JPS60131174A - Wall-surface walking machine - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to a wall walking machine that attracts a magnetic wall surface with a magnet and moves while walking, and particularly relates to a wall walking machine that can move at high speed on a wall surface by quickly attaching and detaching a magnet. 1yj to the structure of.

[Background of the invention]

Conventionally, electromagnets have been used for adhering to the wall in wall-mounted machines that perform maintenance and inspection work while moving while adhering to a magnetic wall. At this time, the suction force is proportional to the value of the four currents applied to the coil, and most of the input terminal is converted into heat.Therefore, in order to achieve a large suction force, a huge amount of heat is generated.

Furthermore, since the suction force is proportional to the number of turns, the coil has to be large and heavy in order to obtain the full suction force. It is also necessary to bank it with storage batteries to prevent it from falling during a power outage.

On the other hand, in recent years, attempts have been made to use permanent magnets to attract walls to walls, but because it is difficult to control the attraction force, it is necessary to devise ways to attach and detach the magnets to and from walls, resulting in a complicated mechanism. As a way to improve this problem, attempts have been made to significantly reduce the rotation of the motor, use a jack (1#), and use the force of the jack to pull up the magnets that are attracted to the wall surface, thereby sending the legs forward. However, since the reduction ratio of the rotation of the motor is large, there is a drawback that it takes time to attach and detach.

[Purpose of the invention]

An object of the present invention is to provide a wall walking machine that has a strong suction force, can quickly attach and detach its legs, and walks at high speed.

[Summary of the invention]

The present invention will be explained in detail below. Arranging at least two or more legs equipped with magnets on the contact surface with the wall surface on the main body of the walking machine,
By lifting at least one leg from the wall and sending it out in the direction of movement, the walking machine can move while adhering to the wall.

When transporting articles using this wall walking machine, in order to avoid falling accidents due to detachment of the magnet, the magnet is often given a large magnetic force that takes into account the minimum necessary magnetic force and a safety factor. However, contrary to this, walking (due to hyperactivity, it becomes difficult to remove the magnet and pull up the leg from the wall).

Therefore, a reversible permanent magnet whose polarity can be changed depending on the direction of the current flowing through the solenoid is placed alongside a permanent magnet that has a large magnetic force that attracts the wall surface, and the magnetic circuit composed of the permanent magnet and the reversible permanent magnet is By switching the direction, the attractive force acting on the wall can be reduced to tfflJ (1).In other words, one pole of the permanent magnet is connected with one yoke of the reversible permanent magnet, and one end of the magnet is connected to the wall. be the suction surface.

The other remaining poles are also connected with a yoke, and one end of the pole is also used as an adhesion surface to the wall surface. First, apply current to the solenoid of the reversible permanent magnet, and set the direction so that the S pole of the permanent magnet and 84 of the reversible permanent magnet are connected by the yoke, and the N pole of the permanent magnet and the N pole of the reversible permanent magnet are connected by the yoke. Magnetize a reversible permanent magnet. At this time, the magnetic flux Φ1 emitted from the N pole of the permanent magnet passes through the yoke and wall surface to the S of the permanent magnet.
I'm at the extreme. The magnetic flux Φ2 emitted from the N pole of the reversible permanent magnet enters the S pole of the reversible permanent magnet via the joke/wall surface.

Therefore, the magnetic flux passing through the attraction surface of the yoke is Φl+Φ
2, and the magnetic attraction force F1 acting on the wall surface is given by equation (1).

Here; μ0: Vacuum permeability S: Adsorption cross section Dechiru.

Next, apply a current in the opposite direction to the solenoid so that the S pole of the permanent magnet and the Nffj of the reversible permanent magnet are connected by the yoke, and the N pole of the permanent magnet and the S pole of the reversible permanent magnet are connected by the yoke. Magnetize a reversible permanent magnet in the direction of At this time, the magnetic flux Φ1 emitted from the N pole of the permanent magnet enters the S pole of the reversible permanent magnet via the yoke. The magnetic flux Φ2 emitted from the N pole of the reversible permanent magnet enters the S pole of the permanent fluorite via the yoke. Therefore, no magnetic flux passes through the attraction surface of the yoke, and no magnetic attraction force is exerted on the wall surface.

That is, depending on the direction of the current flowing through the solenoid of the reversible permanent magnet, the attraction force of the permanent magnet and the reversible permanent magnet combined can be made to work, or the attraction force can be set to O. Pulse current is sufficient for the current flowing through the solenoid only when switching poles. Therefore, less power is consumed and less heat is generated.

Next, a method of adhering to a wall surface and moving it using the magnet described in IfJ will be explained. at least two devices equipped with said magnet device;
In a wall walking machine having more than one leg, at least one
Lift the leg from the wall in a state where the attraction force of the magnet device of the leg larger than a book does not work. The legs may be lifted from the wall by a motor or by a spring, and the lifting distance may be minute. The remaining legs use suction to stick to the wall and support the wall walker itself.

The legs lifted from the wall are sent in the direction of movement, and then attracted to the wall by the attractive force of the magnet device. After that, by repeating the same motion with the other legs in sequence, the robot can move on the wall surface by walking motion.

[Embodiments of the invention]

Hereinafter, practical examples of the present invention will be explained using figures. Figures 1 and 2 show one unit of a magnet device used in a wall walking machine. In Fig. 1, the direction 2 of the magnetic flux emitted from the permanent magnet 1 and the direction 4 of the magnetic flux emitted from the reversible permanent magnet 3 are in the same direction, and the magnetic flux emitted from each magnet is directed to the yoke 5 and the wall surface 6 made of ferromagnetic material.・The entire magnetic circuit consisting of the yoke 7 is formed. The combined magnetic flux of the permanent magnet 1 and the reversible permanent magnet 3 can contribute to attraction. Reference numerals 8 and 8' represent reversible permanent magnet solenoids, and the ``turret current 8'' toward the viewer and the current 8'' in the depth direction perpendicular to the plane of the paper are shown. 9 indicates lines of magnetic force.

When a pulse current is applied to the solenoid 8 of the reversible permanent magnet in the direction shown in FIG. It is closed inside the device and does not go into the wall surface 6 from the yokes 5 and 7. Therefore, the yokes 5 and 7 and the wall 6
There is no suction force between them, and other power sources not shown in the diagram apply. (The magnet device can be easily and quickly pulled up from the surface.)

In conventional wall walkers, a plurality of small magnets are often lined up to form an attraction surface. FIG. 3 shows an example in which the present invention is applied to such a case. The permanent magnets 10 are arranged with the magnetic pole direction changed one by one and arranged through 11 yokes.

A solenoid 13 is wound around each reversible permanent magnet 12, and both poles of the reversible permanent magnet 12 are in contact with the yoke 11. The DC power supply 14 supplies current to the solenoid 13 via the changeover switch 15.
The direction ff of the current flowing through each solenoid 13 can be changed by operating the . In this embodiment as well, the amount of magnetic flux passing through the attracting surface of the yoke 11 can be changed by operating the changeover switch 15.

FIG. 4 shows an example in which the magnet device shown in FIG. 3 is incorporated into a wall traveling machine. A magnet device 17 having the configuration shown in FIG. 3 is fixed to the pedestal 16, and is supported by a leg frame 19 via a compression coil spring 18 in a sliding manner. Wheels 20 are mounted on the tips of the leg frames 19, and are always in contact with a wall surface 21. The leg frame 19 is connected to the main body 23 via a screw feeding device 22, and when the screw is rotated in the direction of an arrow 24 by the power of a motor or the like not shown in the figure, the leg frame 19 is It can be moved in the direction of arrow 25.

When the magnet device 17 is in the attracted state, the magnet device 17 is fixed to the wall surface 21, so when the screw feeding device 22 is operated, the main body 23 can be sent to the wall surface 21. On the other hand, when the magnet device 17 is opened, the pedestal 16 is lifted by the force of the compression coil spring 18, and the magnet device 1
7 is removed from the wall surface 21. As a result, the leg frame 19f can be sent to the wall surface 21 by operating the screw feeding device 22 so that the wheel 20 contacts the wall surface.

FIG. 5 shows an example of a wall walking machine equipped with a plurality of legs as shown in FIG. 4. Walking is performed as follows. At least 1 from the state where all the leg magnet devices 17 are attracted
The magnet devices are opened and pulled up by the force of the spring 18 from the wall surface 21. Next, the screw feed device 22 driven by the motor 26 sends the lifted leg in the moving direction. After that, when the magnet device 17 is brought into the attracted state again, the magnetic attraction force and the force of the spring 18 are overcome, and the magnet device 1
7 is adsorbed to the wall surface 21. By sequentially repeating the above operations, the main body 23 can move relative to the wall surface 21 and achieve a walking motion.

[Genmei effect]

According to the present invention, since the number of magnetic fluxes passing through the attraction cross section can be changed depending on the direction in which the pulse current is passed, the attraction head of the magnet device can be easily tilted to the side. Therefore, all rapid walking motions can be achieved using a simple mechanism with few mechanically movable parts.

Further, current is applied to the solenoid only when changing the attachment/detachment state of the magnet device, and there is no need to supply current during attraction or release. Therefore, power consumption is low and heat generation from the magnet device can be kept low.

[Brief explanation of the drawing]

Figures 1 and 2 explain the principle of the magnet device used in the present invention (81, Figure 3 is a block diagram of the actual magnet device, and Figure 4 schematically shows the legs of the wall walking machine according to the present invention. Figures 5 and 5 are diagrams showing the outline of the overall structure of the wall walking type of the present invention. 1.10... Permanent magnet, 3.12... Reversible permanent magnet, 5.7.11. ...Yoke, 6.21...Wall surface, 8
・'i3 Figure

Claims (1)

[Claims] 1. Consisting of a magnet, a mechanism for attaching and detaching the magnet to and from a magnetic wall, and a mechanism for moving the walking machine along the magnetic wall, it is used as a permanent magnetic adsorption means in a wall walking machine that moves by magnetically adhering to the wall. A wall walking machine characterized by installing a magnet and a reversible permanent magnet together, controlling the magnetic force, and attaching and detaching the magnet to the magnetic wall surface.