JPH03204303A - Traveling vehicle using magnet wheel - Google Patents
Traveling vehicle using magnet wheelInfo
- Publication number
- JPH03204303A JPH03204303A JP34409889A JP34409889A JPH03204303A JP H03204303 A JPH03204303 A JP H03204303A JP 34409889 A JP34409889 A JP 34409889A JP 34409889 A JP34409889 A JP 34409889A JP H03204303 A JPH03204303 A JP H03204303A
- Authority
- JP
- Japan
- Prior art keywords
- wheel
- wheels
- magnetic
- running surface
- axle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000005389 magnetism Effects 0.000 claims description 6
- 238000007689 inspection Methods 0.000 abstract description 8
- 206010016173 Fall Diseases 0.000 abstract 1
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 14
- 238000001179 sorption measurement Methods 0.000 description 11
- 235000015429 Mirabilis expansa Nutrition 0.000 description 8
- 244000294411 Mirabilis expansa Species 0.000 description 8
- 235000013536 miso Nutrition 0.000 description 8
- 229910052742 iron Inorganic materials 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000007790 scraping Methods 0.000 description 6
- 235000014347 soups Nutrition 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 230000005415 magnetization Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
Landscapes
- Examining Or Testing Airtightness (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野］
本発明は、車輪に磁石を用い傾斜面でも走行できる走行
車に係わり、特に車輪の車軸を水平に対し傾斜して台車
ｔこ取り付けたｆ！多多事車輪用いた走行車に関する。[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a traveling vehicle that uses magnets in its wheels and can run on slopes, and particularly relates to a vehicle that is attached to a bogie with the axles of the wheels inclined with respect to the horizontal. ! This invention relates to a traveling vehicle using multi-purpose wheels.
（従来の技術〕
タンクや配管などを自動検査するため検査機器を搭載し
た台車を検査対象位置に誘導し検査をすることが行われ
ている。この検査対象位置は、曲面であったり、さらに
垂直であったりするので、検査対象物が、鉄の如き磁性
体である場合には、磁力による吸着を利用する自走車が
用いられている。従来用いられている台車を第１１図、
第１２図を用いて説明する。(Prior art) In order to automatically inspect tanks, piping, etc., a trolley equipped with inspection equipment is guided to the inspection target position and inspected.The inspection target position may be a curved surface or even a vertical surface. Therefore, when the object to be inspected is a magnetic material such as iron, a self-propelled vehicle that utilizes magnetic attraction is used.A conventional trolley is shown in Figure 11.
This will be explained using FIG. 12.
第１１図は平板上を走行する台車の車軸部の断面図を示
す。（８１図に示す構造を２個連結すれば４個の車輪よ
りなる台車が構成され、この車輪のうち２個又は必要に
応じて４個に駆動装置を設ける。FIG. 11 shows a sectional view of an axle portion of a truck running on a flat plate. (If two structures shown in Fig. 81 are connected, a truck consisting of four wheels is constructed, and two or four of these wheels are provided with a drive device as necessary.
（ｂ）図は車輪の詳細を示す。車輪は枠組みを鉄板とし
、斜線で示す内部に磁石を配設する。車輪は走行面との
吸着力を大きくするため車輪の径を大きくしたり、幅を
広くしたりして、磁石の量を多くするとか、（Ｃ）図に
示すように磁石車輪を２個組み合わせることなどが行わ
れている。磁極は車輪の一方の側面をＮ極地の側面をＳ
極とし、Ｎ極より走行面を貫通しＳ極に磁力線が流れ、
車輪が走行面に対し直立状態のとき走行面との吸着力が
大きくなるようにしである。第１２図は曲板５配管上な
どを走行できる台車を示す。（ａ）図は平面図で車軸を
支持するフレームを車軸と直角方向に設けた軸で支持す
ることにより車軸を走行面に合わせて傾斜できる構造と
している。（ｂ）図は曲面上を走行する状態を示す。（
ａ）図に示す構造を進行方向に２個連結して台車を構成
し、その上に検査機器を搭載する。(b) The figure shows details of the wheel. The framework of the wheels is made of iron plates, and magnets are placed inside as shown by diagonal lines. In order to increase the adhesion force to the running surface, the wheels can be made larger in diameter or wider, and the amount of magnets can be increased, or two magnetic wheels can be combined as shown in Figure (C). Things are being done. The magnetic poles are one side of the wheel and the north side is S.
As a pole, lines of magnetic force flow from the N pole through the running surface to the S pole,
When the wheels are in an upright state with respect to the running surface, the attraction force with the running surface is increased. FIG. 12 shows a cart that can run on curved plate 5 piping. Figure (a) is a plan view showing a structure in which a frame supporting the axle is supported by a shaft provided perpendicularly to the axle, so that the axle can be tilted to match the running surface. The figure (b) shows the state in which the vehicle travels on a curved surface. (
a) Two structures shown in the figure are connected in the traveling direction to form a trolley, and the inspection equipment is mounted on it.
〔発明が解決しようとする課題］
上述のように車輪を磁石とし、鉄製の走行面との間で磁
石による吸着力を大きくするためには、車輪の幅を大き
くするとか車輪の直径を大きくしたりして磁石の量を多
くするとか、磁石車輪と走行面との吸着する面を大きく
する必要がある。しかし車輪の幅とか直径を大きくする
と自重も大きくなり、さらに吸着力を増す必要を生じる
。また走行面が曲面のとき、磁石車輪が走行面に合わせ
て傾斜できる構造とし車輪の幅方向で線接触を保つよう
にして、吸着に寄与する面積を大きくする必要がある。[Problems to be Solved by the Invention] As mentioned above, in order to increase the attraction force of the magnet between the wheel and the iron running surface, it is necessary to increase the width of the wheel or the diameter of the wheel. It is necessary to increase the amount of magnets, or to increase the surface on which the magnetic wheels and the running surface attract. However, if the width or diameter of the wheel is increased, the weight will also increase, making it necessary to further increase the suction force. Furthermore, when the running surface is curved, it is necessary to have a structure in which the magnetic wheels can be tilted to match the running surface, so as to maintain line contact in the width direction of the wheels, and to increase the area that contributes to adsorption.
しかし、走行面に合わせて自由に車輪が傾斜するように
すると、台車が進行方向を変えようとするときなど、車
輪が転倒する恐れがある。However, if the wheels are allowed to tilt freely according to the running surface, there is a risk that the wheels may fall over when the cart attempts to change its direction of travel.
本発明は」二速の問題点に鑑みて永久磁石を用い、吸着
力を有効に利用する磁石車輪を用いた走行車を提供する
ことを目的とする。SUMMARY OF THE INVENTION In view of the problem of second speed, an object of the present invention is to provide a traveling vehicle using permanent magnets and magnetic wheels that effectively utilize attraction force.
上記目的を達成するため、磁石車輪を水平に対し傾斜さ
せて吸着に寄与する磁石の量を増大させ、さらに吸着力
を増すため車輪の側面を走行面に接触させるようにすれ
ばよく、本発明の磁石車輪を用いた走行車は、回転軸を
水平に対し所定角傾けた磁性を有する円板を複数個台車
に取り付けたことを特徴とするものである。また、前記
所定角を可変とするとよい。さらに、前記回転軸を前記
円板が回転自在にかつみそすり運動が可能なように支持
するとよい。また、前記台車を複数台伸縮自在継手で連
結するとよい。さらに、前記伸縮自在継手をパンタグラ
フとするとよい。また、前記磁性として永久磁石の磁性
を用いるとよい。また、前記磁性として前記円板の回転
軸側より前記円板の外周側に向かって磁力線が流れるよ
うにするとよい。In order to achieve the above object, the magnet wheel may be tilted with respect to the horizontal to increase the amount of magnets contributing to attraction, and the side surface of the wheel may be brought into contact with the running surface to further increase the attraction force, and the present invention The traveling vehicle using magnetic wheels is characterized in that a plurality of magnetic disks with rotating shafts tilted at a predetermined angle with respect to the horizontal are attached to a truck. Further, it is preferable that the predetermined angle is variable. Furthermore, it is preferable that the rotation shaft is supported so that the disk can rotate freely and perform a sliding movement. Moreover, it is preferable to connect a plurality of the above-mentioned carts with an expandable joint. Furthermore, it is preferable that the telescopic joint is a pantograph. Moreover, it is preferable to use the magnetism of a permanent magnet as the magnetism. Further, it is preferable that the magnetism is such that lines of magnetic force flow from the rotating shaft side of the disc toward the outer circumferential side of the disc.
以下、本発明の原理を第１図〜第７図を用いて説明する
。まず第７図を用いて車輪１の構造について説明する。The principle of the present invention will be explained below using FIGS. 1 to 7. First, the structure of the wheel 1 will be explained using FIG. 7.
（ａ）図は周囲を鉄板の枠で構成し、その中にドーナツ
状の永久磁石を組み込んだもので、構造は第１１図（ｂ
）で示した従来例とほぼ同様であるがＮ極Ｓ極の着磁の
方向を変えている。なお、車軸の部分を突出させている
が、これによりＮ極と走行面が近接し、吸着力を強化し
ている。このため、同一の吸着力を発揮するのに磁石の
単位吸着力を同一とすれば磁石の量が少なくてよい。こ
れは装置の軽量化にも役立つ。Figure 11 (a) shows a frame made of iron plates with a donut-shaped permanent magnet built into it; the structure is shown in Figure 11 (b).
) is almost the same as the conventional example shown in ), but the direction of magnetization of the north and south poles is changed. Note that the axle portion is made to protrude, which brings the north pole and the running surface closer together, strengthening the adsorption force. Therefore, if the unit attraction force of the magnets is the same, the amount of magnets may be smaller in order to exhibit the same attraction force. This also helps reduce the weight of the device.
（ｂ）図は車輪１の中心部に永久磁石を集中的に配置し
た例である。車輪１の外周部に配置された磁石は、走行
面との接点に近い時は有効に働くが回転によりここより
離れるに従って有効度が低下する。The figure (b) shows an example in which permanent magnets are arranged centrally in the center of the wheel 1. The magnets arranged on the outer circumference of the wheel 1 work effectively when they are close to the point of contact with the running surface, but their effectiveness decreases as they move away from this point due to rotation.
一方車輪１の中心部は回転によって走行面４との距離が
あまり変わらないので、ここに集中的に磁石を配置した
ものである。（Ｃ１図は（ｂ）図とは反対に車輪１の周
囲に円環状に磁石を配置してＮ極とし、その内円周また
は外周あるいは内外周がＳ極となるよう鉄を円環状に配
置したものである。（ａ）、 （ｂ）（Ｃ）共磁石車輪
軸から外周方向に放射状に磁力線が流れるように磁化し
ており、車軸に垂直な側面が走行面に近接するとき吸着
力が大きくなる。車輪側面が従来形のように走行面と垂
直となるとき吸着力は最小となる。（ｄ）図は従来形の
車輪を傾斜させて用いる場合で、側面が走行面と垂直の
とき吸着力が最大となる。この従来形だと傾斜させた車
輪を垂直に起こすことは容易となる。第１図は永久磁石
を用いて構成した車輪１の車軸２を水平に対してほぼ直
角近くまで傾斜させ、これを２個対称に横桁３で回転自
在に結合した台車を示す。車輪１は走行面４と１点で接
触することになるが、車輪１を走行面４に平行近くなる
程傾斜させているため、車輪１を構成する磁石と鉄製の
走行面４との磁力による吸着力は大きくなる。つまり第
１１図（１））に示した従来の磁石車輪では車軸より上
方の磁石は走行面との吸着に対し殆ど有効に作用しない
のに対し、本発明の傾斜した磁石車輪を用いれば、車輪
を構成する大部分の磁石を走行面に対する吸着作用に有
効に参加させることができる。また車輪１が走行面４と
点接触であるため、走行面４が曲面となっても走行面４
との吸着力を大きく減することもなく走行可能である。On the other hand, since the distance from the center of the wheel 1 to the running surface 4 does not change much with rotation, the magnets are concentrated here. (In figure C1, contrary to figure (b), magnets are arranged in a ring around the wheel 1 to form the north pole, and iron is arranged in a ring so that the inner circumference, the outer circumference, or the inner and outer circumferences become the south poles. (a), (b) (C) Both magnets are magnetized so that lines of magnetic force flow radially from the wheel axle toward the outer circumference, and when the side surface perpendicular to the axle approaches the running surface, the attraction force increases. When the side of the wheel is perpendicular to the running surface, as in the conventional type, the adsorption force is minimum.(d) Figure shows a case where the conventional wheel is used at an angle, and when the side is perpendicular to the running surface. The adsorption force is maximized. With this conventional type, it is easy to raise the tilted wheel vertically. Figure 1 shows that the axle 2 of the wheel 1 constructed using permanent magnets is set almost perpendicular to the horizontal. The figure shows a bogie in which the wheels 1 are tilted up to 300 degrees and are rotatably connected by two symmetrical crossbeams 3.The wheels 1 contact the running surface 4 at one point, but the wheels 1 are almost parallel to the running surface 4. Since the wheel is tilted at a certain angle, the attraction force due to the magnetic force between the magnets constituting the wheel 1 and the iron running surface 4 becomes large.In other words, in the conventional magnetic wheel shown in FIG. 11 (1)), the magnet located above the axle However, by using the inclined magnetic wheel of the present invention, most of the magnets that make up the wheel can effectively participate in the attraction action to the running surface. . In addition, since the wheels 1 are in point contact with the running surface 4, even if the running surface 4 becomes a curved surface, the running surface 4
It is possible to run the vehicle without significantly reducing the adsorption force with the vehicle.
第２図は車軸２の水平に対する傾斜角を可変とし、走行
面４との吸着力を可変とした台車を示す。車軸２の傾斜
を可変とする構造の１例として第２図に示すように、車
軸２を軸受支持材５で回転自在に支持し、この軸受支持
材５に設けられた車６が傾斜ガイ１７に添って移動する
ことにより車軸２の水平に対する傾斜角を連続的に変化
することができる。傾斜ガイド７は横桁３で結合され台
車を構成する。FIG. 2 shows a truck in which the angle of inclination of the axle 2 with respect to the horizontal is variable, and the adhesion force with the running surface 4 is variable. As an example of a structure in which the inclination of the axle 2 is variable, as shown in FIG. By moving along the axis, the inclination angle of the axle 2 with respect to the horizontal can be continuously changed. The inclined guides 7 are connected by crossbeams 3 to form a truck.
なお第１図、第２圓に示ず車軸２又は軸受支（）材５は
図示してない駆動装置により回転、移動をするものであ
る。このよ・）に車軸２の水平に対する傾斜角を可変と
することにより、車輪１の側面と走行面４との傾斜角が
変わる。ごのため車輪１と走行面４との吸着力を可変と
することができる。Note that the axle 2 or the bearing support member 5, which is not shown in FIGS. 1 and 2, is rotated and moved by a drive device (not shown). By making the inclination angle of the axle 2 with respect to the horizontal variable in this manner, the inclination angle between the side surface of the wheel 1 and the running surface 4 changes. Therefore, the attraction force between the wheels 1 and the running surface 4 can be made variable.
吸着力を最大とするためには、車輪１の１１斜角を０と
し車輪１の側面を走行面４に接触させればよい。また吸
着力を減少させるには傾斜角を大きくしてゆけばよい。In order to maximize the adsorption force, the bevel angle 11 of the wheel 1 should be set to 0, and the side surface of the wheel 1 should be brought into contact with the running surface 4. Moreover, in order to reduce the adsorption force, the inclination angle may be increased.
（頃斜角を大きくすることにより、吸着力を減少させら
れるので台車の走行面への取り付け、取り外しが容易に
なる。傾斜角を小さくし、さらに磁石車輪の側面が走行
面に密着すると車輪としては機能せず、固定磁石となる
。第３図は、車軸２を回転自在乙こ支持すると共に、こ
の車輪２をみそずり運動するようみそすり部材８で支持
し、このみそすり部材８同志を横桁３で連結した台車を
示す。めそずり運動とはコマを回転したとき生しる回転
しながら頭をふる運動である。（ａ）同はこの台車の横
断面図を示し、（ｂ）図はみそすり運動をしたときの車
輪１の動作を示す。（ａ）図においてみそすり部材８を
回転すると車輪１はみそずり運動を行い頭をふる。（ｂ
）図はこの状態を示す。(By increasing the bevel angle, the adsorption force can be reduced, making it easier to attach and remove the bogie from the running surface.If the inclination angle is small and the side of the magnetic wheel is in close contact with the running surface, it can be used as a wheel. does not function and becomes a fixed magnet. In Fig. 3, the axle 2 is rotatably supported, and this wheel 2 is supported by a wheel 2 so that it can move in a sliding motion. It shows a bogie connected by a crossbeam 3. The rolling motion is the movement that occurs when the top rotates and shakes its head while rotating. (a) shows a cross-sectional view of this bogie, and (b) The figure shows the motion of the wheel 1 when making a writhing motion. (a) In the figure, when the miso scraping member 8 is rotated, the wheel 1 makes a writhing motion and shakes its head. (b
) figure shows this situation.
Ａ、Ａ’の位置はみそずり運動の始点とする。この状態
では車輪１の走行面４との接点Ａ、Ａ’におＬＪる接線
は横桁３に垂直である。この状態で左右の車輪１を図示
したように互いに反対方向に回転すると矢印で示すよう
図面下方に台車は進む。Positions A and A' are the starting points of the wrenching motion. In this state, tangents LJ to the contact points A and A' of the wheel 1 with the running surface 4 are perpendicular to the crossbeam 3. In this state, when the left and right wheels 1 are rotated in opposite directions as shown in the drawing, the cart moves downward in the drawing as shown by the arrows.
次にみそずり部材８の軸を左右同し回転角で互いに反対
方向に回すと１３、Ｂ′に車輪１の接点が移動する。こ
の状態で車軸２を互いに反対方向に回転すると矢印で示
したように図面左下方向に台車は移動する。つまり左右
の車輪１にめそずり運動を互いに反対方向に行うごとに
より台車の進行方向を自由に変えることができろ。第４
図は第２図と第３図を組み合ね−Ｕたもので車軸２を回
転自在に支持し７ながらみそすり運動を行い、かつ車軸
２を水平に対して傾斜できろようにしたものである。Next, when the shafts of the welting members 8 are turned in opposite directions at the same angle of rotation, the contact point of the wheel 1 moves to 13 and B'. In this state, when the axles 2 are rotated in opposite directions, the cart moves toward the lower left in the drawing as indicated by the arrows. In other words, the direction of movement of the truck can be freely changed by rolling the left and right wheels 1 in opposite directions. Fourth
The figure is a combination of Figures 2 and 3, and shows an axle 2 that supports the axle 2 in a rotatable manner, allows the axle 2 to perform a swivel motion, and allows the axle 2 to be tilted relative to the horizontal. be.
車軸２．みそずり部材８．軸受支持材５ばそれぞれ単独
に回転または移動できるように構成されている。このよ
うに構成することにより走行面４との吸着力を自由に変
え、かつ台車の走行方向を自由に変更しながら走行する
ことが可能になる。第５図は第２図、又は第４図に示す
台車を伸縮自在継手で２台連結した走行車の動作を示す
図である。Axle 2. Misozuri member 8. The bearing support members 5 are configured to be able to rotate or move independently. With this configuration, it becomes possible to freely change the adhesion force with the running surface 4 and to freely change the running direction of the bogie as it travels. FIG. 5 is a diagram showing the operation of a traveling vehicle in which two carts shown in FIG. 2 or 4 are connected by a telescopic joint.
比較的重い検査機器を搭載し垂直面を移動する場合を想
定する９第５図乙こおいて２つの台車はパンタグラフで
伸縮自在に連結されている。（ａ）図において図下側の
台車は車輪１を走行面４に密着さ−Ｕ吸着力を最大とし
て台車装置のかなりの部分の重量を支持する。一方図上
方の台車は車輪１を傾斜させパンタグラフを伸しつつ上
昇させ、（ｂ）図に示す状態となるまで」二方に移動す
る。吸着力が最大であり静止した下側の台車で重量を支
えて重心を移動するので、大きな重量を上昇させること
ができる。次に上方の台車の車輪１を走行面４に密着さ
せ下方の台車の車輪１を走行面４に対して傾斜させ上方
に上昇させる。（Ｃ１図は下方の台車の上昇が終わった
状態である。次に下方の台車の車輪１を走行面４に密着
させ上方の台車の車輪１を走行面４に対し傾斜させると
（ａ）図の場合と同じになり、」＝方の台車が上昇を開
始しくｄ）図に示すようになる。Assuming a case where relatively heavy inspection equipment is loaded and moved on a vertical plane, two carts are telescopically connected with a pantograph. In the lower part of the figure (a), the wheel 1 is brought into close contact with the running surface 4, and the -U adsorption force is maximized to support a considerable portion of the weight of the trolley device. On the other hand, the cart at the top of the figure tilts its wheels 1, raises the pantograph while extending it, and moves in both directions until it reaches the state shown in Fig. (b). The suction force is maximum, and the stationary lower cart supports the weight and moves the center of gravity, making it possible to lift large amounts of weight. Next, the wheels 1 of the upper truck are brought into close contact with the running surface 4, and the wheels 1 of the lower truck are tilted with respect to the running surface 4 and raised upward. (Figure C1 shows the state in which the lower truck has finished rising. Next, when the wheels 1 of the lower truck are brought into close contact with the running surface 4 and the wheels 1 of the upper truck are tilted with respect to the running surface 4, Figure (a) The situation is the same as in the case of d), and the bogie on the ``='' side begins to rise as shown in the figure.
このような動作を繰り返すことにより垂直面を積載荷重
が大きくても上昇、下降をすることができる。第６図は
第４回に示す台車を２台パンタグラフで連結した台車装
置を示す。第５図の場合と同様走行面４は垂直と想定す
る。（ａ）図において、下方の台車は車輪１を走行面４
に密着した状態を示す。上方の台車の車輪１は走行面４
に対し傾斜した状態を示し、かつみそすり部材８を左右
輪それぞれ反対向きに同角度作動すると共に車軸２を互
いに反対方向に回転し、同右上方に移動する状態を示す
。（ｂ）図は上方台車が移動した状態を示す。By repeating such operations, the vertical plane can be raised and lowered even when the load is large. FIG. 6 shows a trolley device in which two of the trolleys shown in Part 4 are connected by a pantograph. As in the case of FIG. 5, the running surface 4 is assumed to be vertical. (a) In the figure, the lower truck has wheels 1 on the running surface 4.
Indicates a state in close contact with. The wheels 1 of the upper truck are on the running surface 4
The figure shows a state in which the right and left wheels are tilted relative to each other, and the left and right wheels are operated at the same angle in opposite directions, the axle 2 is rotated in opposite directions, and the wheel is moved upward to the right. (b) The figure shows the state in which the upper carriage has moved.
次に下方台車の車輪１を傾斜させみそずり部材８を（ａ
）図と同様に作動させ上方台車の車輪１を走行面４に密
着させることにより（Ｃ）図に示す状態となる。以下同
様の動作を行うことにより方向を変更して所望の検査位
置に台車装置を移動することができる。以上のように、
永久磁石で車輪１を構成し、走行面４に対し車輪１を傾
斜さセることにより吸着力を自由に調整することができ
、さらに車軸２にめそすり運動を行わせるごとによって
台車走行方向を変更することができる。Next, the wheels 1 of the lower truck are tilted and the scraping member 8 is moved (a
) By operating in the same manner as shown in the figure and bringing the wheels 1 of the upper truck into close contact with the running surface 4, the state shown in figure (C) is achieved. Thereafter, by performing similar operations, the direction can be changed and the trolley device can be moved to a desired inspection position. As mentioned above,
The wheels 1 are made of permanent magnets, and by tilting the wheels 1 with respect to the running surface 4, the attraction force can be freely adjusted.Furthermore, by making the axle 2 perform a sliding motion, the running direction of the bogie can be adjusted. Can be changed.
〔実 施 例］
以下、本発明の一実施例を第８図〜第１０図を用いて説
明する。第８図は本実施例の平面間を示す。[Example] An example of the present invention will be described below with reference to FIGS. 8 to 10. FIG. 8 shows the planes of this embodiment.
本実施例に示す台車装置は２台の台車１０を上下左右に
伸縮自在なパンタグラフ１１で連結したものである。パ
ンタグラフ１１の上部には１点鎖線で示す検査機器１２
が取り付けられた図示しない支持部材１
２
によって支持されている。第９図は第８図のＡＡ矢視を
示し台車１０の断面図を示す。第９図において、車輪１
は枠を鉄材とし円環状の永久磁石をこの枠に取り付けた
ものである。車輪１の車軸２にはウオームホイールが設
けられ車軸軸受２１で支持される。ウオームホイールは
ウオームギア２２により駆動され、ウオームギア２２は
車輪駆動モータ２３に直結している。みそすり装置８１
の回転軸は車軸２を図示するように角度θ傾けて回転す
るように車軸軸受２１と結合されている。これにより車
軸２はみそすり装置８１の回転軸のまわりをθ度傾いた
みそすり運動を行う。みそすり装置８１の回転軸にはウ
オームホイールが設けられウオームギア８２により回転
駆動される。ウオームギア８２にはみそすり装置駆動モ
ータ８３が直結されている。みそすり装置８１は車軸傾
斜台車９に取り付けられている。The trolley device shown in this embodiment is one in which two trolleys 10 are connected by a pantograph 11 that can be expanded and contracted vertically and horizontally. Above the pantograph 11 is an inspection device 12 indicated by a dashed line.
It is supported by a support member 1 2 (not shown) to which is attached. FIG. 9 shows a sectional view of the truck 10, taken in the direction of the arrow AA in FIG. In Figure 9, wheel 1
The frame is made of iron and a circular permanent magnet is attached to the frame. A worm wheel is provided on the axle 2 of the wheel 1 and supported by an axle bearing 21. The worm wheel is driven by a worm gear 22, and the worm gear 22 is directly connected to a wheel drive motor 23. Miso soup device 81
The rotating shaft is coupled to an axle bearing 21 so that the axle 2 rotates at an angle θ as shown. As a result, the axle 2 performs a miso grinding motion tilted by θ degrees around the rotation axis of the miso grinding device 81. A worm wheel is provided on the rotating shaft of the miso grinding device 81 and is rotationally driven by a worm gear 82 . A miso soup device drive motor 83 is directly connected to the worm gear 82 . The miso scraping device 81 is attached to the axle tilting truck 9.
車軸傾斜台車９は４個の車６によって移動できる。The tilting axle truck 9 can be moved by four wheels 6.
この車６は傾斜ガイド７に設けられたレール７２，７３
」二を走行する。またレールにそってラック７１が設け
られ、車軸傾斜台車９に取り付けられたピニオン９１と
歯合する。このピニオン９１はウオームギア９２を介し
て傾斜モータ９３により回転駆動され車軸傾斜台車９を
傾斜ガイド７に添って移動さゼる。This car 6 has rails 72 and 73 provided on an inclined guide 7.
” Run two. A rack 71 is also provided along the rail and meshes with a pinion 91 attached to the axle tilting truck 9. This pinion 91 is rotationally driven by a tilting motor 93 via a worm gear 92 to move the axle tilting truck 9 along the tilting guide 7.
第１０図は第８図のＢ−Ｂ矢視を示し、台車ＩＯの縫断
面図を示す。本図は車軸傾斜台車９の駆動機構の詳細を
示ず。ランク７１と歯合する位置にビニオン９１．傾斜
モータ９３に直結したウオームギア９２と歯合する位置
にウオームホイール９４が同一軸に設けられており、こ
の軸を車軸傾斜台車９で回転自在に支持する。なお、車
軸２の回転数、のそすり装置８１の軸回転数、ビニオン
９１の回転数などは図示されていないエンコーダーによ
り計測しフィードハ・７りされ、車輪駆動モータ２３．
みそすり装置駆動モータ８３．傾斜モータ９３は図示し
ていない制御装置により制御される。FIG. 10 shows the BB arrow view in FIG. 8, and shows a stitched cross-sectional view of the truck IO. This figure does not show details of the drive mechanism of the axle tilting truck 9. Binion 91. is located at the position where it meshes with rank 71. A worm wheel 94 is provided on the same shaft at a position meshing with a worm gear 92 directly connected to the tilt motor 93, and this shaft is rotatably supported by the axle tilting cart 9. Note that the rotational speed of the axle 2, the shaft rotational speed of the rubbing device 81, the rotational speed of the binion 91, etc. are measured and fed by an encoder (not shown), and are fed to the wheel drive motor 23.
Miso soup device drive motor 83. The tilt motor 93 is controlled by a control device (not shown).
以上のように構成された台車装置の動作について説明す
る。まず、傾斜モータ９３を駆動して車輪１を所定角走
行面４！こ対して傾斜させる。傾斜角としては車輪１の
側面と走行面４との角度を５度〜１０度程度とすると吸
着性、走行性がよい。傾斜は第１図に示すように左右の
車輪１を中心に対して対称に、かつ走行面４との接点が
外側にゆくようにすると左右の安定性がよくなる。なお
この場合左右の車輪の回転方向は互いに反対方向とする
と台車１０は前進又は後進をするが同一方向に回転する
と台車ＩＯは回転する。また傾斜の方法として、左右を
同し方向に傾斜することもできる。この場合、左右の車
輪１を同一方向に回転すると台車１０は前進し、反対方
向に回転すると台車】Ｏは回転する。次にみそずり装置
駆動モータ８３を互いに反対の回転方向に同し回転数回
転すると第３図（ｂ）のＢＢ’＆こ示す位置に各車輪１
の走行面４との接点が移動する。この状態で車輪駆１す
Ｊ千−夕２３を互いに反対方向に回転すると矢印で示す
ように台車１０は斜方向に移動する。また、傾斜モータ
９３を駆動して第９図の左側に示す位置まで車軸傾斜台
車９を移動すると、車輪１の側面は走行面４に密着し、
台車１０を固定することができる。The operation of the trolley device configured as described above will be explained. First, the tilt motor 93 is driven to move the wheel 1 to a predetermined angle on the running surface 4! Tilt it against this. As for the inclination angle, when the angle between the side surface of the wheel 1 and the running surface 4 is about 5 degrees to 10 degrees, adsorption and running properties are good. As shown in FIG. 1, if the inclination is symmetrical about the left and right wheels 1 and the points of contact with the running surface 4 are directed outward, lateral stability will be improved. In this case, if the left and right wheels rotate in opposite directions, the truck 10 moves forward or backward, but if they rotate in the same direction, the truck IO rotates. Further, as a method of tilting, the left and right sides can also be tilted in the same direction. In this case, when the left and right wheels 1 are rotated in the same direction, the truck 10 moves forward, and when they are rotated in the opposite direction, the truck 10 rotates. Next, when the miso-zuri device drive motor 83 is rotated at the same number of rotations in opposite rotation directions, each wheel 1 is at the position BB'& shown in FIG. 3(b).
The point of contact with the running surface 4 moves. In this state, when the wheel drive wheels 1 and 23 are rotated in opposite directions, the truck 10 moves diagonally as shown by the arrows. Further, when the tilt motor 93 is driven to move the axle tilt truck 9 to the position shown on the left side of FIG. 9, the side surface of the wheel 1 comes into close contact with the running surface 4,
The trolley 10 can be fixed.
以上の動作を組の合ね一ヒることにより第５図、第６図
で説明した動作を行うことができる。By combining the above operations, the operations explained in FIGS. 5 and 6 can be performed.
なお、本実施例では台車１０を２個連結したが、３台又
はそれ以上とすることにより、大きな重量を支持するこ
とが可能である。また走行面４に障害物がある場合も一
方の台車１０の！１ｉ輪１を走行面４に密着し、他方の
台車１０の車輪１を従来のように直立またはこれに近い
状態にして乗り越え、次に乗り越えた方の台車１０の車
輪】を走行面４に密着さ−せ、他の台車１０の車輪１を
直）ムにして障害物を乗り越えてゆくこともできる。Although two carts 10 are connected in this embodiment, it is possible to support a large weight by using three or more carts. Also, if there is an obstacle on the running surface 4, one of the trolleys 10! 1i The wheels 1 are brought into close contact with the running surface 4, and the wheels 1 of the other trolley 10 are placed in an upright or similar state as in the past, and then the wheels of the cart 10 that has been climbed over are brought into close contact with the running surface 4. It is also possible to use the wheels 1 of other carts 10 as a guide to get over obstacles.
以上の説明から明らかなように、本発明は、Ｇ４Ｖ石よ
り構成されろ車輪を走行面に対し傾斜さ已°て台車に取
り（＝ｔ Ｌ：ｌろごとにより吸着力を増すことができ
る。また、この傾斜角を可変とすることにより吸着力を
用途に応して可変とすることができる。As is clear from the above description, in the present invention, the adhesion force can be increased by installing the wheels made of G4V stones on the truck at an angle with respect to the running surface (=t L:l). Furthermore, by making this inclination angle variable, the adsorption force can be made variable depending on the application.
さらに車輪の車軸にみそすり運動を与えることにより台
車の移動方向を変更することができる。また傾斜可変な
車輪を取りイ＝Ｊげた台１１ｆを伸縮ト１在に継手で連
結することにより、大きな重量を支えて走行するごとが
容易となる。Furthermore, the direction of movement of the truck can be changed by applying a sliding motion to the axles of the wheels. Furthermore, by connecting the platform 11f with variable inclination wheels to the telescopic platform 11 with a joint, it becomes easy to support a large weight while traveling.
５
第１Ｍは車輪を走行面に対し傾斜して取りイ」けた台車
を示す圓、第２図は第１図に示す台車の車輪傾斜角を可
変とした台車を示す図、第３図は第１し１に示す車輪の
車軸にめそすり運動を５える装置を付加した台車を示す
図、第４図は第３図に示す台車に車輪の傾斜角を可変と
する装置を付加した台車を示す図、第５Ｖは第２図に示
す台車を伸縮自在継手で連結した装置の１３作を示す図
、第６図は第４図に示す台車を２台伸縮自在継手で連結
した装置の動作を示す図、第７図は車輪の構成を示す図
、第８回は本発明の実施例の平面図、第９図は第８図の
Ａ−Ａ矢視を示す図、第１０図は第８回のＢ−Ｉ３矢視
を示す図、第１１図、第１２図は従来例を示す図である
。5. 1M is a circle showing a bogie with wheels tilted to the running surface, FIG. 2 is a diagram showing a bogie with variable wheel inclination angle of the bogie shown in FIG. 1, and FIG. Figure 1 shows a truck with a device added to the axle of the wheels shown in Figure 1 and a device to adjust the angle of inclination of the wheels, and Figure 4 shows a truck with a device added to the wheel axle shown in Figure 3 to make the angle of inclination of the wheels variable. Figure 5V is a diagram showing the 13th operation of the device in which the carts shown in Fig. 2 are connected by an elastic joint, and Fig. 6 is a diagram showing the operation of the device in which two carts shown in Fig. 4 are connected by an elastic joint. Fig. 7 is a diagram showing the configuration of the wheel, No. 8 is a plan view of an embodiment of the present invention, Fig. 9 is a view showing the A-A arrow direction in Fig. 8, and Fig. 10 is No. 8 11 and 12 are diagrams showing conventional examples.
１−−車輪 ２−−−車軸
２１− 車軸軸受 ２２．８２．９２−−−ウオー
ムギア２３− 車輪駆動モータ ３−−−横桁４−
走行面 ５− 軸受支持材
６−−−車 ７−−−傾斜ガイド６
レール
ランク ７２，７３
ゐそずり部材
みそずり装置
みそずり装置駆動モータ
車軸傾斜台車 ９１
傾斜モータ ９４
台車 １１
ピニオン
ウオームホイール
パンタグラフ1--wheel 2--axle 21- axle bearing 22.82.92--worm gear 23- wheel drive motor 3--cross beam 4-
Running surface 5- Bearing support member 6--Car 7--Inclination guide 6 Rail rank 72, 73 Scraping member Scraping device Scraping device Drive motor Axle tilting trolley 91 Tilt motor 94 Trolley 11 Pinion worm wheel pantograph
Claims (7)
板を複数個台車に取り付けたことを特徴とする磁石車輪
を用いた走行車。(1) A traveling vehicle using magnetic wheels, characterized in that a plurality of magnetic discs with rotating shafts tilted at a predetermined angle with respect to the horizontal are attached to a bogie.
１記載の磁石車輪を用いた走行車。(2) A traveling vehicle using magnetic wheels according to claim 1, wherein the predetermined angle is variable.
運動が可能なように支持したことを特徴とする請求項１
または２記載の磁石車輪を用いた走行車。(3) Claim 1 characterized in that the rotary shaft is supported by the disc so that it can rotate freely and can perform a sliding motion.
Or a traveling vehicle using magnetic wheels according to 2.
特徴とする請求項２または３記載の磁石車輪を用いた走
行車。(4) A traveling vehicle using magnetic wheels according to claim 2 or 3, characterized in that a plurality of said trolleys are connected by an expandable joint.
徴とする請求項４記載の磁石車輪を用いた走行車。(5) A traveling vehicle using magnetic wheels according to claim 4, wherein the telescopic joint is a pantograph.
徴とする請求項１〜５のいずれかに記載の磁石車輪を用
いた走行車。(6) A vehicle using magnetic wheels according to any one of claims 1 to 5, characterized in that the magnetism is the magnetism of a permanent magnet.
の外周側に向かって磁力線が流れるようにしたことを特
徴とする請求項１〜６のいずれかに記載の磁石車輪を用
いた走行車。(7) The magnetic wheel according to any one of claims 1 to 6, wherein the magnetism is such that lines of magnetic force flow from the rotating shaft side of the disc toward the outer circumferential side of the disc. Running car.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP34409889A JP2895540B2 (en) | 1989-12-29 | 1989-12-29 | Traveling vehicle using magnet wheels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP34409889A JP2895540B2 (en) | 1989-12-29 | 1989-12-29 | Traveling vehicle using magnet wheels |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH03204303A true JPH03204303A (en) | 1991-09-05 |
| JP2895540B2 JP2895540B2 (en) | 1999-05-24 |
Family
ID=18366632
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP34409889A Expired - Fee Related JP2895540B2 (en) | 1989-12-29 | 1989-12-29 | Traveling vehicle using magnet wheels |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2895540B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010018158A (en) * | 2008-07-10 | 2010-01-28 | Taihei Kogyo Co Ltd | Inspection apparatus of piping or the like |
| CN109070628A (en) * | 2016-05-18 | 2018-12-21 | 沙特***石油公司 | Magnetic omni-directional wheel with rolling wheel support |
-
1989
- 1989-12-29 JP JP34409889A patent/JP2895540B2/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010018158A (en) * | 2008-07-10 | 2010-01-28 | Taihei Kogyo Co Ltd | Inspection apparatus of piping or the like |
| CN109070628A (en) * | 2016-05-18 | 2018-12-21 | 沙特***石油公司 | Magnetic omni-directional wheel with rolling wheel support |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2895540B2 (en) | 1999-05-24 |
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