Cart and inspection device equipped with same

Abstract

To provide a trolley that is suitable for an inspection device of a magnetic material structure.SOLUTION: A trolley according to an embodiment includes a wheel lifter that lifts up a first magnet wheel. When the first magnet wheel is set as a rear wheel and the rear wheel attempts to ride over a projection, the wheel lifter lifts up the first magnet wheel from a surface of a magnetic material structure and the first magnet wheel rides over the projection.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a carriage and an inspection device equipped with the carriage. [Background technology]

[0002] Patent Documents 1 and 2 disclose a cart that can move around the outer periphery of a pipe to be inspected in order to inspect high-placed pipes such as chimneys. In this specification, the term "pipe" includes chimneys. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 10-071976 [Patent Document 2] Japanese Patent Application Laid-Open No. 2002-087342 Summary of the Invention [Problem to be solved by the invention]

[0004] The inventors have found various problems when developing a cart that can move on the surface of a magnetic structure such as a pipe having protrusions on the surface. Other objects and novel features will become apparent from the description of this specification and the accompanying drawings. [Means for solving the problem]

[0005] In one embodiment, the bogie is equipped with a wheel lifter that levitates the first magnet wheel, and when the first magnet wheel is used as a rear wheel and the rear wheel attempts to ride over a protrusion, the wheel lifter causes the first magnet wheel to levitate from the surface of the magnetic structure, and the first magnet wheel rides over the protrusion. [Effects of the Invention]

[0006] According to the embodiment, a carriage suitable for an inspection device for a magnetic structure can be provided. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 10 is a side view schematically showing the configuration of a bogie according to a comparative example. [Figure 2] FIG. 10 is a side view schematically showing the configuration of a bogie according to a comparative example. [Figure 3] FIG. 1 is a perspective view schematically showing the configuration of a carriage according to a first embodiment. [Figure 4] FIG. 1 is a side view schematically showing the configuration of a carriage according to a first embodiment. [Figure 5] 10 is a schematic plan view showing the steering operation of the magnet wheels MW1 and MW2 relative to the platform PF. FIG. [Figure 6] 4A to 4C are side views schematically showing the operation of the carriage according to the first embodiment. [Figure 7] 4A to 4C are side views schematically showing the operation of the carriage according to the first embodiment. [Figure 8] FIG. 10 is a perspective view schematically showing the configuration of a carriage according to a second embodiment. [Figure 9] 10A and 10B are side views schematically showing the operation of the carriage according to the second embodiment. [Figure 10] 10A and 10B are side views schematically showing the operation of the carriage according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, specific embodiments will be described in detail with reference to the drawings. However, the present invention is not limited to the following embodiments. In addition, the following description and drawings have been simplified appropriately for clarity.

[0009] (First embodiment) <Preliminary review by the inventor> First, the configuration of a bogie according to a comparative example that was previously studied by the inventors will be described with reference to Figures 1 and 2. Figures 1 and 2 are side views that schematically show the configuration of the bogie according to the comparative example. The right-handed xyz Cartesian coordinate system shown in FIGS. 1, 2 and other drawings is for convenience in explaining the positional relationship of the components, and is common among the drawings.

[0010] 1 and 2, the bogie according to the comparative example includes a platform PF, a pair of wheel support members WS1 and WS2, and a pair of magnetic wheels MW1 and MW2. Here, FIGS. 1 and 2 show cross-sectional views of a pipe 10 to be inspected.

[0011] As shown in Figures 1 and 2, the piping 10 is made up of multiple pipes. Each pipe includes a main body 11 and a flange 12, and the flanges 12 are connected to each other by connecting members 13 (bolts 13a and nuts 13b). Here, the piping 10 is made of a metal, such as steel, that can be attracted to a magnet. Figures 1 and 2 show a cart moving in the longitudinal direction (x-axis direction) of the piping 10.

[0012] In this way, the pipe 10 is a magnetic structure having a protrusion (flange portion 12) on the surface (outer peripheral surface). The protrusion that the pipe 10 has on the outer peripheral surface is not limited to the flange portion 12, and may be, for example, a stiffener or the like. The cart according to the comparative example is a cart for a magnetic structure inspection device that can move on its own over the surface of a magnetic structure to be inspected. The magnetic structure to be inspected is not limited in any way as long as it is a structure made of a magnetic material with protrusions on its surface, and may be, for example, a pipe including a chimney, a tank, or the like.

[0013] The platform PF is the main body of the carriage and is a plate-like member on which a probe for inspecting the piping from the outside is mounted. Here, FIG. 1 illustrates a probe PR mounted on a platform PF and an arm AR supporting the probe PR.

[0014] In the example shown in FIG. 1, the base of an L-shaped arm AR is rotatably supported on a platform PF, and a probe PR is fixed to the tip of the arm AR. The probe PR is, for example, an ultrasonic inspection probe. As shown by the two-dot chain line in Fig. 1, the probe PR is brought close to the outer peripheral surface of the pipe 10 and ultrasonic waves are irradiated to perform inspections such as measuring the wall thickness of the pipe 10 and detecting internal flaws. Note that Fig. 2 shows only the cart, and does not show the probe PR or the arm AR.

[0015] Wheel support member WS1 rotatably supports magnet wheel MW1 and connects magnet wheel MW1 to platform PF. Similarly, wheel support member WS2 rotatably supports magnet wheel MW2 and connects magnet wheel MW2 to platform PF.

[0016] The magnet wheels MW1 and MW2 are wheels made of magnets and are rotationally driven by a drive source (not shown) such as a motor. The magnet wheels MW1 and MW2 can move on the outer circumferential surface of the pipe 10 while being attracted to the pipe 10 made of steel or the like.

[0017] As shown in Figures 1 and 2, when the bogie moves in the positive direction of the x-axis, the magnetic wheel MW1 becomes the rear wheel and the magnetic wheel MW2 becomes the front wheel. Conversely, when the bogie moves in the negative direction of the x-axis, the magnetic wheel MW1 becomes the front wheel and the magnetic wheel MW2 becomes the rear wheel. In other words, the magnetic wheels MW1 and MW2 can be the front or rear wheels depending on the direction of travel of the bogie.

[0018] As shown in FIG. 1, an attractive force due to magnetic force acts on magnet wheels MW1 and MW2 in the negative direction of the z-axis. Also, as shown in FIG. 1, when the bogie moves in the positive direction of the x-axis, a moment reaction force corresponding to the drive torque of magnet wheel MW1 acts on magnet wheel MW2, which is the front wheel, in the positive direction of the z-axis. Therefore, a force obtained by subtracting the reaction force from the attractive force acts on magnet wheel MW2 in the negative direction of the z-axis. Therefore, as shown in FIG. 2, magnet wheel MW2, which is the front wheel, can easily ride up onto flange portion 12.

[0019] On the other hand, a moment reaction force corresponding to the drive torque of magnet wheel MW2 acts in the negative direction of the z axis on magnet wheel MW1, which is the rear wheel. Therefore, a force equal to the sum of the attractive force and the reaction force acts on magnet wheel MW1 in the negative direction of the z axis. Therefore, as shown in Figure 2, magnet wheel MW1, which is the rear wheel, cannot float while being attracted to main body 11 of pipe 10, and cannot ride up onto flange 12.

[0020] In the example shown in Fig. 2, the magnetic wheel MW1, which is the rear wheel, spins freely while being attracted to the main body 11 of the pipe 10 and is unable to climb onto the flange 12. Furthermore, if the magnetic force (attractive force shown in Fig. 2) of the magnetic wheels MW1 and MW2 is made smaller relative to the drive torque (reaction force shown in Fig. 2) of the magnetic wheels MW1 and MW2, the magnetic wheel MW2, which is the front wheel, will lift off the flange 12, as shown by the two-dot chain line, causing the carriage to roll backward.

[0021] Thus, in the trolley of the comparative example, even if the driving force and magnetic force of the magnetic wheels MW1 and MW2 are adjusted, when the rear wheels try to climb over the flange portion 12 of the pipe 10, the rear wheels remain attached to the main body portion 11 of the pipe 10 and cannot float up, and the trolley cannot climb over the flange portion 12. It should be noted that, as a matter of course, gravity acts on the cart in the vertically downward direction in Fig. 2. In Fig. 2, for example, the negative direction of the z axis is the vertically downward direction, but this is not limiting.

[0022] <Configuration of the carriage according to the first embodiment> Next, the configuration of the carriage according to the first embodiment will be described with reference to Fig. 3 and Fig. 4. Fig. 3 is a perspective view schematically showing the configuration of the carriage according to the first embodiment. Fig. 4 is a side view schematically showing the configuration of the carriage according to the first embodiment.

[0023] As shown in Figure 3, the bogie according to the first embodiment includes a platform PF, a pair of wheel support members WS1, WS2, and a pair of magnetic wheels MW1, MW2, which are provided on the bogie according to the comparative example shown in Figure 1, as well as a pair of rotating bodies RB1, RB2.

[0024] The platform PF is the main body of the carriage and is a plate-like member on which a probe for inspecting the pipe from the outside is mounted. The platform PF shown in Fig. 3 is a plate-like member having a rectangular shape in the xy plane, but the shape is not limited as long as the probe can be mounted on it. An example of the configuration of the probe mounted on the carriage according to the first embodiment is the same as that of the comparative example shown in FIG.

[0025] The wheel support member WS1 rotatably supports the magnet wheel (first magnet wheel) MW1 and connects the magnet wheel MW1 to the platform PF. Similarly, the wheel support member WS2 rotatably supports the magnet wheel (second magnet wheel) MW2 and connects the magnet wheel MW2 to the platform PF. Furthermore, the wheel support member WS1 rotatably supports the rotating body (first rotating body) RB1, and the wheel support member WS2 rotatably supports the rotating body (second rotating body) RB2.

[0026] More specifically, as shown in FIG. 3, each of the wheel support members WS1 and WS2 is a square U-shaped member in the yz cross section, having a top plate facing the platform PF and a pair of side walls rising approximately vertically from both ends of the top plate in the longitudinal direction (y-axis direction). Since the wheel support members WS1 and WS2 have the same configuration, only the wheel support member WS1 will be described.

[0027] The top plate of the wheel support member WS1 is connected to the platform PF so as to be rotatable about a rotation axis parallel to the z-axis. Therefore, as shown in Fig. 5, the magnet wheel MW1 can also rotate about a rotation axis parallel to the z-axis relative to the platform PF, making the bogie according to this embodiment steerable. Fig. 5 is a schematic plan view showing the steering operation of the magnet wheels MW1 and MW2 relative to the platform PF.

[0028] In this way, the vehicle according to this embodiment is steerable, and can move not only forward or backward along the longitudinal direction of the pipe, but also spirally around the circumferential direction of the pipe. Furthermore, although not limited thereto, as shown in Fig. 5, in the vehicle according to this embodiment, the magnetic wheels MW1 and MW2 can be steered in the same phase.

[0029] The pair of side walls of the wheel support member WS1 rotatably support both ends of the rotation shaft of the magnet wheel MW1, and each of the pair of side walls of the wheel support member WS1 rotatably supports the rotation shaft of a rotating body RB1 provided between the side wall and the magnet wheel MW1.

[0030] The magnet wheels MW1 and MW2 are wheels made up of magnets. As shown in Fig. 3, the magnet wheel MW1 includes a permanent magnet member PM1 and yoke members Y11 and Y12. The permanent magnet member PM1 is a disk-shaped or ring-shaped member made of a permanent magnet. The permanent magnet member PM1 may be divided into multiple pieces. That is, the permanent magnet member PM1 may be made up of multiple permanent magnets arranged in a disk or ring shape.

[0031] The permanent magnet member PM1 is provided at the center of the axle of the magnet wheel MW1. Disk-shaped yoke members Y11 and Y12 are provided on both sides of the permanent magnet member PM1 in the y-axis direction. In this way, the permanent magnet member PM1 is sandwiched between the yoke members Y11 and Y12, and the magnetic force thereof is increased.

[0032] Similarly, the magnet wheel MW2 includes a permanent magnet member PM2 and yoke members Y21 and Y22. The permanent magnet member PM2 is a disk-shaped or ring-shaped member made of a permanent magnet. The permanent magnet member PM2 may be divided into multiple pieces. That is, the permanent magnet member PM2 may be made up of multiple permanent magnets arranged in a disk or ring shape.

[0033] The permanent magnet member PM2 is provided at the center of the axle of the magnet wheel MW2. Disk-shaped yoke members Y21 and Y22 are provided on both sides of the permanent magnet member PM2 in the y-axis direction. In this way, the permanent magnet member PM2 is sandwiched between the yoke members Y21 and Y22, and the magnetic force of the permanent magnet member PM2 is increased.

[0034] In the magnet wheels MW1 and MW2, the permanent magnet members may be replaced with yoke members, and vice versa. That is, one yoke member provided in the center of the axle may be sandwiched between a pair of permanent magnet members.

[0035] The outer circumferential surfaces of the magnet wheels MW1 and MW2 may be coated with a resin material, which can increase the coefficient of friction between the magnet wheels MW1 and MW2 and the piping 10. As the resin material, for example, urethane resin is suitable.

[0036] 4, the magnet wheel MW1 is rotationally driven by a motor (first drive source) MT1, and the magnet wheel MW2 is rotationally driven by a motor (second drive source) MT2. Note that the motors MT1 and MT2 are omitted from FIG.

[0037] The operation of the motors MT1 and MT2 is controlled by a control unit (not shown). The control unit has computer functions and includes, for example, a calculation unit such as a CPU (Central Processing Unit) and a storage unit such as a RAM (Random Access Memory) or a ROM (Read Only Memory) that stores various control programs and data.

[0038] 6 and 7 are side views schematically showing the operation of the carriage according to the first embodiment. Cross-sectional views of the piping 10 to be inspected are shown in FIGS. 6 and 7. For ease of understanding, only the carriage platform PF, magnetic wheels MW1 and MW2, and rotors RB1 and RB2 are shown in FIGS. 6 and 7.

[0039] As shown in Figures 6 and 7, the magnet wheels MW1 and MW2 can move along the outer circumferential surface of the pipe 10 while adhering to the pipe 10 made of steel or the like. As shown in Figure 6, when the carriage moves in the positive direction of the x-axis, the magnet wheel MW1 becomes the rear wheel and the magnet wheel MW2 becomes the front wheel. As shown in Figure 7, when the carriage moves in the negative direction of the x-axis, the magnet wheel MW1 becomes the front wheel and the magnet wheel MW2 becomes the rear wheel. In other words, the magnet wheels MW1 and MW2 can become the front or rear wheels depending on the direction of travel of the carriage.

[0040] <Drive mechanism for magnetic wheels MW1 and MW2> Now, with reference to FIG. 4, the drive mechanism for the magnet wheels MW1 and MW2 will be described. As shown in FIG. 4, the magnet wheel MW1 is driven by a motor MT1, and the magnet wheel MW2 is driven by a motor MT2. In the example shown in Fig. 4, motor MT1 is fixed to one longitudinal end (x-axis negative side end) of platform PF on the side of the top plate of wheel support member WS1 (not shown in Fig. 4) shown in Fig. 3. Motor MT2 is fixed to the other longitudinal end (x-axis positive side end) of platform PF on the side of the top plate of wheel support member WS2 (not shown in Fig. 4) shown in Fig. 3.

[0041] The drive mechanism of the magnet wheel MW2 is the same as that of the magnet wheel MW1, and therefore, the drive mechanism of the magnet wheel MW1 will be described below. In addition, the bogie according to the comparative example shown in Figures 1 and 2 does not include the motors MT1 and MT2, but the bogie according to the comparative example also includes the same drive mechanisms for the magnet wheels MW1 and MW2.

[0042] As shown in FIG. 4, the drive mechanism of the magnet wheel MW1 includes a motor MT1, a motor shaft gear MG, a wheel shaft gear WG, and transmission gears TG1 and TG2. The motor shaft gear MG is fixed to the rotary shaft of the motor MT1, and rotates in accordance with the rotation of the rotary shaft of the motor MT1. The axle gear WG is provided between the wheel support member WS1 (not shown in FIG. 4) and the magnet wheel MW1 in the y-axis direction, and is fixed to the rotation axis of the magnet wheel MW1.

[0043] For ease of understanding, wheel support members WS1 and WS2 are omitted from Fig. 4, and the motor shaft gear MG, axle gear WG, and transmission gears TG1 and TG2 are indicated by dots. In Fig. 3, the motor MT1 and motor shaft gear MG are omitted, and the axle gear WG and transmission gears TG1 and TG2 are hidden by the wheel support member WS1 and are not shown.

[0044] As shown in Fig. 4, the transmission gears TG1 and TG2 are provided between the motor shaft gear MG and the axle gear WG, and transmit the rotation of the motor shaft gear MG to the axle gear WG. The transmission gears TG1 and TG2 are provided between the wheel support member WS1 (not shown in Fig. 4) and the magnet wheel MW1 in the y-axis direction in Fig. 3, and are rotatably supported by the wheel support member WS1.

[0045] As shown in FIG. 4, the transmission gear TG1 meshes with the motor shaft gear MG and the transmission gear TG2, and transmits the rotation of the motor shaft gear MG to the transmission gear TG2. The transmission gear TG2 meshes with the transmission gear TG1 and the axle gear WG, and transmits the rotation of the transmission gear TG1 to the axle gear WG.

[0046] In this way, the rotation of the motor shaft gear MG fixed to the rotation shaft of the motor MT1 is transmitted to the axle gear WG fixed to the rotation shaft of the magnet wheel MW1 via the transmission gears TG1 and TG2. With this configuration, the magnet wheel MW1 is rotationally driven by the motor MT1. In the example shown in FIG. 4, two transmission gears TG1 and TG2 are provided, but the number of transmission gears is determined appropriately and is not limited to two.

[0047] As shown in Fig. 4, the rotating body RB1 rotates in synchronization with the magnet wheel MW1 around a rotation axis that is located closer to the magnet wheel MW2 than the rotation axis of the magnet wheel MW1. The rotating body RB1 has two claws CL that protrude radially outward from the rotating body. The two claws CL are arranged opposite each other across the rotation axis of the rotating body RB1.

[0048] 3, a pair of rotating bodies RB1 are provided at both ends of the magnet wheel MW1 in the axial direction (y-axis direction). The rotating body RB1 is provided between the wheel support member WS1 (not shown in FIG. 4) and the magnet wheel MW1 in the y-axis direction, and the rotation axis of the rotating body RB1 is rotatably supported on the side wall of the wheel support member WS1.

[0049] Similarly, as shown in Fig. 4, the rotating body RB2 rotates in synchronization with the magnet wheel MW2, about a rotation axis provided closer to the magnet wheel MW2 than the rotation axis of the magnet wheel MW2. The rotating body RB2 has two claws CL that protrude radially outward. The two claws CL are arranged opposite each other across the rotation axis of the rotating body RB2.

[0050] Similar to the rotating body RB1, a pair of rotating bodies RB2 are provided at both ends of the magnet wheel MW2 in the axial direction (y-axis direction). As shown in Fig. 3, the rotating body RB2 is provided between the wheel support member WS2 (not shown in Fig. 4) and the magnet wheel MW2 in the y-axis direction, and the rotation axis of the rotating body RB2 is rotatably supported on the side wall of the wheel support member WS2.

[0051] Here, the drive mechanism for the rotating bodies RB1 and RB2 will be described. As shown in Fig. 4, the rotating body RB1 is driven by a motor MT1 via a magnet wheel MW1, and the rotating body RB2 is driven by a motor MT2 via a magnet wheel MW2.

[0052] The drive mechanism of the rotating body RB2 is the same as that of the rotating body RB1, and therefore only the drive mechanism of the rotating body RB1 will be described below. The comparative example shown in Figures 1 and 2 does not include the rotating bodies RB1 and RB2 and their drive mechanisms.

[0053] As shown in FIG. 4, the drive mechanism for the rotating body RB1 includes a rotating body shaft gear RG and a transmission gear TG3. The rotor shaft gear RG is provided between the wheel support member WS1 (not shown in FIG. 4) and the magnet wheel MW1 in the y-axis direction, and is fixed to the rotation shaft of the rotor RB1.

[0054] The transmission gear TG3 meshes with the axle gear WG and the rotor shaft gear RG, and transmits the rotation of the axle gear WG to the rotor shaft gear RG. The transmission gear TG3 is provided between the wheel support member WS1 (not shown in FIG. 4) and the magnet wheel MW1 in the y-axis direction in FIG. 3, and is rotatably supported by the wheel support member WS1.

[0055] In this way, the rotation of the axle gear WG fixed to the rotation shaft of the magnet wheel MW1 is transmitted via the transmission gear TG3 to the rotor shaft gear RG fixed to the rotation shaft of the rotor RB1. With this configuration, the rotor RB1 can rotate in synchronization with the magnet wheel MW1. Here, by adjusting the gear ratio between the axle gear WG and the rotor shaft gear RG, the angular velocity ratio between the magnet wheel MW1 and the rotor RB1 can be adjusted. It should be noted that the rotating body RB1 does not need to rotate in synchronization with the magnet wheel MW1, and a separate drive source for driving the rotating body RB1 may be provided.

[0056] <Operation of the dolly according to the first embodiment> Next, the operation of the carriage according to the first embodiment will be described with reference to Figures 6 and 7. For ease of understanding, Figures 6 and 7 only show the carriage platform PF, magnet wheels MW1 and MW2, and rotating bodies RB1 and RB2.

[0057] 6, when the carriage moves in the positive direction of the x-axis, the magnetic wheel MW1 becomes the rear wheel and the magnetic wheel MW2 becomes the front wheel. When the magnetic wheel MW1, which is the rear wheel, spins freely while trying to climb over the flange portion 12 of the pipe 10, the rotating body RB1 also rotates, and the claw portion CL comes into contact with the outer peripheral surface of the flange portion 12 or the connecting member 13 (i.e., the head of the bolt 13a).

[0058] As a result, the magnetic wheel MW1, which is the rear wheel, rises from the main body 11 of the pipe 10 and climbs onto the flange 12. In this way, the rotating body RB1 functions as a wheel lifter that raises the magnetic wheel MW1 from the main body 11 of the pipe 10 when the magnetic wheel MW1, which is the rear wheel, tries to climb over the flange 12.

[0059] In the example shown in FIG. 6, the rotation axis of the rotor RB2 provided on the magnetic wheel MW2, which is the front wheel, is located radially outward (in the positive z-axis direction) of the piping 10 relative to the central axis of the connecting member 13.

[0060] The rotation axis of the rotating body RB2 may be located radially inward (negative z-axis side) of the piping 10 relative to the central axis of the connecting member 13, but it is preferable that it be located radially outward (positive z-axis side).

[0061] 7, when the carriage travels in the negative direction of the x-axis, the magnetic wheel MW1 becomes the front wheel and the magnetic wheel MW2 becomes the rear wheel. When the rear wheel, the magnetic wheel MW2, spins freely while trying to climb over the flange portion 12 of the pipe 10, the rotating body RB2 also rotates, and the claw portion CL comes into contact with the outer peripheral surface of the flange portion 12 or the connecting member 13 (i.e., the nut 13b).

[0062] As a result, the magnetic wheel MW2, which is the rear wheel, rises from the main body 11 of the pipe 10 and climbs onto the flange 12. In this way, the rotating body RB2 functions as a wheel lifter that raises the magnetic wheel MW2 from the main body 11 of the pipe 10 when the magnetic wheel MW2, which is the rear wheel, tries to climb over the flange 12.

[0063] In the example shown in FIG. 7, the rotation axis of the rotor RB1 provided on the magnetic wheel MW1, which is the front wheel, is located radially outward (on the positive z-axis side) of the piping 10 relative to the central axis of the connecting member 13.

[0064] The rotation axis of the rotating body RB1 may be located radially inward (negative z-axis side) of the piping 10 relative to the central axis of the connecting member 13, but it is preferable that it be located radially outward (positive z-axis side).

[0065] As described above, the bogie of this embodiment has a claw portion CL that protrudes radially outward and is equipped with a rotating body RB1 that rotates around a rotation axis located on the magnet wheel MW2 side rather than the rotation axis of the magnet wheel MW1.

[0066] When the magnetic wheel MW1 is used as a rear wheel and the rear wheel attempts to climb over the flange portion 12, the claw portion CL of the rotating body RB1 comes into contact with the flange portion 12 or the connecting member 13, causing the magnetic wheel MW1 to rise from the main body portion 11 and climb over the flange portion 12. Therefore, the bogie according to this embodiment can climb over the flange portion 12 when running with the magnetic wheel MW1 as a rear wheel.

[0067] Similarly, the bogie of this embodiment has a claw portion CL that protrudes radially outward and is equipped with a rotating body RB2 that rotates around a rotation axis located on the magnet wheel MW1 side rather than the rotation axis of the magnet wheel MW2.

[0068] When the magnetic wheel MW2 is used as a rear wheel and the rear wheel attempts to climb over the flange portion 12, the claw portion CL of the rotating body RB2 comes into contact with the flange portion 12 or the connecting member 13, causing the magnetic wheel MW2 to rise from the main body portion 11 and climb over the flange portion 12. Therefore, the bogie according to this embodiment can climb over the flange portion 12 even when running with the magnetic wheel MW2 as a rear wheel.

[0069] <Modification of the dolly according to the first embodiment> In the bogie according to this embodiment, the rotating bodies RB1 and RB2 each have two claws CL, but the number of claws CL is determined appropriately and is not limited to two. For example, the number of claws CL may be one, three, or four. In other words, it is preferable that the number of claws CL is four or less.

[0070] The more claw portions CL there are, the more frequently the claw portions CL come into contact with the flange portion 12 or the connecting member 13, and therefore, the shorter the time it takes to climb over the flange portion 12. On the other hand, if the number of claw portions CL exceeds four, it becomes more difficult for the claw portions CL to come into contact with the flange portion 12 or the connecting member 13. Furthermore, when the rotating bodies RB1 and RB2 have three or four claws CL, the claws CL may be provided at equal intervals around the rotation axis.

[0071] Furthermore, in the bogie according to this embodiment, a pair of rotating bodies RB1 are provided at both ends of the magnet wheel MW1 in the axial direction (y-axis direction), but this is not limiting. For example, one rotating body RB1 may be provided at the center of the magnet wheel MW1 in the axial direction (y-axis direction). The same applies to the rotating body RB2. Furthermore, only one of the rotating body RB1 for the magnet wheel MW1 and the rotating body RB2 for the magnet wheel MW2 may be provided.

[0072] Furthermore, in the bogies shown in Figures 6 and 7, a pair of rotating bodies RB1 provided at both ends of the axial direction (y-axis direction) of the magnet wheel MW1 are rotated in the same phase, but the pair of rotating bodies RB1 may also be rotated in different phases.

[0073] When the phases are the same, the claws CL of the pair of rotating bodies RB1 come into contact with the flange portion 12 or the connecting member 13 at approximately the same time, and the yoke members Y11 and Y12 of the magnet wheel MW1 shown in Fig. 3 rise from the main body 11 at approximately the same time. In contrast, when the phases are different, the claws CL of the pair of rotating bodies RB1 come into contact with the flange portion 12 or the connecting member 13 at different times, and the yoke members Y11 and Y12 of the magnet wheel MW1 rise at different times.

[0074] For example, first, when each claw portion CL of the rotating body RB1 on the negative y-axis side shown in Fig. 3 abuts against the flange portion 12 or the connecting member 13, the yoke member Y11 of the magnet wheel MW1 rises from the main body portion 11. Next, when each claw portion CL of the rotating body RB1 on the positive y-axis side shown in Fig. 3 abuts against the flange portion 12 or the connecting member 13, the yoke member Y12 of the magnet wheel MW1 rises from the main body portion 11.

[0075] In this way, by levitating the yoke members Y11 and Y12 of the magnet wheel MW1 at different times, the magnet wheel MW1 can be levitated from the main body 11 with a smaller force. Similarly, the pair of rotating bodies RB2 may be rotated in different phases.

[0076] (Second embodiment) <Configuration of the carriage according to the second embodiment> Next, a carriage according to a second embodiment will be described with reference to Fig. 8. Fig. 8 is a perspective view schematically showing the configuration of the carriage according to the second embodiment. Fig. 8 corresponds to Fig. 3.

[0077] As shown in Fig. 8, the bogie according to this embodiment includes rotating bars B1 and B2 in addition to the platform PF, wheel support members WS1 and WS2, and magnetic wheels MW1 and MW2 shown in Fig. 3. That is, the bogie according to this embodiment includes rotating bars B1 and B2 as wheel lifters for the magnetic wheels MW1 and MW2, instead of the rotating bodies RB1 and RB2 shown in Fig. 3.

[0078] 8, the rotating bar B1 includes a pair of bars B11 and B12 and a connecting shaft CS1, and is rotatably connected to the end of the platform PF on the magnet wheel MW1 side. On the other hand, the rotating bar B2 includes a pair of bars B21 and B22 and a connecting shaft CS2, and is rotatably connected to the end of the platform PF on the magnet wheel MW2 side. The rotating bars B1 and B2 are driven by a driving source such as a motor (not shown).

[0079] The bases of a pair of linearly extending bars B11, B12 are rotatably connected to the end of the platform PF on the magnet wheel MW1 side, so as to face each other across the platform PF. The tips of the pair of bars B11, B12 protrude outward (toward the negative x-axis direction) beyond the magnet wheel MW1 and are connected to each other by a connecting shaft CS1 extending in the y-axis direction. Here, the connecting shaft CS1 may be rotatably connected to the pair of bars B11, B12. The surface of the connecting shaft CS1 may also be coated with a resin material with a low friction coefficient (e.g., fluororesin).

[0080] Similarly, the bases of a pair of linearly extending bars B21, B22 are rotatably connected to the end of the platform PF on the magnet wheel MW2 side so as to face each other across the platform PF. The tips of the pair of bars B21, B22 protrude outward (toward the positive x-axis direction) beyond the magnet wheel MW1 and are connected to each other by a connecting shaft CS2 extending in the y-axis direction. Here, the connecting shaft CS2 may be rotatably connected to the pair of bars B21, B22. The surface of the connecting shaft CS2 may also be coated with a resin material with a low friction coefficient (e.g., fluororesin). Other configurations of the carriage according to the second embodiment are the same as those of the carriage according to the first embodiment, and therefore description thereof will be omitted.

[0081] <Operation of the dolly according to the second embodiment> Next, the operation of the carriage according to the second embodiment will be described with reference to Figures 9 and 10. Figures 9 and 10 are side views that schematically show the operation of the carriage according to the second embodiment. Figures 9 and 10 show cross-sectional views of the piping 10 to be inspected.

[0082] 9 and 10, when the carriage travels in the positive direction of the x-axis, the magnetic wheel MW1 serves as the rear wheel, and the magnetic wheel MW2 serves as the front wheel. When the magnetic wheel MW1, which is the rear wheel, attempts to climb over the flange 12 of the pipe 10, the tip of the rotating bar B1 rotates from the negative side of the x-axis toward the positive side of the x-axis so as to approach the magnetic wheel MW1. As the tip of the rotating bar B1 (connecting shaft CS1 in the illustrated example) rotates while abutting against the main body 11 of the pipe 10, the magnetic wheel MW1, which is the rear wheel, lifts off the main body 11 of the pipe 10 and climbs over the flange 12.

[0083] Similarly, although not shown, when the carriage travels in the negative direction of the x-axis, magnetic wheel MW1 becomes the front wheel and magnetic wheel MW2 becomes the rear wheel. When magnetic wheel MW2, which is the rear wheel, attempts to climb over flange 12 of pipe 10, the tip of rotating bar B2 rotates from the positive x-axis direction toward the positive x-axis direction so as to approach magnetic wheel MW2. As the tip of rotating bar B2 (connecting shaft CS2 in the example shown) rotates while abutting against main body 11 of pipe 10, magnetic wheel MW2, which is the rear wheel, lifts off main body 11 of pipe 10 and climbs over flange 12.

[0084] As described above, the bogie according to this embodiment includes the rotating bar B1 that levitates the magnetic wheel MW1. When the magnetic wheel MW1 serves as a rear wheel and attempts to climb over the flange portion 12, the tip of the rotating bar B1 rotates while abutting against the main body 11 of the pipe 10, causing the magnetic wheel MW1 to levitate from the main body 11 of the pipe 10 and climb over the flange portion 12. Therefore, like the bogie according to the first embodiment, the bogie according to this embodiment can climb over the flange portion 12 when traveling with the magnetic wheel MW1 as a rear wheel.

[0085] Similarly, the bogie according to this embodiment includes a rotating bar B2 that levitates the magnetic wheel MW2. When the magnetic wheel MW2 is used as a rear wheel and the rear wheel attempts to climb over the flange portion 12, the tip of the rotating bar B2 rotates while abutting against the main body 11 of the pipe 10, causing the magnetic wheel MW2 to levitate from the main body 11 of the pipe 10 and climb over the flange portion 12. Therefore, like the bogie according to the first embodiment, the bogie according to this embodiment can climb over the flange portion 12 even when running with the magnetic wheel MW2 as a rear wheel.

[0086] As wheel lifters for the magnet wheels MW1 and MW2, a pair of cylinders may be provided in place of the rotating bars B1 and B2 shown in FIG. When the magnetic wheel MW1, which is the rear wheel, attempts to climb over the flange portion 12 of the pipe 10, the cylinder for the magnetic wheel MW1 is activated, causing the magnetic wheel MW1, which is the rear wheel, to rise above the main body portion 11 of the pipe 10. Therefore, when the vehicle runs with the magnetic wheel MW1 as the rear wheel, it can climb over the flange portion 12.

[0087] On the other hand, when the magnetic wheel MW2, which is the rear wheel, attempts to climb over the flange portion 12 of the pipe 10, the cylinder for the magnetic wheel MW2 is activated, causing the magnetic wheel MW2, which is the rear wheel, to rise above the main body portion 11 of the pipe 10. Therefore, even when traveling with the magnetic wheel MW2 as the rear wheel, the vehicle can climb over the flange portion 12. The type of cylinder is not particularly limited, but may be, for example, a hydraulic cylinder, an air cylinder, or the like.

[0088] The invention made by the inventor has been specifically described above based on the embodiments, but it goes without saying that the present invention is not limited to the embodiments already described, and various modifications are possible within the scope of the gist of the invention. [Explanation of symbols]

[0089] 10 Piping 11 Main body 12 Flange 13 Connecting member 13a Bolt 13b Nut AR Arm B1, B2 rotating bars B11, B12, B21, B22 bars CS1, CS2 connecting shaft CL claw part MG motor shaft gear MT1, MT2 motors MW1, MW2 magnetic wheels PF Platform PM1, PM2 permanent magnet components PR probe RB1, RB2 rotating body RG Rotating shaft gear TG1, TG2, TG3 transmission gears WG Axle Gear WS1, WS2 wheel support members Y11, Y12, Y21, Y22 yoke members

Claims

1. A carriage capable of self-propelling on a surface of a magnetic structure having protrusions on the surface, First and second magnet wheels capable of being attracted to the magnetic substance structure; first and second drive sources that rotate the first and second magnet wheels, respectively; a wheel lifter that levitates the first magnetic wheel, When the first magnet wheel is used as a rear wheel and the rear wheel attempts to ride over the protrusion, the wheel lifter causes the first magnet wheel to levitate from the surface of the magnetic substance structure, and the first magnet wheel rides over the protrusion; The wheel lifter is a first rotor having claws protruding radially outward and rotating about a rotation axis provided closer to the second magnet wheel than the rotation axis of the first magnet wheel; When the first magnet wheel is used as a rear wheel and the rear wheel attempts to ride over the protrusion, the claw portion of the first rotating body abuts against the protrusion or a connecting member connecting the protrusions, thereby causing the first magnet wheel to levitate from the surface of the magnetic substance structure, and a second rotating body having claws protruding radially outward and rotating about a rotation axis provided closer to the first magnet wheel than the rotation axis of the second magnet wheel; When the second magnet wheel is used as a rear wheel and the rear wheel attempts to ride over the protrusion, the claw portion of the second rotating body abuts against the protrusion or the connecting member, thereby causing the second magnet wheel to levitate from the surface of the magnetic substance structure. Cart.

2. the first rotating body is provided at each of both axial ends of the first magnet wheel, The bogie according to claim 1 , wherein the second rotating body is provided at each of both axial ends of the second magnet wheel.

3. The first and second rotating bodies each have a plurality of claw portions. The carriage according to claim 1 .

4. the first and second magnet wheels are coated with a resin material; The carriage according to claim 1 .

5. The resin material is a urethane resin. The truck according to claim 4.

6. a probe for inspecting a magnetic structure having a protrusion on a surface thereof from the surface; An inspection device including: a carriage on which the probe is mounted and which is capable of self-propelling on the surface of the magnetic structure, The carriage is First and second magnet wheels capable of being attracted to the magnetic substance structure; first and second drive sources that rotate the first and second magnet wheels, respectively; a wheel lifter that levitates the first magnetic wheel, When the first magnet wheel is used as a rear wheel and the rear wheel attempts to ride over the protrusion, the wheel lifter causes the first magnet wheel to levitate from the surface of the magnetic substance structure, and the first magnet wheel rides over the protrusion; The wheel lifter is a first rotor having claws protruding radially outward and rotating about a rotation axis provided closer to the second magnet wheel than the rotation axis of the first magnet wheel; When the first magnet wheel is used as a rear wheel and the rear wheel attempts to ride over the protrusion, the claw portion of the first rotating body abuts against the protrusion or a connecting member connecting the protrusions, thereby causing the first magnet wheel to levitate from the surface of the magnetic substance structure, and a second rotating body having claws protruding radially outward and rotating about a rotation axis provided closer to the first magnet wheel than the rotation axis of the second magnet wheel; When the second magnet wheel is used as a rear wheel and the rear wheel attempts to ride over the protrusion, the claw portion of the second rotating body abuts against the protrusion or the connecting member, thereby causing the second magnet wheel to levitate from the surface of the magnetic substance structure. Inspection equipment.

7. the first rotating body is provided at each of both axial ends of the first magnet wheel, 7. The inspection device according to claim 6, wherein the second rotating body is provided at each of both axial ends of the second magnet wheel.

8. The first and second rotating bodies each have a plurality of claw portions. The inspection device according to claim 6.

9. the first and second magnet wheels are coated with a resin material; The inspection device according to claim 6.

10. The resin material is a urethane resin. The inspection device according to claim 9.

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