any one of 1 to 3. 5. An endless track type magnetic traveling apparatus according to claim 1, wherein the auxiliary track pressing auxiliary wheel with suspension is provided with adjusting means for adjusting the pressing force of the suspension. 6. The crawler track type magnetic traveling device according to claim 1, wherein the drive source of the chain drive wheels is provided with a drive control device by a remote control device. 7. The endless track type magnetic traveling device according to claim 1, wherein the chain is provided with a suspension-equipped endless track pressing auxiliary wheel detachment prevention mechanism. 8. Each magnet is covered with a plate of a non-magnetic material having a smooth surface, and an elastic member is provided on all portions of the magnets that abut on the running surface or at least corner portions that abut the running surface. The crawler track type magnetic traveling device according to any one of claims 1 to 7, wherein the magnetic track device is arranged. 9. A guide wheel for moving two strokes provided on the inside of both side plates of a vehicle body, wherein a stroke adjusting section for limiting the stroke range of the endless track is provided between the two projections. Is attached to an endless track, and the magnetic track apparatus of the endless track type according to any one of claims 1 to 8. 10. The endless track according to claim 1, wherein a steering device for changing the traveling direction of the traveling device is connected to the front and side plates and the rear side plates of the vehicle body. Type magnetic traveling device. 11. A crawler track type magnetic traveling device comprising a coupling device for coupling two or more crawler track type magnetic traveling devices according to any one of claims 1 to 9. 12. A steering device is provided in a connecting device for connecting two or more endless track type magnetic traveling devices, and the steering device is connected to both front side plates and / or rear side plates, respectively. The crawler track type magnetic traveling apparatus according to claim 11. 13. A space is provided between the endless track type magnetic traveling device according to any one of claims 1 to 9 and a connecting device that connects the endless track type magnetic traveling device. 11. The tracked magnetic traveling apparatus described in 11 or 12. 14. The endless track according to claim 11, wherein a connecting device for connecting two or more endless track type magnetic traveling devices is divided into a plurality of parts and connected to each other. Type magnetic traveling device. 15. The connecting device for connecting two or more endless track type magnetic traveling devices is detachable or has an arm shape capable of arbitrarily setting an angle for connecting each of the endless track type magnetic traveling devices. Claims 11 to 14
2. A tracked magnetic traveling device according to any one of 1. 16. A coupling device for coupling two or more endless track type magnetic traveling devices is at least one endless track type magnetic traveling device capable of traveling independently and another endless track type magnetic traveling device capable of traveling independently of each other. The crawler track type magnetic traveling device according to any one of claims 11 to 15, further comprising a connecting mechanism capable of traveling on different three-dimensional traveling surfaces. 17. A solar thermal power generation panel is provided on an upper part of a continuous track type magnetic running device in which two or more continuous track magnetic running devices according to any one of claims 1 to 10 are connected. Tracked type magnetic traveling device. 18. An outer peripheral portion of a vehicle body having side plates on both sides,
An endless track configured by connecting a plurality of magnets by a chain is provided, and a chain drive wheel that drives the endless track while adsorbing the magnet of the endless track on a running surface made of magnetic material and its drive source are provided on the vehicle body. In a crawler-type magnetic traveling device, a vehicle body has two side plates, a structure connecting the both side plates, a rotary shaft of a chain drive wheel whose end portions are supported by the both side plates, and an inner side or an outer side of the one side plate. An endless track type magnetic running characterized by having a drive source for chain drive wheels, arranging single or multiple endless tracks between two side plates, and making the endless track part or the side plate part forming the vehicle body a heat insulating structure. apparatus. 19. The endless track type magnetic traveling apparatus according to claim 18, further comprising an accessory for cooling the endless track portion. 20. An outer peripheral portion of a vehicle body having side plates provided on both sides,
An endless track configured by connecting a plurality of magnets by a chain is provided, and a chain drive wheel for driving the endless track while adsorbing the magnet of the endless track on a running surface made of magnetic material and its drive source are provided on the vehicle body. In a crawler-type magnetic traveling device, a vehicle body has two side plates, a structure connecting the both side plates, a rotary shaft of a chain drive wheel whose end portions are supported by the both side plates, and an inner side or an outer side of the one side plate. A chain drive wheel drive source is provided, and one or more endless tracks are arranged between two side plates, and the endless track parts other than the side surface in contact with the running surface are covered with a magnetic material or a material with a high magnetic permeability and a transparent material. An endless track type magnetic traveling device characterized by being covered with a cover material made of a material having a low magnetic susceptibility. 21. On the outer periphery of a vehicle body having side plates on both sides,
An endless track configured by connecting a plurality of magnets by a chain is provided, and a chain drive wheel for driving the endless track while adsorbing the magnet of the endless track on a running surface made of magnetic material and its drive source are provided on the vehicle body. In a crawler-type magnetic traveling device, a vehicle body has two side plates, a structure connecting the both side plates, a rotary shaft of a chain drive wheel whose end portions are supported by the both side plates, and an inner side or an outer side of the one side plate. Equipped with a drive source for chain drive wheels, a single or multiple endless tracks are arranged between two side plates, and the components other than the magnets forming the endless track are made of non-magnetic material. Magnetic traveling device. 22. In the outer peripheral portion of the vehicle body having side plates on both sides,
An endless track configured by connecting a plurality of magnets by a chain is provided, and a chain drive wheel that drives the endless track while adsorbing the magnet of the endless track on a running surface made of magnetic material and its drive source are provided on the vehicle body. In a crawler-type magnetic traveling device, a vehicle body has two side plates, a structure connecting the both side plates, a rotary shaft of a chain drive wheel whose end portions are supported by the both side plates, and an inner side or an outer side of the one side plate. An endless track equipped with a drive source for chain drive wheels, with one or more endless tracks arranged between two side plates, and a heater for heating the magnet installed near the magnet in the endless track section. Type magnetic traveling device. 23. In the outer peripheral portion of the vehicle body having side plates on both sides,
An endless track configured by connecting a plurality of magnets by a chain is provided, and a chain drive wheel that drives the endless track while adsorbing the magnet of the endless track on a running surface made of magnetic material and its drive source are provided on the vehicle body. In a crawler-type magnetic traveling device, a vehicle body has two side plates, a structure connecting the both side plates, a rotary shaft of a chain drive wheel whose end portions are supported by the both side plates, and an inner side or an outer side of the one side plate. It is equipped with a drive source for chain drive wheels, has one or more endless tracks arranged between two side plates, and is equipped with a liquid seal mechanism at the body penetration part of the rotating shaft for power transmission from the drive source. Endless track type magnetic traveling device.