Magnetic adsorption crawler-type mobile device, multi-connected magnetic adsorption crawler-type mobile device, and generator maintenance robot

Abstract

The magnetic adsorption crawler-type mobile device (100) is configured to include a magnetic adsorption traveling mechanism (10), and the magnetic adsorption traveling mechanism (10) has: a magnetic force generating device (3) including a magnet (1) and a yoke portion (2) disposed on the back surface or side surface of the magnet; a crawler (4) that rotates and moves relative to the magnetic force generating device (3) in a non-contact manner; and a low-friction guide body (5) that contacts the magnet (1) and the yoke portion (2) and allows the crawler (4) to slide on the front surface, and the crawler (4) protrudes from the front surfaces of the magnetic force generating device (3) and the guide body (5) and rotates and moves.

Description

Technical Field

[0001] The present application relates to a magnetic adsorption crawler-type mobile device, a multi-connected magnetic adsorption crawler-type mobile device, and a generator maintenance robot. Background Art

[0002] Recently, there have been continuous calls for measures to prevent the aging of bridges or viaducts, especially calls for discussions on inspection means or repair means for the lower surface part or vertical surface of bridges and viaducts.

[0003] Inspection means include visually observing the lower surface from below, visually observing by approaching with a movable tool such as an aerial work platform, or visually observing using a suspended scaffold. Additionally, recently, the use of drones equipped with imaging elements has been under research.

[0004] Specifically, for example, a viaduct inspection device has been proposed. The device is characterized in that a lifting device is installed on the roof of a vehicle so as to be movable in the front-rear direction, the base end portion of a link mechanism capable of bending in the horizontal direction is connected to a base provided at the upper end portion of the lifting device so as to be rotatable in the horizontal direction, a sensor stage is provided at the front end portion of the link mechanism so as to be movable in the lifting and horizontal directions, a laser measurement device composed of a laser scanner and a light detection sensor is supported on the sensor stage, the laser scanner scans the laser emitted from the laser head upward with a specified amplitude, and the light detection sensor detects the amount of reflected light of the laser scanned by the laser scanner (for example, refer to Patent Document 1). In addition, an inspection drone including an infrared camera has been disclosed (for example, refer to Patent Document 2).

[0005] In addition, a magnet wheel has been disclosed. The magnet wheel includes an axle, permanent magnets arranged around the vehicle, and wheels. A gap is provided between the permanent magnets and the axle. Additionally, a non-magnetic member or a weakly magnetic member is arranged at the inner peripheral portion of the wheels, and a strongly magnetic member is arranged at the outer peripheral portion of the wheels. In this magnet wheel, the magnetic suction force of the permanent magnets per unit volume is large, and the mechanical noise during driving is small (for example, refer to Patent Document 3).

[0006] In addition, as an inspection means for a wall surface, a wall surface adsorption traveling machine has been disclosed, in which a traveling belt is provided on the front side of a magnet for wall surface adsorption (for example, refer to Patent Document 4). In addition, an adsorption traveling device using a magnet tape to which a plurality of magnets are adhered has been disclosed (for example, refer to Patent Document 5).

[0007] In addition, an annular track traveling device for traveling on a wall surface is disclosed. The annular track traveling device is provided with a traveling belt that travels in such a manner that its front surface contacts the wall surface, and a plate-like member is provided on the back surface side of the traveling belt, which is on the opposite side of the front surface of the traveling belt that serves as the contact traveling surface (for example, refer to Patent Document 6).

[0008] Prior Art Documents

[0009] Patent Documents

[0010] Patent Document 1: Japanese Patent Laid-Open No. 3-260206

[0011] Patent Document 2: Japanese Patent Laid-Open No. 2017-54486

[0012] Patent Document 3: Japanese Patent Laid-Open No. 9-267606

[0013] Patent Document 4: Japanese Patent Laid-Open No. 04-24181

[0014] Patent Document 5: Japanese Patent Laid-Open No. 2004-148893

[0015] Patent Document 6: International Patent Publication No. 2018 / 134991 Summary of the Invention

[0016] Technical Problem to be Solved by the Invention

[0017] The inspection means adopted in the above Patent Documents 1 to 3 has a complicated structure and the overall device is large. In addition, in the wall surface adsorption traveling machine adopted in the above Patent Document 4, the magnet that applies the adsorption force to the wall surface is not arranged directly opposite to the wall surface, but is arranged opposite to the wall surface via a traveling belt for traveling along the wall surface. Therefore, the magnetic field lines from the magnet do not directly reach the wall surface, and thus there is a problem that the wall surface adsorption force generated by the magnet used is reduced. In addition, in the wall surface adsorption traveling machine adopted in the above Patent Document 5, the traveling belt for traveling along the wall surface has a structure in which many magnets are pasted on the entire front surface of the traveling belt. Therefore, there are problems that the device structure becomes complicated and the overall weight becomes large.

[0018] In addition, in the wall surface adsorption traveling machine adopted in the above Patent Document 6, since there are holes or irregularities on the traveling surface on which the wall surface adsorption traveling machine travels, in order to suppress vibrations generated during traveling, a plate-like member is used to press the traveling belt against the traveling surface between the magnet and the traveling belt.

[0019] This application is completed to solve the above technical problems, and its purpose is to provide a magnetic adsorption type crawler mobile device that is lightweight, has a small device height dimension, and a simple structure, and can suppress vibrations caused by movement even when there are holes or unevenness on the traveling surface of a mobile machine moving along a wall surface.

[0020] Technical solutions for solving technical problems

[0021] The magnetic adsorption type crawler mobile device disclosed in this application is characterized by including: a magnetic force generating device, the magnetic force generating device having a magnet pair and a yoke portion, the magnet pair being configured with magnets having opposite polarities, and the yoke portion being configured adjacent to each magnet of the magnet pair; a non-magnetic guide body, the guide body being installed in such a way that different sides thereof contact each magnet of the magnet pair and the bottom surface contacts the yoke portion, or in such a way that the bottom surface contacts the magnet pair and different sides contact the yoke portion; and a crawler, the crawler moving relative to the magnetic force generating device in a non-contact manner and rotating and moving along the long side direction of the guide body.

[0022] Advantages of the invention

[0023] According to the magnetic adsorption type crawler mobile device disclosed in this application, a magnetic adsorption type crawler mobile device that is lightweight, has a small device height dimension, and a simple structure can be provided, and vibrations caused by movement can be suppressed even when there are holes or unevenness on the traveling surface of a mobile machine moving along a wall surface. Description of the drawings

[0024] Figure 1 It is a perspective view showing an example of the magnetic adsorption type crawler mobile device of Embodiment 1.

[0025] Figure 2 It is a perspective view schematically showing the outline of two representative magnetic force generating devices of the magnetic adsorption type crawler mobile device of Embodiment 1.

[0026] Figure 3 It is Figure 2 A cross-sectional view of the magnetic force generating device of the magnetic adsorption type crawler mobile device shown in A of

[0027] Figure 4 It is a diagram for explaining the operation of the magnetic force generating device of the magnetic adsorption type crawler mobile device of Embodiment 1.

[0028] Figure 5 It is a diagram showing an example of the device structure of the magnetic adsorption type crawler mobile device of Embodiment 1.

[0029] Figure 6This is a diagram for explaining the notch provided on the frame of the magnetic adsorption crawler-type mobile device of Embodiment 1.

[0030] Figure 7 This is a cross-sectional view for explaining an application example of the magnetic adsorption crawler-type mobile device of Embodiment 1.

[0031] Figure 8 This is a cross-sectional view showing another structure of the magnetic force generation device of the magnetic adsorption crawler-type mobile device of Embodiment 2.

[0032] Figure 9 This is a diagram showing an example of the multi-connected magnetic adsorption crawler-type mobile device of Embodiment 3.

[0033] Figure 10 This is a perspective view for explaining an application example of the magnetic adsorption crawler-type mobile device of Embodiment 4.

[0034] Figure 11 This is Figure 10 a partial enlarged view of

[0035] Figure 12 This is a cross-sectional view for explaining an application example of the magnetic adsorption crawler-type mobile device of Embodiment 4. Detailed Embodiments

[0036] Embodiment 1

[0037] Hereinafter, the magnetic adsorption crawler-type mobile device of Embodiment 1 will be described based on the drawings. Figure 1 This is a schematic diagram of the magnetic adsorption crawler-type mobile device.

[0038] Figure 1 In the magnetic adsorption crawler-type mobile device 100, the frame 6 is composed of three longitudinal frames 61, 62, and 63 arranged in parallel and multiple transverse frames 64. A magnetic adsorption traveling mechanism 10 including a magnetic force generation device 3 and crawlers 4 is provided between the two longitudinal frames 61 and 62. A motor 7 is provided between the two longitudinal frames 62 and 63. A driving force transmission mechanism 71 for transmitting the driving force of the motor to the magnetic adsorption traveling mechanism is provided between the motor 7 and the magnetic adsorption traveling mechanism 10. In addition, by increasing the number of longitudinal frames or transverse frames constituting the frame, equipment can be installed more while maintaining the dimensions in the height direction of the magnetic adsorption crawler-type mobile device.

[0039] The traveling mode of the magnetic attraction traveling mechanism 10 described above is a crawler type. As described above, the magnetic attraction traveling mechanism 10 includes a crawler 4. A rubber belt or a resin belt such as polyurethane is used in the crawler 4 and is driven by a pulley. In addition, the crawler can be rotated in a manner that reverses the rotation direction. In addition, in the longitudinal frames 61 and 62 adjacent to the magnetic attraction traveling mechanism 10, notches 65 for mounting the magnetic force generating device 3 are provided corresponding to the number of magnets used (the above notches will be described in detail later). In addition, the raw material of the frame is a non-magnetic material such as aluminum.

[0040] In Figure 2 ( Figure 2 of A, Figure 2 of B) and Figure 3 Fig. shows a schematic diagram of the magnetic force generating device 3 used in the above magnetic attraction crawler type mobile device 100. Figure 2 ( Figure 2 of A, Figure 2 of B) shows two perspective views of the above magnetic force generating device 3, Figure 3 Fig. shows a cross-sectional view. Here, in Figure 2 of A shows a perspective view of the magnetic force generating device 3A, and in Figure 2 of B shows a perspective view of the magnetic force generating device 3B.

[0041] As shown in these figures, two sets of magnet pairs, namely magnet 1a, 1b and magnet 1c, 1d, are arranged at intervals, the yoke 2 is arranged on the back of the magnets, and a guide 5 with an edge 5a formed locally is arranged between each of the magnets constituting the above two sets of magnet pairs (between the magnets 1a and 1b and between the magnets 1c and 1d). In addition, the above description has been given by taking the case where the number of sets of arranged magnets is two as an example, but the number of sets of arranged magnets is only required to be one or more, and the number of sets of magnets can be arbitrarily determined according to the use purpose.

[0042] Here, a low-friction material is used in the above guide 5 to form a sliding surface of the crawler. In addition, in the illustrated example, the edge 5a of the above guide protrudes, which helps the guiding during the straight-line traveling movement of the crawler. In addition, as a low-friction material, an engineering plastic as a non-magnetic material is suitable in terms of having wear resistance and being lightweight. In addition, the magnets 1a, 1b, 1c, and 1d are collectively referred to as magnet 1.

[0043] Here, the difference between the magnetic force generating device 3A and the magnetic force generating device 3B is as follows: when viewed from the upper side of the magnetic force generating device, in the magnetic force generating device 3A, magnets of the same pole are arranged on each side surface of the guide, while in the magnetic force generating device 3B, magnets of different poles are arranged on each side surface of the guide, but it can also be configured to be arbitrarily arranged.

[0044] In addition, in the cross-sectional view of the magnetic force generating device of Figure 3 , in addition to showing the magnetic force generating device 3A shown in the perspective view of Figure 2 A, a crawler 4 is additionally shown.

[0045] The magnet 1a and the magnet 1b are arranged with a gap therebetween to separate the guide body 5 for guiding the main traveling portion 4a of the crawler, and a yoke portion 2 is arranged on the rear surface through the magnet 1a and the magnet 1b. A guide body 5 with a protruding edge is arranged between the left and right magnets, and the main traveling portion 4a of the crawler travels on the front surface of the guide body 5. The sub-traveling portion 4b of the crawler travels on the back surface of the yoke portion 2. Here, the main traveling portion refers to the portion of the traveling part of the crawler that is mainly transferred by the pulley (described later) provided on the driving side of the magnetic adsorption traveling mechanism 10, and the sub-traveling portion refers to the portion that is mainly transferred by the pulley (described later) provided on the driven side of the magnetic adsorption traveling mechanism 10.

[0046] In the present embodiment, the central portion of the yoke portion 2 is raised by the width of the guide body 5 (here, the width refers to the dimension in the left-right direction of Figure 3 . In addition, "raised" means that the height dimension of the central portion is larger than the height dimensions of its left and right sides to form a convex shape as shown in the figure), and lower step portions are provided on the left and right as the mounting portions of the magnets 1a and 1b. The arrangement relationship between the yoke portion, the magnet, and the guide body can be determined according to the (convex-shaped) cross-sectional shape of the yoke portion, and no other positioning members such as baffles are required. The main traveling portion 4a (front surface) of the crawler is located at a position higher than the front surfaces of the magnets 1a, 1b, 1c, and 1d, and it is configured such that the magnet does not contact the adsorbed body P (here, the adsorbed body can also be the object to be inspected) that is a magnetic body. In addition, due to the arrangement structure of the magnet and the yoke portion, the magnetic flux is concentrated between the left and right magnets, and a strong adsorption force is generated by the upper surface portion of the main traveling portion 4a of the crawler. No strong magnetic field is generated around it.

[0047] Regarding the reason for forming the magnetic force generating device into the above structure, Figure 4 will be further described in detail. In the case where there is no yoke portion in the magnetic force generating device and the magnet and the crawler have the structure shown in Figure 4 A, since there is a lot of leakage magnetic flux (not shown. The same applies hereinafter), when the magnetic force generating device is slightly separated from the adsorbed body, the adsorption force will decrease sharply. In addition, since the magnet and the crawler are arranged in series, the overall height dimension of the device will become larger.

[0048] In the case where there is no yoke portion in the magnetic force generating device and the magnet and the crawler have the structure shown in Figure 4 B, similarly to the above, since there is a lot of leakage magnetic flux, when the magnetic force generating device is slightly separated from the adsorbed body, the adsorption force will decrease sharply.

[0049] In addition, even when there is a yoke 20 in the magnetic force generating device, in the case of the structure shown in C of FIG. , that is, when yokes 20 are respectively provided for the magnets arranged on the left and right and the interval between the magnets arranged on the left and right is small, compared with Figure 4 the case of , the proportion of leakage magnetic flux also tends to increase. Figure 3

[0050] As described above, as Figure 4 illustrated in A to Figure 4 C of FIG. , in order for the leakage magnetic flux from the magnetic force generating device to effectively act as an adsorption force for adsorbing the adsorbed body, the structure shown in Figure 3 FIG. is required, rather than the structure of the magnetic force generating device shown in A to Figure 4 C of FIG. Figure 4

[0051] Here, a permanent magnet is used in the magnet. For example, rare earth magnets, ferrite magnets, alnico magnets, Mn-Al-C magnets, etc. are well-known permanent magnet materials. As rare earth magnets, R-Fe-B type, R-Co5 type, R2-Co 17 type (R is one or more rare earth elements containing Y) can be used. For example, a permanent magnet of R-Fe-B type (R: one or more rare earth elements such as Nd, Pr, etc.) can be used. For example, neodymium, samarium cobalt magnets, etc.

[0052] In addition, well-known soft magnetic materials are used in the yoke. For example, pure iron, soft iron, carbon steel or low alloy steel such as ordinary steel, special steel for structures, tool steel, ferrite or martensitic stainless steel, etc. which are well-known steel materials can be cited. In addition, well-known iron castings such as cast iron or cast steel can be cited. Bonded soft magnetic materials formed by binding powders of well-known soft ferrite such as Mn-Zn type ferrite and Fe-Ni type alloys such as permalloy (Japanese: パーマロイ), Fe-Ni-Co type alloys such as cobalt alloys and these well-known soft magnetic materials with thermoplastic resins or thermosetting resins can also be used.

[0053] ​​In addition, as low-friction engineering plastics used in the guide body, examples include polyoxymethylene (abbreviated as "POM"), polybutylene terephthalate (abbreviated as "PBT"), polyphenylene sulfide (abbreviated as "PPS"), polytetrafluoroethylene (abbreviated as "PTFE"), tetrafluoroethylene-hexafluoropropylene copolymer (extracting FEP powder, fluorinated ethylene propylene resin), etc.

[0054] In Figure 5 shows an example of the device structure of the magnetic adsorption crawler-type mobile device 100. Figure 5 A in Figure 5 is a top view showing an example of the device structure of the magnetic adsorption crawler-type mobile device 100, Figure 5 B in Figure 5 is a side view showing an example of the device structure of the magnetic adsorption crawler-type mobile device 100, Figure 5 C in Figure 5 is a C-C cross-sectional view of B in Figure 5 is Figure 1 , 2 , 3 shows an example of the structure of the entire device formed by assembling the schematic diagrams of the devices shown. Here, the detailed structure is shown.

[0055] Through the three longitudinal frames 61, 62, 63 and the transverse frame 64 shown in A of the above Figure 5 , the frame 6 of the magnetic adsorption crawler-type mobile device 100 is constituted. Magnets 1b and 1d are embedded in the notch 65 of the longitudinal frame 61, and magnets 1a and 1c are embedded in the notch 65 of the longitudinal frame 62 located between the longitudinal frame 61 and the longitudinal frame 63. Regarding its state, the following uses Figure 6 for a more detailed description.

[0056] Figure 6 is a diagram for explaining the notch provided in the frame of the magnetic adsorption crawler-type mobile device of Embodiment 1. Figure 6 A in Figure 5 is a top view corresponding to A in Figure 6 for explaining the details of the above notch 65, showing the position and shape of the notch. As shown in this figure, four elliptical long holes are provided corresponding to the arrangement positions of the above magnets 1a to 1d. Figure 6 B in Figure 6C is a planar configuration diagram of four magnets using the above four notch configurations. Figure 6 D of... is the above Figure 6 E - E sectional view of C of...

[0057] From this, it can be seen that the above four magnets are all arranged at corresponding positions using the above notch 65 in a manner that does not protrude from the outer periphery of the longitudinal frame. Thus, the size of the entire device as a magnetic - adsorption crawler - type mobile device (including the size in the height direction) can be suppressed. Subsequently, regarding the size of the entire device of the magnetic - adsorption crawler - type mobile device, hereinafter, return to Figure 5 For a specific description.

[0058] As Figure 5 shown in A of..., magnet 1a and magnet 1b, magnet 1c and magnet 1d are respectively paired. Here, the magnetic - adsorption traveling mechanism 10 disposed between the longitudinal frames 61 and 62 and the main traveling portion 4a of the crawler are shown. In the side - view Figure 5 B of..., the state of the front of the main traveling portion 4a of the crawler set at a height position slightly protruding from the upper end of the longitudinal frame 61 is shown. That is, in Figure 5 B of..., the height dimension (frame height) of the longitudinal frame 61 is fh, the upper end of the main traveling portion 4a of the crawler is located above the upper end of the said longitudinal frame 61, and the entire height dimension fc occupied by the crawler is set to be smaller than the size of the gap (for example, 20 mm) that is the object of use of this device. In addition, the above fc is set to be larger than the above fh by about 3 mm or so. In addition, other devices are housed within the height range of the longitudinal frame 61.

[0059] A driving motor 7 is arranged between the longitudinal frame 62 (shown by a dotted line) in the middle of the longitudinal frame 61 and the longitudinal frame 63 and the longitudinal frame 63, and a driving - force transmission mechanism 71 is provided. The driving - force transmission mechanism 71 transmits the driving force from the motor 7 to the driving - side pulley 42 that drives the crawler 4 (refer to Figure 5 C of...). This object, as shown in the C - C sectional view of C of Figure 5 ..., the driving - side pulley 42 and the driven - side pulley 43 are arranged at both end - sides of the guide body 5. The crawler 4 is hooked on the above two pulleys 42 and 43. The above two pulleys are toothed, and the crawler 4 is also a toothed belt. A timing belt is used in the above structure.

[0060] In Figure 5 the B - B sectional view of D of..., the state where yokes 2 are provided on the back surfaces of the magnets 1c and 1d, the sub - traveling portion 4b of the crawler 4 passes through the back surfaces of the yokes, and the front surface of the main traveling portion 4a of the crawler 4 protrudes from the front surfaces of the longitudinal frames 61, 62, and 63 is shown, and the state where devices other than the crawler are housed within the height range of the frame is shown.

[0061] The magnetic adsorption crawler-type mobile device 400 is a traveling device that moves by magnetic adsorption in a state where the crawler is in contact with an adsorbed object such as steel through the magnetic force generating device 3 that generates a strong magnetic field. The front surface of the magnet is at a position lower than the main traveling portion 4a of the crawler, and it can travel in a state of not being in contact with the adsorbed surface.

[0062] As described above, in the magnetic adsorption crawler-type mobile device 100, when the main traveling portion 4a of the crawler slightly protrudes from the frame, other equipment is housed within the height range of the frame. That is, the frame protects the various equipment from foreign objects entering. In addition, if necessary, a thin front protection plate can be provided to protect the front of the traveling mechanism.

[0063] As described above, the magnetic adsorption crawler-type mobile device 100 of the first embodiment becomes a magnetic adsorption crawler-type mobile device that can travel using a frame having a height that can be set even in a fine gap, and its structure can enter a small gap of less than about 20 mm and travel.

[0064] In addition, the magnetic force generating device 3 forms a magnetic circuit together with a magnetic body that concentrates magnetic flux on the main traveling portion side of the crawler by combining a magnet and a yoke to achieve a strong adsorption force. In addition to this, since the yoke is arranged, the proportion of the majority of the magnetic flux generated by the magnet passing through the inside of a ferromagnetic material such as iron increases, and thus the magnetic flux density in other directions becomes very small. Therefore, even equipment such as a motor that is easily affected by magnetic force can be arranged adjacent without providing magnetic field shielding (refer to Figure 3 ).

[0065] In addition, since it is not a magnetic crawler (refer to Patent Document 5), the crawler can be made thinner and lighter, and the crawler can be guided to travel on a low-friction sliding surface without using an idler pulley. Therefore, a thin guiding sliding structure without a complex equipment structure is realized.

[0066] As described above, if the height dimension of the device is about 20 mm, it can travel in the narrow gap between the rotor 60 of the generator at the power generation part shown in Figure 7 and the iron stator 50 (refer to Figure 7 B), and inspect and investigate the state of the coil 51 or the resin member 52, etc. (detailed content will be described later).

[0067] In addition, since the bridge body can generally be composed of a steel beam, the magnetic adsorption crawler-type mobile device of the first embodiment can be applied, and a magnetic adsorption crawler-type mobile device for inspecting the gap between the bridge pier and the bottom plate, etc. can be arbitrarily set. Of course, it can also travel and perform maintenance on the front part that is not a gap.

[0068] Embodiment 2

[0069] In Figure 8 An example of the structure of the magnetic force generating device 3a of Embodiment 2 is shown. The structures other than the above-mentioned magnetic force generating device 3a are basically the same as those of Embodiment 1, and thus the description thereof is omitted here.

[0070] Magnets 1a and 1b arranged on the left and right, and one yoke 2 is respectively arranged on the outside thereof. A guide body 5 is provided on the upper surfaces of the magnets 1a and 1b, and the main traveling portion 4a of the crawler belt 4 travels while sliding on the front surface of the guide body, and the sub-traveling portion 4b travels on the back surface of the magnet pair formed by the magnets 1a and 1b.

[0071] With the above structure, the magnetic flux can be concentrated between the left and right yokes, so as to generate a strong magnetic force on the upper surface side of the main traveling portion 4a of the crawler belt, thereby obtaining a large force for adsorbing the adsorbed object (for approaching the adsorbed object).

[0072] In addition, by using the notch provided in the frame (refer to Figure 5 ) to form a structure in which the yoke is installed in the above notch, miniaturization of the device can be achieved.

[0073] Embodiment 3

[0074] In Figure 9 A multi-connected magnetic adsorption crawler type mobile device of Embodiment 3 is shown.

[0075] Figure 9 A in shows a multi-connected magnetic adsorption crawler type mobile device (lateral arrangement connection type) 200 in which two magnetic adsorption crawler type mobile devices 100a and 100b are laterally arranged and connected by lateral connection members 101a and 101b. The magnetic adsorption crawler type mobile devices 100a and 100b can use the magnetic adsorption crawler type mobile device 100 shown in Embodiment 1, and thus the description thereof is omitted. By including a traveling mechanism configured such that the traveling directions of the two crawler belts are parallel to each other, the speeds of the left and right crawler belts can be controlled, and thus the traveling direction of the multi-connected magnetic adsorption crawler type mobile device 200 can be controlled.

[0076] Figure 9FIG. B shows a multi - connected magnetic - adsorption crawler - type mobile device (horizontal and vertical arrangement connection type) 210 that connects four magnetic - adsorption crawler - type mobile devices 100a, 100b, 100c, and 100d horizontally or vertically through horizontal connection members 101a, 101b and vertical connection members 102a, 102b. The four magnetic - adsorption crawler - type mobile devices 100a, 100b, 100c, and 100d can use the magnetic - adsorption crawler - type mobile device 100 shown in Embodiment 1, so the description is omitted. The multi - connected magnetic - adsorption crawler - type mobile device 210 of the horizontal and vertical arrangement connection type can also improve the equipment installation capacity.

[0077] As described above, by adopting a structure that connects magnetic - adsorption crawler - type mobile devices 100 horizontally or vertically and setting it as a multi - connected crawler - type traveling device, the device itself can be enlarged, and large - scale equipment can be installed. In addition, by arranging horizontally, the rotation speeds of the left and right crawlers can be controlled, and the traveling direction can be controlled. Therefore, for example, even in the case where the influence of gravity such as on the top - plate wall surface is large, straight - line travel can be controlled.

[0078] In addition, when traveling by magnetically adsorbing along a horizontal direction on an inclined wall surface such as an inclined plane, although the vehicle body has a tendency to slide due to the influence of gravity, straight - line traveling performance can be maintained.

[0079] By further connecting, the installation capacity can be improved. For example, various sensors and the like can be installed.

[0080] Embodiment 4

[0081] As an example of applying the magnetic - adsorption crawler - type mobile device 301 of this Embodiment 4, the Figure 10 shown generator maintenance robot 300 is cited.

[0082] The above - mentioned generator maintenance robot 300 is composed of a maintenance robot main body 310, a magnetic - adsorption crawler - type mobile device 301, and connection legs 320. Among them, the magnetic - adsorption crawler - type mobile device 301 is arranged on the left and right of the above - mentioned maintenance robot main body 310, and the connection legs 320 connect the maintenance robot main body 310 with the magnetic - adsorption crawler - type mobile devices 301 arranged on the left and right of the maintenance robot main body 310 respectively.

[0083] More specifically, as Figure 10 shown, magnetic - adsorption crawler - type mobile devices 301A and 301B are respectively included on the left and right of the maintenance robot main body 310, and the maintenance robot main body 310 and the magnetic - adsorption crawler - type mobile device 301A, and the maintenance robot main body 310 and the magnetic - adsorption crawler - type mobile device 301B are respectively connected through connection legs 320 composed of front legs 321 and rear legs 322 (the total number of legs is four).

[0084] In addition, as Figure 11 shown, the above-mentioned front leg 321 is composed of a main body side limb portion 321a provided on the side close to the inspection robot main body 310 and a traveling side limb portion 321b provided on the side close to the magnetic adsorption crawler type moving device. Similarly, the hind leg 322 is composed of a main body side limb portion 322a provided on the side close to the inspection robot main body 310 and a traveling side limb portion 322b provided on the side close to the magnetic adsorption crawler type moving device.

[0085] In addition, the above-mentioned front legs and hind legs are set to be able to adjust the mounting angles and positions of the front legs and hind legs respectively through the leg rotation adjustment shaft 331 and the leg lifting adjustment portion 332 included in the leg adjuster 330, and a telescopic leg storage portion 333 serving as a storage portion for the traveling side limb portion is also provided.

[0086] The connecting legs are configured as described above. Therefore, the relative position between the inspection robot main body 310 and the magnetic adsorption crawler type moving devices 301 arranged on its left and right can be freely adjusted to set the generator inspection robot as a whole at a desired position.

[0087] In addition, as a generator inspection robot 300 formed by integrating the inspection robot main body 310, the magnetic adsorption crawler type moving device 301, and the connecting legs 320, it can travel in the gap formed between the stator and the rotor of the generator to be inspected to inspect the generator.

[0088] Above, use Figure 12 to describe in more detail.

[0089] Figure 12 is a diagram showing the arrangement position of the above-mentioned generator inspection robot 300 together with the rotor 60 and stator 50 of the generator in a sectional view. Among them, the arrangement position of the above-mentioned generator inspection robot 300 is in Figure 7 the position when the integrally formed generator inspection robot 300 is arranged in the gap between the rotor 60 and the stator 50 of the generator in the sectional view of the generator shown in B of

[0090] When inspecting the generator, the generator inspection robot 300 is arranged as a whole in the gap formed between the rotor 60 and the stator 50 of the generator to be inspected, and while traveling in the above-mentioned gap, the generator is inspected.

[0091] Specifically, as Figure 12 shown, the inspection robot main body 310 equipped with inspection or inspection equipment is arranged in the above-mentioned gap including the concave portion (forming a part of the above-mentioned gap) between the comb-shaped protrusions of the stator 50 of the generator.

[0092] In addition, on both sides of the above-mentioned inspection robot main body 310, two magnetic adsorption crawler-type mobile devices 301A and 301B are respectively connected to the inspection robot main body 310 by using the rear leg 322 which is one of the connecting legs.

[0093] In summary, the generator inspection robot 300, which is integrally formed by the inspection robot main body, the magnetic adsorption crawler-type mobile device, and the connecting leg, is disposed in the gap formed between the rotor and the stator of the generator to be inspected. The above-mentioned generator inspection robot 300 moves Figure 12 in a direction perpendicular to the paper surface to perform the inspection of the generator to be inspected.

[0094] Here, as Figure 12 shown, the above-mentioned rear leg 322 is composed of a main body side limb portion 322a connected to the inspection robot main body and a traveling side limb portion 322b connected to the magnetic adsorption crawler-type mobile device. And in order to be disposed in the cylindrical gap formed between the rotor and the stator of the generator, the above-mentioned main body side limb portion 322a and the traveling side limb portion 322b are set to be connected at an appropriate angle θ (in this Figure 12 case, θ is an obtuse angle). In the above case, the above-mentioned angle θ is appropriately adjusted according to the shape of the gap (here, the shape of the cylindrical gap).

[0095] In addition, equipment for inspection or examination can be installed on the above-mentioned inspection robot main body 310 as needed. In this embodiment, as an example, a camera 111 for shooting, an acceleration sensor 120 for impact sound inspection, and a hammer 121 (refer to Figure 11 ) are installed. In addition, the above has described the case where the connecting leg is a rear leg, but the same is true for the case where the connecting leg is a front leg.

[0096] As described above, when the generator inspection robot 300 performs an inspection on the generator, it enters the cylindrical gap. Therefore, the above-mentioned traveling side limb portion and the main body side limb portion are configured to be adjustable to a specified angle θ in a "く" shape, so that the inspection robot main body 310 and the magnetic adsorption crawler-type mobile devices 301A and 301B arranged on the left and right of the inspection robot main body 310 can move smoothly in the above-mentioned gap (refer to Figure 12 ).

[0097] In addition, in order to be able to adjust the generator inspection robot 300 corresponding to the size of the generator, the main body side limb portion is installed via a leg adjuster 330. In addition, a telescopic leg storage portion 333 for the traveling side limb portion is provided in the housings of the magnetic adsorption crawler-type mobile devices 301A and 301B (above, refer to Figure 11 ).

[0098] The magnetic adsorption traveling mechanism of this embodiment is structured such that the magnetic flux of the magnet is concentrated on the main traveling part side of the crawler belt (adsorbing body P). Since the crawler belt contacts the adsorbing body P and does not contact the yoke part or the magnet, a device structure capable of traveling while maintaining a strong adsorption force can be achieved (refer to Figure 3 ). In addition, regarding the dimensions of the magnetic adsorption traveling mechanism of this embodiment, basically, dimensions equivalent to the thickness of the yoke part and the magnet and the height (thickness) of the main traveling part of the crawler belt are sufficient. Therefore, a simple and small-sized magnetic adsorption moving device with a suppressed device height can be achieved.

[0099] The magnetic adsorption crawler-type moving device of Embodiment 4 is a simple-structured traveling device that realizes a structure in which the magnet for adsorbing the device to the adsorbing body P and the crawler belt are disposed between left and right frames, and the crawler belt slides within the guide body. The adsorption magnet is combined with the yoke part to concentrate the direction of the magnetic flux on the adsorbing body side, thereby increasing the adsorption force. In addition, as the guide body of the belt, an engineering plastic with low sliding resistance and wear resistance is used to improve the traveling performance. Therefore, a lightweight and simple traveling body can be realized, improving the ability to install inspection equipment or repair equipment.

[0100] As described above, the magnetic adsorption crawler-type moving devices of Embodiments 1 to 4 are provided with a magnetic force generating device by providing a notch in the frame, so that the entire device can be made compact. In addition, since a guide body with a thickness of fa (fa in D referred to in Figure 5 ) is disposed in front of the magnet, and the front end of the yoke part protrudes from the side of the crawler belt, and the magnetic flux from the yoke part is concentrated on the adsorbing surface, the adsorption force can be sufficiently ensured.

[0101] In addition, the magnetic adsorption crawler-type moving devices of Embodiments 1 to 4 suppress the height of the crawler belt as the traveling body (referring to the size of fc in Figure 5 ) by disposing the driving motor outside the frame, so that the entire device can be configured to have a suppressed height. Therefore, a device that can travel even in a small-sized gap can be formed. In addition, a structure is adopted in which the magnetic flux of the magnet that generates the adsorption force is concentrated on the main traveling part side (adsorbing body side) of the crawler belt. Therefore, even if the motor for driving the crawler belt is disposed adjacent to the above-mentioned adsorption magnet, since it is not easily affected by the strong magnetic field of the above-mentioned magnet, malfunction of the motor can be prevented.

[0102] In addition, the magnetic adsorption crawler-type mobile devices of Embodiments 1 to 3 can also be individually equipped with sensors, etc. as investigation devices or inspection devices. In addition, in the magnetic adsorption crawler-type mobile device of Embodiment 4 described above, multiple magnetic adsorption crawler-type mobile devices can be connected in a horizontal row or a vertical row to enlarge the overall size of the device. In addition, in the case of connecting in a horizontal row, by mutually adjusting the moving speeds of specified crawlers (for example, the crawlers disposed on the left and right with the inspection device as the main body), the traveling direction of the entire magnetic adsorption crawler-type mobile device connected in a horizontal row can be controlled.

[0103] In addition, this application describes various exemplary embodiments and examples, but the various features, modes, and functions described in one or more embodiments are not limited to the application of a specific embodiment, and can be applied alone or in various combinations to the embodiments.

[0104] Therefore, countless deformation examples that are not illustrated are envisioned within the technical scope disclosed in this application's specification. For example, it includes cases where at least one component is deformed, added, or omitted. In addition, it also includes cases where at least one component is extracted and combined with the components of other embodiments.

[0105] (Symbol Explanation)

[0106] 1, 1a, 1b, 1c, 1d Magnets; 2, 20 Yokes; 3, 3A, 3B, 3a Magnetic Force Generating Devices; 4 Crawlers; 4a Main Traveling Part; 4b Subordinate Traveling Part; 5 Guide Body; 6 Frame; 7 Motor; 10 Magnetic Adsorption Traveling Mechanism; 42, 43 Belt Pulleys; 50 Stator; 51 Coil; 52 Resin Member; 60 Rotor; 61, 62, 63 Longitudinal Frames; 64 Transverse Frame; 65 Notch; 71 Driving Force Transmission Mechanism; 100, 100a, 100b, 100c, 100d, 301A, 301B Magnetic Adsorption Crawler-Type Mobile Devices; 101a, 101b Horizontal Connection Members; 102a, 102b Longitudinal Connection Members; 111 Camera; 120 Acceleration Sensor; 121 Hammer; 200 Multi-Unit Magnetic Adsorption Crawler-Type Mobile Device (Horizontally Arranged and Connected Type), 210 Multi-Unit Magnetic Adsorption Crawler-Type Mobile Device (Horizontally and Vertically Arranged and Connected Type); 300 Generator Maintenance Robot; 310 Maintenance Robot Main Body; 320 Connecting Leg; 321 Front Leg; 321a Main Body Side Limb Portion; 321b Traveling Side Limb Portion; 322 Rear Leg; 322a Main Body Side Limb Portion; 322b Traveling Side Limb Portion; 330 Foot Regulator; 331 Foot Rotation Adjustment Axis; 332 Foot Lifting Adjustment Portion; 333 Telescopic Foot Storage Portion.

Claims

1. A magnetic adsorption type crawler mobile device, characterized in that, Comprising: A magnetic force generating device having a magnet pair and a yoke, the magnet pair being configured with magnets having opposite polarities, and the yoke being configured adjacent to each magnet of the magnet pair; A non-magnetic guide body installed in such a manner that different sides thereof contact each magnet of the magnet pair and the bottom surface contacts the yoke, or in such a manner that the bottom surface contacts the magnet pair and different sides contact the yoke; And A crawler belt that moves relative to the magnetic force generating device in a non-contact manner and rotates and moves along the long side direction of the guide body.

2. The magnetic adsorption crawler type mobile device according to claim 1, wherein The guide body is made of engineering plastic, The yoke is configured to separate the magnet pair, and the guide body is configured to be clamped by the magnet pair, The crawler belt slides on the front surface of the guide body and rotates and moves while protruding from the front surface of the magnetic force generating device and the guide body.

3. The magnetic adsorption crawler type mobile device according to claim 1, wherein The guide body is made of engineering plastic, The yoke is configured to clamp the magnet pair in pairs, and the guide body is configured to be clamped by the yoke and is disposed on the upper surface of the magnet pair, The crawler belt slides on the front surface of the guide body and rotates and moves while protruding from the front surface of the magnetic force generating device and the guide body.

4. The magnetic adsorption crawler type mobile device according to any one of claims 1 to 3, wherein The magnet pair is constituted by combining, on the back side, magnets having polarities different from those of the magnets on the front side for each magnet having different polarities disposed on the front side.

5. The magnetic adsorption crawler type mobile device according to any one of claims 1 to 3, wherein There are a plurality of the magnet pairs along the traveling direction of the crawler belt.

6. The magnetic adsorption crawler type mobile device according to claim 4, wherein There are a plurality of the magnet pairs along the traveling direction of the crawler belt.

7. The magnetic adsorption crawler type mobile device according to any one of claims 1 to 3 and claim 6, wherein There are a plurality of longitudinal frames arranged in parallel with each other in the traveling direction of the crawler belt, The crawler belt is disposed between two adjacent longitudinal frames, and the front surface of the crawler belt is set at a position higher than the front surface of the longitudinal frame.

8. The magnetic adsorption crawler type mobile device according to claim 4, wherein There are a plurality of longitudinal frames arranged in parallel with each other in the traveling direction of the crawler belt, The crawler belt is disposed between two adjacent longitudinal frames, and the front surface of the crawler belt is set at a position higher than the front surface of the longitudinal frame.

9. The magnetic adsorption crawler type mobile device according to claim 5, wherein There are a plurality of longitudinal frames arranged in parallel with each other in the traveling direction of the crawler belt, The crawler belt is disposed between two adjacent longitudinal frames, and the front surface of the crawler belt is set at a position higher than the front surface of the longitudinal frame.

10. The magnetic adsorption type crawler mobile device according to claim 7, wherein the longitudinal frame has a notch, and the magnetic force generating device is installed in the notch.

11. The magnetic adsorption type crawler mobile device according to claim 8, wherein the longitudinal frame has a notch, and the magnetic force generating device is installed in the notch.

12. The magnetic adsorption type crawler mobile device according to claim 9, wherein the longitudinal frame has a notch, and the magnetic force generating device is installed in the notch.

13. The magnetic adsorption type crawler mobile device according to any one of claims 10 to 12, wherein the magnets are centered, and for each magnet, they are separately installed in any one of the notches provided in two adjacent longitudinal frames.

14. The magnetic adsorption type crawler mobile device according to claim 7, wherein the crawler is driven by a motor, and the motor is arranged outside the longitudinal frame with a notch in a manner of being clamped by two longitudinal frames. The two longitudinal frames are composed of another longitudinal frame arranged parallel to the longitudinal frame with a notch and the longitudinal frame arranged on one side close to the other longitudinal frame, and the motor is arranged within the height range of the two longitudinal frames forming the pair.

15. The magnetic adsorption type crawler mobile device according to any one of claims 8 to 12, wherein the crawler is driven by a motor, and the motor is arranged outside the longitudinal frame with a notch in a manner of being clamped by two longitudinal frames. The two longitudinal frames are composed of another longitudinal frame arranged parallel to the longitudinal frame with a notch and the longitudinal frame arranged on one side close to the other longitudinal frame, and the motor is arranged within the height range of the two longitudinal frames forming the pair.

16. The magnetic adsorption type crawler mobile device according to claim 13, wherein the crawler is driven by a motor, and the motor is arranged outside the longitudinal frame with a notch in a manner of being clamped by two longitudinal frames. The two longitudinal frames are composed of another longitudinal frame arranged parallel to the longitudinal frame with a notch and the longitudinal frame arranged on one side close to the other longitudinal frame, and the motor is arranged within the height range of the two longitudinal frames forming the pair.

17. A multi - joint magnetic adsorption type crawler mobile device, wherein a plurality of the magnetic adsorption type crawler mobile devices according to any one of claims 1 to 16 are connected in a horizontal or vertical arrangement.

18. A generator maintenance robot, characterized in that, It includes: Any one mobile device selected from the magnetic adsorption type crawler mobile devices according to any one of claims 1 to 16 and the multi - joint magnetic adsorption type crawler mobile device according to claim 17; A maintenance robot main body, on which maintenance equipment is installed; and A connecting leg, which is connected to the selected any one mobile device and the maintenance robot main body, and can adjust the relative position between the selected any one mobile device and the maintenance robot main body. Any one of the selected mobile devices, the inspection robot main body, and the connecting legs are formed into one body and configured to be able to travel in the gap formed between the stator and the rotor of the generator.

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