JPS6223880A - Magnet wheel and running device employing said wheel - Google Patents

Abstract

PURPOSE:To enable a car body to be runnable in a state to be adsorbed to a piping and a wall surface, which are made of a magnetic material, by a method wherein the both end surfaces of a disc-shaped permanent magnet are nipped between disc-shaped magnetic material yokes from both sides, and the yokes are nipped by disc-shaped non-magnetic materials to form a wheel. CONSTITUTION:Front and rear running wheels 3a and 4a, disposed on the diagonal line of a car body 1, are driven by driving motors 2a and 2b, respectively, disposed to the front and the rear of the car body 1. In linkage with driving thereof, running wheels 3b and 4b, disposed on the other diagonal line, are rotated in a driven manner through timing belts 12a and 12b stretched around a drive pulley 10b and a driven pulley 11a. In which case, the running wheels 3a, 3b, 4a, and 4b are formed such that the proper number of disc-shaped magnetic material yokes 17a, 17b, 18a, and 18b are disposed to both end surfaces of a disc-shaped permanent magnet 16 engaged with running shafts 8a and 8b, respectively, and the outsides of the magnetic material yokes 17b and 18b are nipped by the proper number of disc-shaped non-magnetic materials 19a and 19b, respectively.

Description

[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to a magnetic wheel and a traveling device using this wheel, and in particular to a magnetic wheel suitable for inspection and inspection of nuclear power generation facilities. The present invention relates to a traveling device using wheels.

[Problems with the technical backbone of the invention]

At the 10th sub-power generation facility, 1! (Inspection during service period (ISr: In-3 service In5pe)
ction) is being carried out, and there is no need for further inspection work.
It is extremely important to reduce the radiation exposure of workers by 11 (4).This in-service inspection is carried out during periodic inspections using ultrasonic deep damage tests, and currently, during this work,
Scanning of the limb test object with the ultrasonic probe can be carried out by holding the ultrasonic probe directly in the hand, or by laying a 1-knoll in the reactor pressure vessel or its boundary piping, etc. This is done by mounting a probe on a traveling device that moves along the rails. In this way, the method of having workers directly scan the ultrasonic probe is time-consuming and time-consuming.
In order to keep the distance of 1 m as low as possible, the working time of -1 workers is limited, so a lot of manpower is required.

,,t,The method of laying the rails in the area to be inspected is to permanently install the rails at the equipment construction and installation 11N.
r#:)ヂ,this] is the cause of the rise.

[Object of the invention] The present invention (,1,1,iil Considering the above circumstances/i
7., II; (2f)) In 69 etc. The object of the present invention is to provide an electric magnet wheel that can be inspected and inspected by traveling along the road, and a traveling device using this wheel.

[Summary of the invention]

1 mentioned I, -1 "Achieve the purpose Muta ν), this 1'1 wheel (,1, -t
' (Star-shaped permanent ltl & both ends 1η1 of the stone are held from both sides by disc-shaped porcelain bamboo body -1-ri, and the '-ri is placed on the outside l') 7= In order to form a multi-layered (8j) small eel by sandwiching it: (I) (characterized by Move the running wheels to stage 1J1-1-i.
F + C The running wheel is driven by the driving force from the drive motor I!
1. ': In the No. 1- row device, the running wheels indicated in - are composed of magnetic wheels.
61 to the next driving daughter, re-driven I! It is characterized by: As a result, the magnetic wheel can be used to lay rails, etc. on the surface of the mouth 1i! It is possible to carry out inspections and inspections without exposing workers to the environment.

[Embodiment 1 of the Invention] An embodiment of the present invention will be described below with reference to the drawings below.

In FIGS. 1 and 2, reference numeral 1 denotes the vehicle body of the traveling device, and the vehicle body 10 is located at the front and rear (assuming that the left side is the front and the right side is the rear in FIGS. 1 and 2). It has support legs extending downward. Drive motors 2a and 2b are attached to the vehicle body 1, and the drive motors 2a and 2b cause the traveling device to travel on a magnetic surface. Specifically, the traveling device 11
A total of four running wheels 3a are provided on the front, rear, left and right support legs of the vehicle body 10.

3h, 4a, and 4b, and these wheels are rotationally driven by drive motors 2a and 2b. By doing so, the traveling gear P/
They are found inside and outside of magnetic pipes, inside and outside of tanks, on walls, and other surfaces in nuclear reactor facilities, and are used by many people who are transferred to other locations.

The lμ movement l-kita 2a, 2b are placed at the front 112 part of the vehicle body 1 (towed, the small body 1 center part +, T1:11,
+ 1 space for 1 board of i1 inspection mechanism for A4 inspection/inspection equipment
- 1.1f per minute.

Two! The I moving motors 2a, J, and 2b are connected to the front and rear running wheels 3a, 4a on the first side, and the right front and rear running wheels 3b.
, 4b (!-J, unii 1) are driven respectively.The power transmission mechanism that synchronously drives the front and rear running wheels on each side is the same on both the left and right sides (as they are the same). , Drive 1 Neeta 2 Regarding the left side power transmission mechanism that goes up to
- Driving force of motor 2a (deceleration tsM connected to motor shaft 1)
5 J, τ is decelerated to a, and it is fixed to its output shaft.
Knidrive vinyl A 6a is driven and rotated 1! Ru. This drive pinion A 6a has a shaft mounted on the front part of the car body 1, a driven pinion 7 and 1, and a front lower part 1h of the car body 1. 1b are respectively engaged with the transmission driven pinion 9a. 131 and the 2nd row middle wheel 93 and 1 /
l<('(l), and is rotated in synchronization with the 4.1 ifj+ rotation of the driving ship A 921 for one-meter travel.

A dolly gear 10a is fixedly mounted on the driven vinyl drive shaft 7aI7), and this drive shaft 7-11-10a is pivoted on a part of the rear part of the vehicle body 1. , /ζ The timing belt 12a is wound between the dolly I pulley 11a and the dolly I pulley 11a. Further (J, a driven pinion 13a is fixed to the shaft of the driven pulley 11a, and this driven pinion 13a1.L, 1 (
Intermediate transmission vinyl A1/'IF pivotally supported in the center of the section]
It is engaged with a travel transmission bin A 15a rotatably held on the rear lower part 41 of the vehicle body 1, that is, on the support legs. This running pinion 15a is the running shaft 8.
The running wheels/I are mounted on the running shaft 821 by driving the running transmission vinyl A 15a.
Rotate the a to open it.

(2) The running wheels 3a and /Ia arranged at the front and rear have a difficult rotation speed. N14
F1 race with 15 teeth? 1 transmission dosing ring - A1) J)
The number of teeth of the driving pin A 7a and the tri-J pin A 13F1 are equal to 5, respectively.
The drive pulley 1 to be distributed later (the pulley diameter of the drive pulley 121 and the pulley 1ia is respectively t) is removed.

- 1j, located at the rear of the Φ body 111. /F Udo wo oneta 2
B and J, right front and rear running wheels 3b and 4b Φ11
There is exactly the same C, and the rear l"'s run t [
Wheel 31) is a speed reducer! ') b, dry 1 vinyl A6b,
Via the driven vinyl Δn 9b for driving 111 people? , Y motion is rotated simultaneously, and the front running wheel 4 [) is a dry f-binion 6F1, a driven vinyl for transmission A7b, a drive pulley 10b1, a timing bell l-12h, a driven pulley 11b1, a driven vinyl A13[), an intermediate II dynamic rotation via the transmission vinyl A-14b1 and the travel transmission driven vinyl A-n 9b! Transition.

In this case, the front and rear running wheels 3a, 4a located diagonally on the vehicle body 10 are driven by the drive motors 2a and 2 [) located at the front and rear of the vehicle body 10, and furthermore, the drive motors 2a and 2 [) located on the diagonal line of the vehicle body 10 are driven by the drive motors 2a and 2[). Running wheels 31-1. , lb are driven to rotate. The driven rotation of the running wheels 3b and 4b is performed by drive pulleys 1(')a, 10b and driven pulley 11a.
Timing belt 12a, 12b that has been wrapped around
It is designed to be carried out synchronously. In order to use the timing bells 1 to 12a and 12b, a scanning mechanism for inspection and inspection equipment is installed in the center of the vehicle body 1.
- The configuration is such that there is enough space for Moreover, by mounting the scanning mechanism for the inspection/inspection device in the center of the vehicle ($1), the center of gravity will be located at the center of the traveling device of the present invention, making stable driving possible. There are also some advantages.

Four traveling devices 3a, 3b arranged roughly on the front, back, left and right.
, 4a, 4b are composed of magnetic wheels as shown in FIGS. 3 and 4.

However, an appropriate number of γ (Kri-shaped E1
Eye 11 Iki Tama 1- Ri 1 78. 1 7b
: 1 8 a, 1 8 b are respectively placed iM L, τ permanent magnet 16 is inserted, and each I
JI PI body El 917 b, 18 b] Outside/
j”
(Paper 1't1) It is formed into a multi-layered layer +tIJj1-.

Object-wise, permanent magnetic Ti 161; L, Zono (A 1-
The /'] direction of the cylinder is shown in Figure 3.
1, 1, 1, 1, 2, 3, 3, 3, 3, 17a, 17b; 18a, 18bT.
``Pinch, and also non-I eyes such as S 11 S! 1. On the 1st rest 19a and 19b, hold it from the outside and apply the adsorption force to the magnetic surface (running surface) of the running wheels 3a, 3b, 4a, 4b of one permanent ift 71 type to the white clay I! be..

At that time, permanent...F116 is a baked crystal I1, so it is weak against surprise attacks, so 141? J, Uni, 1144 bodies in which the outer peripheral surface of 'i does not directly contact the magnetic 1/1 body surface on the running surface τ'
1-ri 17a, 17b, 18a, 18b and non-1iP41
419a, 19[) riji diameter, small ri
ji F￥DoiCru()Nodoshi,;11,:,long 1i book H1-ri 17a, 17b, 18a, 18b 1magnetic 11
Direct contact with bodies 19a and 19b is ¥1.1, and it is 1 no.

(-J, U (ko, magnet wheel 3a, :N).

4a, 'lb is a disk-shaped permanent magnet 16, magnetic material'-
17 a, 17 b; 18 a, 1B b
, :II 11 f' By forming a multilayer structure consisting of 1 bodies 19a and 19b, it is possible to increase the adsorption force to the magnetic ↑11 body surface (14). If the force is strong (-+), jI Ia (ri body 19
Replace a and 19b with magnetic ↑1 body E + -ri l 7 a - (
ノ, if you want to weaken it, Ia (71 body-1-ri 17a
If we replace jl If t' with the body 19a..., we get Jζ and C. Furthermore, make fine adjustments to the adsorption force.
: Sea urchin l-t Ili ('I-body yoke 17a... and Nol' 47th 'I-body 19a...' thickness is made thinner and the number is increased, yoke 17a... and non-magnetic body 19a Which ratio should be finely adjusted? By adjusting the magnetic head force of the magnetic wheels: 3a, 3b, 'Ia, 4[), the traveling wheel 3a.

Corresponding to the friction coefficient between 3b, 4a, 4b and the magnetic surface, V which adjusts the frictional force between the running wheels 3a, 3b, 4a, = 1b and the magnetic surface to increase 11- is ul fili. I do it. First, the row i device 141, for example i]'f!
') Let's accept the figure (This is used 41, Inside and outside,
Wall surface, for example, 2J of lJj cable steel piping 20 - 1? ■
The kth electric power for driving the motor 2Fl and 2[) is supplied to the pull 21 by))-).

This one-line armor uses a magnetic wheel, and the inspection tool II4M's 1st wheel is placed in the center of the mid-day break.
L'<K full width drive with J: configuration and 2E/j second, L+
Equipped with j-inspection and inspection equipment, it is possible to lay rails, etc.01'' (
tH of this kidney eye 11th day off? Move the plane and layout t1/1 freely! 11
-d can be C.

However, since we use Magnz wheels for the running wheels, Δ: t + wheels are absorbed into a bamboo body.
- For the purpose of controlling the TV, it is necessary to control it.
When the power was lost, Roi fell from the 51-year-old man's face.
In the running wheels that are set at 3 degrees (there is nothing to do), the running wheels on the 1 side are 1 *, The front and rear running wheels on the right and left sides rotate the drive shafts separately using two different drive motors, so the trajectory correction in the 11 running direction is performed using a different drive shaft for each running wheel on each side.
: If you set the speed, it can be easily done depending on the difference in speed ta.

The running wheels are equipped with a full-width drive that is directly rotationally driven by two drive motors, which prevents the situation where the driving force is lost during running and ensures reliable running. can. In other words, in a two-wheel drive system with front wheels or rear wheels, when the rear wheel of the four wheels floats off the magnetic surface due to some reason Qii (Jζ-), the floating Iζ: When the wheel is the driving wheel Is the driving force for adsorption not enough for one wheel? As a result, there is a possibility that the driving force becomes insufficient. However, in the present invention, such a situation is unlikely to occur.

In addition, compared to an all-wheel drive 1B type in which each running wheel is driven by an independent drive motor, the all-wheel drive platform, which drives each drive wheel at once, has a speed difference between the middle wheels. When making trajectory correction by
A roar, the entire Jugyo Soma / I\\Hijinsakuichi U-like excitement 1)
Noto/7ru. On the other hand, in the present invention, this J,
Una Volcano is easy, and there is no need to include the special/j-direction force exchange device 6'', and the configuration can be reduced to 6+-,<2 for simplification.

(Effects of the Invention) According to the present invention, the weight of the entire magnetic wheel can be reduced by reducing the overall weight, and the wheel suspension can be made smaller and the eaves can be made smaller. It has a strong structure and is easy to handle. In addition, when this traveling device is applied to Suzuryo Rikisuke City Plan 1~, it can move freely on magnetic surfaces such as N f, nuclear reactor pressure vessels, etc.
It is most suitable as a traveling device for mobile robots 1 to 1 for carrying out inspections and inspections, and has excellent effects such as reducing labor costs and saving labor.

[Brief explanation of the drawing]

FIG. 1 is a side view showing an embodiment of the traveling device according to the present invention, FIG. 2 is a plan view taken along the T-TI line in FIG. 1, and FIG. FIG. 4 is a side view of the running wheel 1 and 1, and FIG. 5 is a J perspective view showing the running device running on the outer surface of the carbon steel pipe. 1... Intermediate rest, 2a, 2b... Drive motor, 3a. 3 b, 4 a, /'Ib...running wheel, 5a, 5
b...Reduction gear, 6a...Drive pinion, 7a,
7b...Transmission pinion, 8a, 8b...Travel shaft, 9a...Travel transmission driven pinion, 10a, 1
(lb... Drive pulley, lla... Driven pulley, 12a, 12b... Timing belt, 13a
, 13b...drive pinion, 14a...intermediate transmission pinion, 15a...travel transmission pinion, 16
...Eternal 111 stones, 17a, 17b, 18a, 18b
-11 victim yoke, 19a, 19b... non-magnetic material, 2
0...Carbon steel piping, 21...Cable 3, Attorney's Law Ten Rules Ken Chika ■( Hiroshi Mitsumata Bunritsu $
l Figure Direction of magnetization Figure 3 Figure 4

Claims (1)

[Scope of Claims] 1. Both end surfaces of a disk-shaped permanent magnet are sandwiched from both sides by disk-shaped magnetic yokes, and each of the yokes is sandwiched from the outside by a disk-shaped non-magnetic material to form a multilayered wheel. A magnetic wheel featuring 2. In a traveling device in which traveling wheels are provided on the front, rear, left and right sides of the vehicle body, and the traveling wheels are driven by driving force from a drive motor, the traveling wheels are composed of magnetic wheels, and the traveling wheels are arranged on the left front and rear, and on the right front and rear. A traveling device characterized in that each of the traveling wheels is driven by a different drive motor. 3. Of the four running wheels supported on the left, right and front sides of the vehicle body, the left front running wheel and rear running wheel and the right front running wheel and rear running wheel are respectively rotatable synchronously with a timing belt, and the vehicle body 2 located on the diagonal of
The traveling device according to claim 2, wherein the two traveling wheels are freely driven by a drive motor. 4. The running wheel consists of a disk-shaped permanent magnet mounted on a running shaft rotatably supported by the vehicle body, a disk-shaped magnetic yoke that clamps both end surfaces of this permanent magnet from the outside, and each magnetic yoke. The traveling device according to claim 2, comprising a disk-shaped non-magnetic material that is held from the outside.