JPS608169A - Magnetic attraction type wall surface running vehicle - Google Patents

Abstract

PURPOSE:To make it possible to move a vehicle on a wall surface without scratching the wall surface, by utilizing tires packed therein with magnetic fluid for travelling wheels. CONSTITUTION:Magnetic fluid 24 is packed in a tire 22, and electromagnets 30 are provided on both side parts of the tire 22. In order to move a wall surface running vehicle, at first the coils of the magnets 30 are energizged to creat magnetic flux for attraction between a wall surface 14 and the magnetic fluid 24 and between the lower end of an iron core 36 and the wall surface 14 so that the vehicle 10 is attracted onto the inclined wall surface 14. Then, wheels 20 are rotated by drive motors 39 to advance the vehicle 10. Further, the turning of the vehicle may be easily made by a steering device. With this arrangement utilizing magnetism, the vehicle 10 is surely attracted onto the wall surface 14, and as well the tread area of each wheel of the vehicle with respect to the wall surface 14 is small, thereby the steering of the vehicle is simple so that the vehicle may be smoothly turned.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a magnetic adsorption type wall running vehicle that can run entirely on a wall using magnetism.

[Prior art]

The conventional magnetic adsorption type wall-mounted vehicle system magnetizes the caterpillars installed on both the left and right sides of the vehicle and attracts it to the wall.
By moving these caterpillars, it is possible to move forward and backward. On the other hand, there is a method of turning the traveling vehicle by changing the number of revolutions of the left and right caterpillars.

However, in this method, the caterpillar is usually made of a ferromagnetic rigid body such as iron, and the drawback is that the wall surface is easily damaged when turning, and the residual magnetism of the magnetized caterpillar causes the caterpillar to be driven by 1:13 with more force than necessary. It had the disadvantage of requiring

On the other hand, as shown in FIGS. 1 to 3, a substantially central electromagnet 2A of the car body of the traveling vehicle 2 can be projected downward from the vehicle body, and the car body can be rotated around this central electromagnet 2A. It is known that the car was driven by

However, in order to make this type of wall running vehicle turn,
First, for the entire trip, the electromagnet 28 in the center of the car body is made to stick out and stick to the wall surface, and as shown in Figure 3,
The caterpillar 6 was raised from the wall surface 4, and then the car body f: As shown by the second two-dozen chain line, the car body center electromagnet 2A was rotated, and then the caterpillar 6 was lowered and adsorbed to the wall surface. It requires a complicated series of operations to demagnetize the rear car body center electromagnet 2A, store it inside the car body, and then drive the caterpillar 6 again, and the disadvantage is that it takes an excessive 9 hours due to intermittent cornering. It had

[Purpose of the invention]

The present invention was made in view of the drawbacks of the prior art, and its purpose is to provide a new magnetic adsorption type wall running vehicle that has never been seen before by using tires filled with magnetic fluid as running wheels. It is in.

[Summary of the invention]

The present invention is characterized in that a magnetic fluid is packed into the tire, and electromagnets are provided on both sides of the tire so that the magnetic fluid and the wall surface are attracted to each other through the ground contact with the tire wall tTJj. , thereby attempting to achieve the above objective.

[Embodiments of the invention]

Next, an embodiment of the magnetic attraction type wall running vehicle according to the present invention will be described based on the drawings.

In FIGS. 4 to 6, the wall 1111 traveling unit 10 according to the present invention is a welding machine, a wall surface? A vehicle body 12 that can incorporate various equipment suitable for a predetermined purpose, such as a rotary brush for sweeping 7r.
, four wheels 20 that support the vehicle body 12 from force and allow it to run completely on the wall surface 14, and electromagnets 3 provided on both sides of each wheel.
0 and a steering drawing 40 for turning.

The wheels 20Vi consist of a front wheel 20A and a rear wheel 2'OB, each wheel 2 (Nd as shown in Fig. 6).
A magnetic fluid 24 is filled inside each tire 22 formed in a dope shape with thin rubber, and the tire 22 is mounted on the outer periphery of a wheel 26.

As shown in FIGS. 4 and 6, the electromagnets 30 are fixed to the wheel support frame 32 and placed near the tire grounding part of each wheel 200 cars 01t 9, so that when the vehicle 12 turns, the wheels 20 Even if it rotates 44 times υ, the wheel 20
It is arranged so that the mutual position between the two does not change.

The electromagnet 30 has a coil 37 wound around an L-shaped iron core 36,
The iron core 36 is covered with a casing 38 and both ends of the iron core 36 are made to protrude from the casing 38, as shown in FIG.
6.1% tires 22 are sandwiched and placed opposite each other, with the other end facing the wall surface 14.

When a current is passed through the coil 37, the magnetic fluid 24 and the wall surface 14
A running motor 39 is installed in the frame 32, which moves the vehicle body by forming a magnetic flux as shown by the broken line in FIG. 6 as a magnetic path.
A steering motor 42 for steering υ, which rotates in conjunction with a steering shaft 44 vertically installed in the
1 on the drive shaft 42A? The attached gear 43 meshes with one of the gears 46A and 46B which are anastomosed with each other, and the pulley 47 (47) fitted on the shaft of the gears 46A and 46B is engaged.
A, 47B) and a pulley 48 which is rotatably attached to the steering shaft 44. A belt 49 is wound around the pulley 48, and the left and right wheels can rotate in the same direction, and the front and rear wheels can rotate in opposite directions. It looks like this.

Therefore, compared to the case where the vehicle turns by fully rotating either the front or rear wheels, the turning radius is significantly smaller, and the steering angle can be set to 90 degrees, allowing smooth and quick steering.

In order to run the wall vehicle according to the present invention, first, a full current is supplied to the coil of the electromagnet 30 to form a magnetic flux as shown by the broken line in FIG.
The wall surface 14 is inclined due to the suction force between the lower end and the wall surface 14.
10 traveling cars were adsorbed.

Next, the traveling motor 39 rotates the wheels 20 times to move the traveling vehicle 10 forward. The traveling motor 39 can also be reversed, and by reversing the traveling motor 39, the traveling vehicle 10 can be moved backward.

The vehicle 10 can be easily turned by the steering device 40, and the vehicle 10 can smoothly turn without losing its entire travel.

In this embodiment, since the vehicle 10 can run using rubber tires, the wall surface 1
4 will not get hurt.

In addition, in this embodiment, a magnetic fluid 24 is packed inside the tire 22, and electromagnets 30 are provided on both sides of the tire 22, and the magnetic fluid 24 and the wall surface 14 form a magnetic path for the electromagnet 30. Since the traveling vehicle 10 is reliably attracted to the wall 14 and the ground contact area with the wall surface 14 is small, it is easy to maneuver and can run smoothly.

Furthermore, since the magnetic fluid 24 has a major feature in that no residual magnetism remains, in this embodiment, there is no interference with running due to residual magnetism, and no large load is applied to the running motor 39.

In the previous hU2 embodiment, the steering mechanism 40 was constructed so that the front and rear wheels 20A, 20B could be rotated simultaneously by meshing the gears 46A, 46B.
Front wheel 40A or rear wheel 4 without matching B.
Only the wheels on either side of 0B may be rotated fully.

In addition, a pulley 47.4 is used as a rotating means for the steering shaft 44.
8 and a belt 49, but gears and a chino may be used instead.

Furthermore, in the embodiment, electromagnets 30 are provided on both sides of the wheel 2o.
Although one electromagnet 30 is installed in each example, by arranging several electromagnets 30 in parallel, the magnetic flux density can be increased and the adhesion force to the wall surface of the vehicle can be increased.

Furthermore, it is also possible to increase the number of cars according to the grade of the running car to ensure wall adhesion.

〔Effect of the invention〕

As is clear from the above description, according to the present invention, it is possible to smoothly turn the vehicle without damaging the wall surface.

[Brief explanation of drawings]

FIG. 1 is a side view of a conventional wall vehicle, FIG. 2 is a plan view thereof, FIG. 3 is a side view of the wall vehicle when turning, FIG. 4 is a side view of a wall vehicle according to the present invention, and FIG. 5 is the string V-■ shown in Figure 4.
FIG. 6 is a cross-sectional view taken along the line Vl--Vl shown in FIG. 4. 10...Wall surface running vehicle, 14...Wall surface, 20 (2O
A, 20B)...Wheel, 22...Tire, 24...
- Magnetic fluid, 30... Electromagnet, 32... Wheel support frame, 4o... Knive mechanism. Agent Tatsuyuki Numa (and 1 other person) Figure 1 Figure 2

Claims (2)

[Claims] (1) A thin tubular tire filled with magnetic fluid is installed, and electromagnets are installed near the tire ground contact on both sides of the tire to form a magnetic flux using the magnetic fluid and walls as magnetic paths. A magnetic adsorption type wall-mounted vehicle. (2) The core of the electromagnet is constructed in an oval shape, one end of which is opposed to the other across the tire, and the other end is arranged perpendicular to the wall surface. Magnetic adsorption type wall running vehicle described in Section 1.