WO2020225996A1

WO2020225996A1 - Floating movable body and stirring device having said movable body

Info

Publication number: WO2020225996A1
Application number: PCT/JP2020/013819
Authority: WO
Inventors: 太郎藤川; 慎一秋山; 里美松井
Original assignee: 学校法人東京電機大学
Priority date: 2019-05-09
Filing date: 2020-03-26
Publication date: 2020-11-12
Also published as: JP7397424B2; JP2020182914A

Abstract

The present invention provides: a movable body that floats in a liquid or gas; and a stirring device provided with said movable body.　The present invention is a movable body 1 that floats and moves in a liquid or in a gas. An aspect of the present invention is configured to comprise: a cylindrical or spherical rotary shell 100 which is watertight in a liquid and is airtight in a gas; and a rotation control device 200 stored in the rotary shell, wherein the rotation control device has a rotary shaft 212 of the rotary shell that extends in the axial direction of the cylinder or in the axial direction passing through the center of the sphere, and a drive unit 210 for rotating the rotary shaft, the rotary shell and the rotation control device being pivotably supported by the rotary shaft.

Description

A floating moving body, a stirring device equipped with this moving body.

The present invention relates to a moving body floating in a liquid or a gas, and further to a stirring device provided with this moving body.

Various technologies have been proposed because mobile bodies that float and move in liquids or gases are expected to be widely used. For example, floating and mobile technologies related to submarines / deep sea explorers and balloons / airships. In order to obtain power for moving in these moving bodies, it is common to provide a movable part such as a propeller provided on the outside. In this configuration, friction / wear occurs between the movable part and the stationary part such as a bearing or a seal that comes into contact with the movable part, and this friction / wear may cause deterioration of the sealing or generation of abrasion powder. Then, the deterioration of the sealing has an influence on the moving body in the external environment, and the generation of abrasion powder may have an influence on the external environment on the contrary.

Having the feature that it is not affected by the external environment of the moving body or does not affect the external environment may further expand the range of use of the floating moving body. For example, in the agitation / mixing in the production of pharmaceuticals, biotechnology, fine chemicals, etc., which are required to prevent the mixing of foreign substances, high quality production is possible by using a floating moving body that takes advantage of this feature as a stirrer. (See Patent Document 1).

On the other hand, as a traveling device such as a robot that works in a narrow place, a robot that works in a clean room or underwater where safety and airtightness are required, and a highly mobile personal robot that can coexist with people at home. , A technique of a moving body having a closed outer shell has been proposed (see Patent Documents 2 and 3).

Japanese Patent Application Laid-Open No. 2007-02387 Japanese Patent Application Laid-Open No. 07-285475 Utility model registration No. 3116275

However, the technique of the non-contact stirring device disclosed in Patent Document 1 is to arrange a power source outside the stirring tank and magnetically levitate and rotate the stirring blade in the tank with a bulk superconductor. Although the expected effects were achieved, the materials and equipment could be complicated.

Further, the technique of a moving body having a closed outer shell disclosed in Patent Documents 2 and 3 is to move the center of gravity of the moving body itself by providing a moving body independent of the outer shell inside the closed container. , Propulsive force is obtained by using rocking, and it cannot be said that it is efficient for floating movement in liquid and gas.

The present invention has been made in view of these circumstances in the background, and an object of the present invention is to provide a moving body floating in a liquid or a gas, and further to provide a stirring device provided with this moving body.

The present invention is a moving body that floats and moves in a liquid or a gas. One aspect of the present invention comprises a cylindrical or spherical rotating shell that is watertight in liquid or airtight in gas, and a rotation control device housed in the rotating shell. The rotation control device has a rotation axis of the rotating shell extending in the axial direction of the cylinder or an axial direction passing through the center of the sphere, and a drive unit for rotating the rotation axis. The rotation control device is vertically mounted by the rotation shaft.

The above configuration was created by paying attention to the moment of inertia, which is an index of the difficulty of turning. For example, considering a motor boat equipped with one screw, the moment of inertia of the hull is extremely large as compared with the screw. Then, since the resistance of water is also loaded in order to rotate the hull, the difficulty around the hull further increases. Therefore, even if the screw is rotated, the hull does not rotate, and the wing of the screw waters the hull to obtain propulsive force.

This configuration applies this concept to a rotating shell that is a watertight and airtight container, and a rotation control device that is connected only to this rotating shell and the rotating shaft, and the moment of inertia (difficulty of rotation) and angular kinetic energy of both. Due to the difference, the rotating shell (outer shell) is made to rotate at a higher absolute coordinate than the rotation control device (contents).

With such a configuration, the floating moving body has only a rotating shell (outer shell) exposed to the external environment, and environmental resistance can be easily provided only by selecting the material of the outer shell. Then, the rotation of the rotating shell causes friction with a liquid or gas that becomes the external environment, and propulsive force or stirring force can be generated.

Further, in this configuration, since friction / wear does not occur between the moving part and the stationary part such as a bearing or a seal that comes into contact with the moving part, deterioration of the sealing due to friction / wear and the possibility of generation of abrasion powder are eliminated. be able to. That is, it is possible to eliminate the adverse effect on the moving body from the external environment due to the deterioration of the sealing and the adverse effect on the external environment due to the generation of abrasion powder.

In the moving body of the above embodiment, the weight of the rotating shell and the rotation control device and the rotating shaft are determined according to the rotation speed of the rotating shaft and the resistance force between the rotating shell and the liquid or gas when rotating. The shape of the rotation can be adjusted to set the moment of inertia around the rotation axis.

As described above, the rotation control device (driving part of the contents) and the rotating shell that rotate with each other have different rotation speeds and different rotation directions in the absolute coordinate system. Here, the "rotation speed" and "rotation direction" are determined by 1) the resistance between the rotating shell and the surrounding fluid, 2) the driving force of the motor, and 3) the rotation shaft of the rotating shell and the rotation control device. It becomes the moment of inertia around. According to this configuration, a weight can be attached to either the rotating shell or the rotation control device to increase the mass or to be lightweight, depending on the environment in which the floating moving body is used and the required number of rotations. It can be dealt with by changing the size, changing the arrangement of the mounted equipment around the rotation axis, and changing the outer shape.

In the moving body of the above aspect, a plurality of blades may be arranged on the outer shell of the rotating shell so as to be symmetrical with respect to the rotating axis.

A lot of propulsive force for movement cannot be obtained only by friction between the rotating shell and the surrounding fluid. According to this configuration, the moving or stirring performance is improved by adding blades to the rotating shell. The place where the blade is mounted may be the outside of the rotating shell, or the upper or lower side. For example, by attaching radial turbine-shaped blades above or below the rotating shell, the blades can be added to the outside. In addition, the rotating body can be balanced by mounting the blades at symmetrical positions.

In the moving body of the above aspect, the rotating shell can be configured such that a working gas is sealed in the rotating shell so that the moving body has buoyancy according to the liquid or gas in which the moving body is suspended. ..

In this configuration, the type of working gas to be sealed in the rotating shell and the injection amount are set appropriately based on the mass of the floating moving body and the density of the gas or liquid that becomes the external environment, and then the injection amount is set, and the propulsive force due to rotation is achieved. A desired floating state can be realized even in a state where there is no gas. According to this configuration, the floating mobile body can be retained in the gas or liquid, so that the energy consumption for power propulsion can be saved. Further, when there is a flow in the gas or liquid, it is possible to move the gas or liquid by floating on the flow.

When the floating mobile body according to this configuration is used in a liquid, an inert gas or a gas that does not dissolve even if it leaks can be applied. Further, a gas having a large molecular weight may be applied to the working gas to be sealed so as to improve the sealing effect.

In the moving body of the above aspect, the rotation control device supplies power to the control unit that controls the drive of the drive unit, the reception unit that receives the signal to the control unit, and the control unit and the reception unit. It is provided with a power supply unit to be supplied, and can be configured to drive the drive unit based on the signal transmitted from outside the rotating shell.

According to this configuration, the rotation of the floating moving body can be controlled by wireless communication from the outside. Then, by controlling the rotational drive, it is possible to realize movements such as movement of the floating moving body and holding of the position. A normal secondary battery or the like can be mounted on the power supply unit, and power can be generated by arranging a solar cell on the surface of the rotating shell or on the outer surface of the rotation control device when the rotating shell is transparent. It may be supplied as a form.

In the moving body of the above aspect, the power supply unit can be configured to be supplied with electric power from outside the rotating shell in a non-contact manner.

This configuration is so-called wireless power transmission, and it is possible to extend the replacement period of replacement parts such as batteries that need to be replaced according to consumption to make it closer to maintenance-free. The wireless power transmission method is not particularly limited, and may be a non-radiative type such as magnetic coupling, electric field coupling, or evanescent wave type, or a radial type such as laser, microwave, or ultrasonic type. , Either is fine, and it can be selected according to the environment in which the floating moving body is used. Further, it is also possible to dispose a solar cell on the outer surface of the rotating shell and irradiate light from the outside to generate electric power.

In the moving body of the above aspect, the rotation control device measures the acceleration, geomagnetism, temperature, humidity, and atmospheric pressure in the rotating shell, and the data acquired by the measuring device is used as the rotating shell. It can be configured to include a transmission unit that transmits to the outside.

According to this configuration, the next state of the floating moving body can be confirmed. That is, in the acceleration of the moving body, the rotation speed can be calculated from the analysis result, and the position in the liquid or gas can be calculated as the calculation result by integrating the initial position coordinates and the acceleration. With geomagnetism, self-position can be estimated. At the temperature inside the rotating shell, the change in ambient temperature can be obtained, although there is a slight time lag. The watertightness and airtightness of the floating moving body can be obtained from the humidity and atmospheric pressure inside the rotating shell. These physical quantities can be used for control feedback amount, alert information transmission, external environment conditions, and the like. The data transmission / reception may be performed by radio waves or visible light communication, and is not particularly limited.

The moving body of the above-described embodiment can be a non-contact stirring device arranged in a container filled with the liquid.

This configuration applies the floating moving body as a stirring device. Stirring in the production of pharmaceuticals, biotechnology, fine chemicals, etc. requires that a plurality of types of gases, fluids, and solids are uniformly dispersed and mixed. It is also required to prevent foreign matter from being mixed in during stirring as much as possible. Unlike the conventional stirring device, the floating moving body according to this configuration can be stirred while freely floating and moving in the stirring tank, so that it becomes easy to uniformly disperse and mix the stirring targets in the tank.

In this configuration, friction / wear does not occur between the moving part and the stationary part such as a bearing or a seal that comes into contact with the moving part, so that the possibility of deterioration of the sealing and generation of wear powder due to friction / wear is eliminated. can do. Therefore, it is possible to eliminate the adverse effect on the moving body from the external environment due to the deterioration of the sealing and the adverse effect on the external environment due to the generation of abrasion powder. In addition, since the floating moving body can move independently and floating, the liquid in the container can be agitated by inserting the moving body itself into the container in any container (stirring tank). Can be done.

In the non-contact stirring device of the above aspect, the rotation control device includes a first magnet.
A second magnet is arranged outside the container so as to correspond to the first magnet, and the buoyancy can be adjusted by the repulsive force or attractive force between the first magnet and the second magnet. ..

According to this configuration, by providing magnets outside the container that serves as the stirring tank and in the rotation control device, the position of the floating moving body can be maintained in gas or liquid, and the top, bottom, and side walls of the stirring tank can be maintained. It is possible to prevent contact with the gas or move it to a predetermined position from the outside. The relative magnetic poles to be mounted, that is, whether they are the same poles (repulsion) or different poles (suction) can be appropriately set according to the above-mentioned purpose and the specifications of the moving body itself. .. The arrangement location of each magnet can also be appropriately set according to the request for floating movement such as the bottom surface, the top surface, and the side surface. Further, the magnet can be applied to either a permanent magnet or an electromagnet.

The present invention can provide a moving body that floats in a liquid or a gas, and further, a stirring device provided with this moving body.

It is an overall explanatory view which shows the side cross section of the floating moving body which concerns on one Embodiment of this invention. It is explanatory drawing which shows the operation of the floating moving body in a container which concerns on one Embodiment of this invention. It is explanatory drawing of the operation principle of this invention. This is an example of a blade shape according to an embodiment of the present invention. This is an example of a moving mechanism according to an embodiment of the present invention. This is an example of a moving mechanism according to an embodiment of the present invention. This is an installation example of a magnet according to an embodiment of the present invention. This is an example of electric power transmission according to an embodiment of the present invention.

Hereinafter, with reference to the drawings, a moving body floating in a liquid or a gas of the present invention, and a preferred embodiment of the stirring device provided with the moving body will be described. In the following description, it may be assumed that the configurations with the same reference numerals in different drawings are the same, and the description thereof may be omitted.

The moving body that floats and moves in a liquid or a gas, which is one aspect of the present invention, includes a cylindrical or spherical rotating shell that is watertight in the liquid or airtight in the gas, and the rotation thereof. A rotation control device housed in the shell, and the rotation control device extends in the axial direction of the cylinder or in the axial direction passing through the center of the sphere, and the rotation axis of the rotating shell. Any specific embodiment may be used as long as it has a drive unit for rotating the shaft, and the rotating shell and the rotation control device are mounted on the shaft by the rotating shaft. ..

(Explanation of the overall configuration)
First, an embodiment according to the present invention will be described with reference to FIGS. 1 and 2. FIG. 1 is an overall explanatory view showing a side cross section of a floating mobile body according to an embodiment of the present invention. FIG. 2 is an explanatory diagram showing the operation of the floating moving body in the container according to the embodiment of the present invention. In the following description, the case where the moving body is arranged in a container filled with a liquid will be described, but it goes without saying that the moving body itself is not limited to being used in the container, and in the sea or air. Can also be applied.

With reference to FIGS. 1 and 2, the present embodiment is a moving body 1 that floats and moves in the liquid 6 of the container 5. The moving body 1 includes a watertight cylindrical rotating shell 100 and a rotation control device 200 housed in the rotating shell 100. The rotation control device 200 has a rotation shaft 212 extending in the axial direction of the cylindrical rotating shell 100, and a drive unit 210 for rotating the rotation shaft 212. Then, the rotary shell 100 and the rotary control device 200 are pivotally mounted by the rotary shaft 212.

The rotating shell 100 is a hermetically sealed container that is watertight in a liquid or airtight in a gas. For the rotating shell 100, a material that is not affected by the external environment can be appropriately used, and it may be metal-based or resin-based. The material can also be selected so that radio waves or light can be easily transmitted inside and outside the rotating shell 100 for communication with the outside and power transmission.

The size of the rotating shell 100 is set to adjust the buoyancy of the moving body 1 according to the environment in which it is used, and the working gas according to the external environment can be sealed in the rotating shell 100.

A plurality of blades 110 are provided on the side surface of the cylinder of the rotating shell 100. The blade 110 can agitate the surrounding fluid by rotating the rotating shell 100. Further, by giving the blade 110 an inclination in the axial direction, it is possible to obtain a propulsive force upward or downward in the axial direction. The position of the blade 110 is not limited to the arrangement on the side surface of the cylinder, and may be arranged on the upper surface, the lower surface, or the like. Further, the blade 110 may be provided with an actuator to be a movable wing that can be tilted or folded. As this actuator, for example, a shape memory alloy can be arranged in the blade 110 and driven by a command from the rotation control device 200.

In the rotation control device 200, the drive unit 210, the control unit 220, the transmission / reception unit 230, the measurement unit 240, and the power supply unit 250 are mounted on the frame 201. Further, a first magnet 50 is arranged on the lower surface of the frame body 201, and a sensor 242 is arranged on the side surface.

The drive unit 210 is an electric motor and includes a rotating shaft 212 that serves as a rotor, a bearing 215 that pivotally supports the rotating shaft 212, and a stator 216. The drive unit 210 rotationally drives the rotary shaft 212 and the rotary shell 100 mounted on the rotary shaft 212 by supplying electric power.

A joint 214 is provided between the rotating shell 100 of the rotating shaft 212 and the stator 216. A universal joint or the like can be applied to the joint 214, and the power can be transmitted to the rotating shell 100 even if the rotating shaft of the rotation control device 200 has an inclination with respect to the rotating shaft of the rotating shell 100. Further, an actuator may be added to the joint 214 to control the inclination. As this actuator, for example, a shape memory alloy can be arranged in the joint 214 and driven by a command from the rotation control device 200.

The control unit 220 supplies electric power so as to control the rotation of the drive unit 210. Further, the control unit 220 drives the blade 110 and the joint 214 when the movable blade is used. Further, a balance weight or the like (not shown) is movably arranged on the frame body 201, and the posture of the moving body 1 can be stabilized by manipulating the position of the balance weight or the like.

The control unit 220 is composed of a microcomputer, and has a processor CPU that performs calculations, a ROM that stores lists, tables, and maps of control programs and various data, and a RAM that temporarily stores calculation results by the CPU. The control unit 220 includes a non-volatile memory, and stores data and the like necessary for control in the next operation cycle in this non-volatile memory. The non-volatile memory can be composed of an EEPROM which is a rewritable ROM or a RAM having a backup function in which a holding current is supplied to hold the memory even when the power of the vehicle is turned off.

The receiving / transmitting unit 230 receives commands such as start / stop / speed of rotation, movement of the moving body 1 and posture transmitted from the outside as signals, and also receives power supply status of the drive unit 210 and other measurement data by the sensor 242. Etc. are transmitted as signals. The transmission method and reception method are not particularly limited, and radio waves, visible light, infrared light, ultrasonic waves, and the like can be applied.

Further, the receiving / transmitting unit 230 may be a receiving side of electric power from the electric power transmitting device 10 shown in FIG. The wireless power transmission method is not particularly limited, and a non-radiative type such as magnetic coupling, electrolytic coupling, or evanescent wave type, or a radiation type such as laser, microwave, or ultrasonic type can be appropriately selected.

The measuring unit 240 transfers data acquired by a plurality of sensors 242 for measuring the acceleration, geomagnetism, temperature, humidity, atmospheric pressure, etc. of the moving body 1 to the outside of the rotating shell 100 via the transmitting / receiving unit 230. Send. As described above, in the acceleration of the moving body, the rotation speed can be calculated from the analysis result, and the position in the liquid or the gas can be calculated as the calculation result by integrating the initial position coordinates and the acceleration. With geomagnetism, self-position can be estimated. At the temperature inside the rotating shell, the change in ambient temperature can be obtained, although there is a slight time lag. The watertightness and airtightness of the floating moving body can be obtained from the humidity and atmospheric pressure inside the rotating shell. These physical quantities can be used for control feedback amount, alert information transmission, external environment conditions, and the like.

The power supply unit 250 includes lead storage batteries, nickel cadmium storage batteries, metallic lithium batteries, lithium ion secondary batteries, lithium ion polymer secondary batteries, sodium ion batteries and other secondary batteries (storage batteries, rechargeable batteries), fuel cells, and solar cells. It can be applied and is not particularly limited. It may be configured to directly supply power by wireless power transmission from the outside.

The first magnet 50 holds the position of the floating moving body by an attractive force or a repulsive force (MF1) with the second magnet 60 arranged in the container 5 shown in FIG. 2, and moves to the upper surface, bottom surface, and side wall of the stirring tank. It is possible to prevent the contact of the magnet and move it to a predetermined position from the outside. The relative magnetic pole relationship between the first magnet 50 and the second magnet 60, that is, whether the same poles (repulsion) or different poles (suction) are appropriately determined according to the above-mentioned purpose and the specifications of the moving body itself. Can be set. Further, the strength of the magnetic force may be variable so that a plurality of purposes can be achieved. The type of magnet is not particularly limited, and any permanent magnet or electromagnet can be applied.

The container 5 is filled with the liquid 6. Taking a stirring tank as an example, the container 5 is a stirring tank, and the liquid 6 corresponds to an object to be stirred. The agitated substance is a material for manufacturing pharmaceuticals, biotechnology, fine chemicals, etc., and corresponds to a plurality of types of gases, liquids, and granules.

Referring to FIG. 2, the moving body 1 is floating in a container 5 filled with the liquid 6, and by operating the drive unit 216 in the rotation control device 200, the moving body 1 rotates the axis Z. Rotation R is performed as an axis.

In the production of the moving body 1, the rotation control device 200 is enclosed in the rotating shell 100. For example, the upper portion of the rotating shell 100 in FIG. 1 may be formed into a lid shape so that the moving body 1 can be appropriately removed. Further, a cap-shaped gas sealing portion may be provided in a part of the rotating shell 100, and the present invention is not particularly limited.

(Explanation of operating principle)
Hereinafter, the rotation R will be described mainly with reference to FIG. FIG. 3 is an explanatory diagram of the operating principle of the present invention. Referring to FIG. 3, for simplification of the description, (a) regards the rotation control device 200 as a cylinder, and (b) regards the rotating shell 100 as a cylinder. In FIG. 3 and the following equations, the respective symbols are I: moment of inertia, Z: axis of rotation, a: outer diameter, M: mass, F: resistance due to viscosity, w: angular velocity, K: kinetic energy, f: It is the energy increase of the rotating shell 100 generated by F, and also represents the subscripts 1: rotation control device 200, 2: rotating shell 100, and z: rotating shaft.

Here, the moment of inertia around the Z axis of the rotation control device 200 (subscript 1) is
I _1Z = 1/2 x M ₁ x a ₁ ²
The kinetic energy around the Z axis of the rotation control device 200 (subscript 1) is represented by.
K ₁ = 1/2 x I _1Z x w ₁ ²
It is represented by.

Next, the moment of inertia around the Z axis of the rotating shell 100 (subscript 2) is
I _2Z = M ₂ x a ₂ ²
The kinetic energy around the Z axis of the rotating shell 100 (subscript 2) is represented by
K ₂ = 1/2 x I _2Z x w ₂ ²
It is represented by.

_Here, as a relationship of _{_{I 1Z >> I 2Z, I 1Z}} , setting the _{I 2Z,} becomes _{_K} 1 >> _K _2. This relationship means that the rotating shell 100 (subscript 2) rotates relatively faster than the rotation control device 200 (subscript 1) around the Z axis of the rest coordinate system.

Further, when the floating moving body 1 is in a rotating state in a fluid (gas or liquid), the resistance due to the viscosity between the outer surface of the cylinder or sphere of the rotating shell 100 (subscript 2) or the added blades and the fluid. Occurs.

The energy generated by this resistance works on the side where the kinetic energy of the rotating shell 100 (subscript 2) is apparently increased. In this case, the following equation is established by increasing M1 by mounting a weight or suppressing the rotation of the object 1 from the outside so that the following inequality holds. The required outer shell rotation can be obtained.
K ₁ >> K ₂ + f (F)

As described above, the rotation control device 200 (the driving unit of the contents) and the rotating shell 100 that rotate with each other have different rotation speeds and different rotation directions in the absolute coordinate system, but the rotating shell 100 As shown in FIG. 3 (c), the moving body 1 can be rotated at an angular velocity w3 with a resistance force F due to viscosity being applied to the absolute coordinate system.

Here, if the factors that determine the "rotation speed" and "rotation direction" are reprinted, 1) the resistance between the rotating shell and the surrounding fluid, 2) the driving force of the motor, and 3) the rotation of the rotating shell and the rotation control device. It is the moment of inertia around the axis. That is, depending on the environment in which the floating moving body 1 is used and the required number of rotations, a weight is attached to either the rotating shell 100 or the rotation control device 200 to increase the mass, or the weight is reduced. To change the shape of the magnets, to change the arrangement of the mounted equipment around the rotation axis, to adjust the repulsive force of the magnets arranged on the rotating shell 100 and the rotation control device 200, and to change the shape of the blades. Can be handled with.

(Other examples of blade shape)
Although FIGS. 1 and 2 have described an embodiment of the blade 110 projecting on the outer peripheral surface of the cylindrical rotating shell 100, the shape of the blade is not limited to such a type. FIG. 4 shows another example of the blade shape according to the embodiment of the present invention.

The blade 111 shown in FIG. 4 is a so-called centrifugal impeller, and when the blade 111 is given a rotation R, the surrounding fluid (gas or liquid) flows into the inside from the inflow port IN as shown in (a). To do. Then, as shown in FIG. 4B, by expanding the blade chamber from the center of rotation to the outer circumference, a flow from the inflow port IN to the outflow port OUT, which is a centrifugal flow in the radial direction, is generated.

If the flow path in the centrifugal direction has the same shape, the flow rate of the outlet OUT becomes a substantially uniform flow rate, faces the inner wall surface of the container 5 in FIG. 2, and the moving body 1 contacts the inner wall surface of the container 5. It can be avoided. Further, in the shape of the centrifugal impeller, the viscous resistance force due to the surrounding fluid is lower as the moment length is shorter than that of the blade protruding from the rotating shell 100, so that the adjustment for setting the moment of inertia is easy.

(Example of attitude change and steering)
Next, an example of attitude change and steering will be described with reference to FIGS. 5 to 7. FIG. 5 is an example of a moving mechanism according to an embodiment of the present invention. FIG. 6 is an example of a moving mechanism according to an embodiment of the present invention. FIG. 7 is an installation example of a magnet according to an embodiment of the present invention.

With reference to FIG. 5, an actuator is added to the joint 214 provided between the rotating shell 100 of the rotating shaft 212 and the stator 216 to operate the tilt. As this actuator, for example, a shape memory alloy can be arranged in the joint 214 and driven by a command from the rotation control device 200. With this configuration, power can be transmitted to the rotating shell 100 even if the rotating shaft of the rotation control device 200 has an inclination.

When the joint 214 is tilted, the relative positional relationship between the rotation control device 200 and the rotating shell 100 changes, and the moving body 1 starts a swinging motion around the new rotation axis AR. Considering the mass distribution, the mass of the rotation control device 200 becomes dominant, so that the center of gravity CG as the moving body 1 moves from the center to the left side in FIG. The propulsive force by the blade 110 acts in the direction along the rotation axis AR of FIG. 5, and the moving body 1 can change its posture and move in the container 5 by swinging around depending on the position of the center of gravity CG.

Next, referring to FIG. 6, for example, a weight (not shown) whose position can be moved is arranged on the lower surface of the frame body 201 shown in FIG. 1, and the position of the center of gravity CG is changed by moving this weight. A similar effect can be achieved. The means for moving the weight is not particularly limited, but for example, a pendulum-shaped weight arranged in the axial direction with the same configuration as in FIG. 5 can be moved by an actuator.

Next, referring to FIG. 7, a second magnet 62 is arranged on the outer surface of the container 5, and a first magnet 52 corresponding to the second magnet 62 is arranged on the outer surface of the rotation control device 200. ..

The first magnet 52 holds the position of the floating moving body by an attractive force or a repulsive force with the second magnet 62, prevents contact with the side wall of the stirring tank, and moves the first magnet 52 to a predetermined position from the outside. be able to. The relative magnetic pole relationship between the first magnet 52 and the second magnet 62, that is, whether the same poles (repulsion) or different poles (suction) are appropriately determined according to the above-mentioned purpose and the specifications of the moving body itself. Can be set. Further, the strength of the magnetic force may be variable so that a plurality of purposes can be achieved.

By changing the posture, steering, and moving the moving body 1 as described with reference to FIGS. 5, 6 and 7, the stirring device realizes uniform mixing and stirring of the mixture to be mixed in the stirring tank. be able to.

(Example of wireless power transmission)
An example of wireless power transmission using light will be described with reference to FIG. FIG. 8 is an example of electric power transmission according to an embodiment of the present invention.

With reference to FIG. 8, the solar cell 120 is arranged on the surface of the rotating shell of the moving body 1. A material capable of transmitting light is applied to the container 5, and an illumination 15 is provided on the outside of the container 5. The light emitted by the illumination 15 reaches the solar cell 120 to generate electricity. The power supply unit 250 can be charged with electricity via the rotating shaft 212 and further via a slip ring or the like (not shown).

According to this configuration, for example, when the moving body 1 is suspended and moved in a gas, energy can be supplied by using sunlight.

As described above, the present invention can provide a moving body floating in a liquid or a gas, and further, a stirring device provided with this moving body.

1 ... Moving body 5 ... Container 6 ... Liquid 10 ... Power transmission device 15 ...

Lighting

50, 52 ...

1st magnet

60, 62 ... 2nd magnet 100 ... Rotating shell 110 ... Blade 200 ... Rotation control device 201 ... Frame 210 ... Drive unit 214 ... Joint 215 ... Bearing 216 ... Stator 220 ... Control unit 230 ...・・ Transmission / reception unit 240 ・・・ Measurement unit 242 ・・・ Sensor 250 ・・・ Power supply unit

Claims

A cylindrical or spherical rotating shell that is watertight in a liquid or airtight in a gas,
A rotation control device stored in the rotating shell is provided.
The rotation control device
With the axis of rotation of the rotating shell extending in the axial direction of the cylinder or in the axial direction passing through the center of the sphere,
It has a drive unit that rotates the rotation shaft, and has
The rotating shell and the rotation control device are pivotally mounted by the rotating shaft.
A moving body that floats and moves in a liquid or gas.
The weight of the rotating shell and the rotation control device and the shape around the rotating shaft are adjusted according to the number of rotations of the rotating shaft and the resistance force between the rotating shell and the liquid or gas when rotating. The moving body according to claim 1, wherein the moment of inertia around the rotation axis is set.
The moving body according to claim 1 or 2, wherein a plurality of blades are arranged on the outer shell of the rotating shell so as to be symmetrical with respect to the rotating axis.
Any of claims 1 to 3, wherein a working gas is sealed in the rotating shell so that the moving body has buoyancy according to the liquid or gas in which the moving body is suspended. The moving body according to item 1.
The rotation control device
A control unit that controls the drive of the drive unit,
A receiving unit that receives a signal to the control unit and
A power supply unit that supplies electric power to the control unit and the reception unit is provided.
The moving body according to any one of claims 1 to 4, wherein the driving unit is driven based on the signal transmitted from the outside of the rotating shell.
The moving body according to claim 5, wherein electric power is supplied to the power supply unit from outside the rotating shell in a non-contact manner.
The rotation control device includes a measuring device that measures the acceleration, geomagnetism, temperature, humidity, and atmospheric pressure in the rotating shell of the moving body.
The mobile body according to any one of claims 1 to 6, further comprising a transmission unit that transmits data acquired by the measuring device to the outside of the rotating shell.
A non-contact stirring device in which the moving body according to any one of claims 1 to 7 is arranged in a container filled with the liquid.
The rotation control device includes a first magnet.
A second magnet is arranged outside the container so as to correspond to the first magnet.
The non-contact stirring device according to claim 8, wherein the buoyancy is adjusted by a repulsive force or an attractive force between the first magnet and the second magnet.