Wall-mounted moving vehicle

Abstract

To provide a wall surface transfer vehicle capable of making a stable travel even when a load remains protruded forward from wheels.SOLUTION: A first wheel and a second wheel which can be sucked on a plane in contact and switched between a suction state and a suction release state are mounted on the vehicle body. A travel motor rotates the first wheel and the second wheel. The control part switches each of the first wheel and the second wheel between the suction state and the suction release state and control rotation. The control part realizes: a first travel mode of travelling over the first plane in a direction from second plane to the first wheel; and a second travel mode of setting the first wheel in a suction release state and the second wheel in a suction state in a state where the second wheel remains in contact with the first plane, and travelling by rotating the second wheel until the first wheel comes into contact with the second plane rising from the first plane in a state where the first wheel remains afloat from the first plane.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a wall-climbing vehicle equipped with wheels that adhere to the surface they come into contact with. [Background technology]

[0002] Wall-climbing vehicles are known to be used in manufacturing sites such as shipbuilding and large cranes, and travel by magnetically adhering to the surface of large steel components, including curved ones, to perform tasks such as welding, painting, and visual inspection. Patent Document 1 listed below discloses a wall-climbing vehicle equipped with magnetically adsorbed wheels. The wall-climbing vehicle disclosed in Patent Document 1 includes spherically shaped wheels and permanent magnets arranged within the spherical wheels. The permanent magnets are supported within the spherical wheels so that they can swing. A magnet drive unit rotates the permanent magnets, thereby controlling the direction in which the magnetic adsorption force is generated.

[0003] For example, when a wall-climbing vehicle moves from a horizontal floor surface to a nearly vertical wall, if the front wheels come into contact with the wall, the permanent magnets in the front wheels face the wall, causing the front wheels to adhere to the wall. By driving the front wheels in this state, the front wheels climb up the wall. When the rear wheels approach the wall, the permanent magnets in the rear wheels face the wall, causing the rear wheels to adhere to the wall. With both the front and rear wheels adhered to the wall, the wall-climbing vehicle climbs up the wall. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2022-007174 Summary of the Invention [Problem to be solved by the invention]

[0005] Wall-climbing vehicles equipped with suction wheels are equipped with tools for transporting objects and for performing various tasks on wall surfaces. Examples of tools mounted on wall-climbing vehicles include various sensors such as cameras for visual inspection, welding torches, gas or air plasma cutting machines, polishing tools such as grinders, paint spray guns, and small robotic arms for general-purpose tasks. The sizes of these loaded objects vary, and some may extend forward of the front wheels. If the loaded object extends forward of the front wheels, when moving from the floor to a wall, it will come into contact with the wall before the front wheels do. Because the front wheels cannot contact the wall, conventional wall-climbing vehicles cannot move from the floor to a wall.

[0006] An object of the present invention is to provide a wall climbing vehicle that can travel stably even if an object to be carried extends forward beyond the wheels. [Means for solving the problem]

[0007] According to one aspect of the present invention, The car body and a first wheel and a second wheel attached to the vehicle body, capable of adhering to a surface with which they come into contact, and capable of switching between an adhering state and an adhering release state; a traction motor that rotates the first wheel and the second wheel; a control unit that switches each of the first wheel and the second wheel between an adsorption state and an adsorption release state and controls rotation of the first wheel and the second wheel; Equipped with the first wheel and the second wheel are attached at an interval in a traveling direction, which is a direction in which the vehicle body moves when the first wheel and the second wheel are rotated, The control unit a first traveling mode in which the vehicle travels on a first surface in a direction from the second wheel toward the first wheel; a second running mode in which, with the second wheel in contact with the first surface, the first wheel is set to a released state, the second wheel is set to a stuck state, and, with the first wheel lifted up from the first surface, the second wheel is rotated and the vehicle runs until the first wheel comes into contact with a second surface rising from the first surface; To realize 、 The vehicle body is a first tip portion protruding from the first wheel in a direction from the second wheel toward the first wheel; a first training wheel provided at the first tip portion; and The first training wheel uses a magnet. A wall climbing vehicle is provided. [Effects of the Invention]

[0008] In the second traveling mode, the first wheel can be lifted off the first surface by setting the first wheel to the suction release state. In this state, the second wheel can be rotated and the robot can travel until the first wheel comes into contact with the second surface, thereby moving from the first surface to the second surface. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a side view of a wall climbing vehicle according to one embodiment. [Figure 2] FIG. 2 is a front view of a wall climbing vehicle according to one embodiment. [Figure 3] FIG. 3 is a schematic side view showing the positional relationship between the wall climbing vehicle and the wall surface when traveling in the first traveling mode. [Figure 4] FIG. 4 is a side view showing the positional relationship between the wall-mounted vehicle, the first surface, and the second surface when switching from the first traveling mode to the second traveling mode. [Figure 5] FIG. 5 is a schematic side view showing the positional relationship between the wall-surface moving vehicle, the first surface, and the second surface when the wall-surface moving vehicle is traveling in the second traveling mode. [Figure 6] FIG. 6 is a schematic side view showing the positional relationship between the wall-surface moving vehicle, the first surface, and the second surface when the wall-surface moving vehicle is moving in the third traveling mode. [Figure 7]FIG. 7 is a side view showing the positional relationship between the wall-surface traveling vehicle, the first surface, and the second surface when switching from the third traveling mode to the wall-surface traveling mode. [Figure 8] FIG. 8 is a schematic side view showing the positional relationship between the wall-surface traveling vehicle, the first surface, and the second surface when traveling in the wall-surface traveling mode. [Figure 9] FIG. 9 is a side view of a wall-climbing vehicle according to a comparative example. [Figure 10] FIG. 10 is a schematic side view showing a state in which the wall-climbing vehicle moves on a first surface toward a second surface and the auxiliary wheels come into contact with the second surface. [Figure 11] FIG. 11 is a schematic side view showing a state in which the first wheel is lifted up from the first surface. [Figure 12] FIG. 12 is a side view of a wall climbing vehicle according to a modification of the embodiment shown in FIGS. [Figure 13] FIG. 13 is a side view of a wall climbing vehicle according to a modification of the embodiment shown in FIGS. [Figure 14] FIG. 14 is a side view of a wall climbing vehicle according to another embodiment. [Figure 15] FIG. 15 is a side view showing the positional relationship between the wall-mounted vehicle, the first surface, and the second surface when the wall-mounted vehicle shown in FIG. 14 is traveling in the first traveling mode. [Figure 16] FIG. 16 is a side view showing the positional relationship between the wall-mounted vehicle, the first surface, and the second surface when the wall-mounted vehicle shown in FIG. 14 switches from the third traveling mode to the fourth traveling mode. [Figure 17] FIG. 17 is a side view showing the positional relationship between the wall-mounted vehicle, the first surface, and the second surface when the wall-mounted vehicle shown in FIG. 14 is traveling in the fourth traveling mode. [Figure 18] FIG. 18 is a side view showing the positional relationship between the wall-surface traveling vehicle, the first surface, and the second surface when the wall-surface traveling vehicle shown in FIG. 14 switches from the fourth traveling mode to the wall-surface traveling mode. [Figure 19] 19A and 19B are schematic side views showing the positional relationship between the first wheel, the second wheel, the auxiliary wheels, the first surface, and the second surface of the wall climbing vehicle shown in FIG. [Figure 20]FIG. 20 is a side view of a wall climbing vehicle according to yet another embodiment. [Figure 21] FIG. 21 is a schematic side view showing the wall-climbing vehicle according to the embodiment shown in FIG. 20 traveling on a first surface toward a second surface, with the auxiliary wheels coming into contact with the second surface. [Figure 22] FIG. 22 is a schematic side view showing a state in which the first wheel of the wall climbing vehicle according to the embodiment shown in FIG. 20 is lifted up from the first surface. [Figure 23] FIG. 23 is a side view of a wall climbing vehicle according to yet another embodiment. [Figure 24] FIG. 24 is a schematic side view showing the wall-mounted vehicle according to the embodiment shown in FIG. 23 in the middle of moving from the first surface to the second surface. [Figure 25] Figure 25 is a schematic side view showing the positional relationship between the wall-mounted vehicle, the first surface, and the second surface according to the embodiment shown in Figure 23 when the angle between the first surface and the second surface is an acute angle, i.e., when the second surface overhangs the first surface. [Figure 26] Figure 26 is a schematic side view showing the positional relationship between the wall-mounted vehicle, the first surface, and the second surface according to the embodiment shown in Figure 23 when the angle between the first surface and the second surface is an acute angle, i.e., when the second surface overhangs the first surface. [Figure 27] Figure 27 is a schematic side view showing the positional relationship between the wall-mounted vehicle, the first surface, and the second surface according to the embodiment shown in Figure 23 when the angle between the first surface and the second surface is an acute angle, i.e., when the second surface overhangs the first surface. [Figure 28] FIG. 28 is a perspective view of a wall climbing vehicle according to yet another embodiment. [Figure 29] FIG. 29 is a front view of the wall climbing vehicle according to the embodiment shown in FIG. [Figure 30] FIG. 30 is a front view of the wall climbing vehicle when it is traveling on a concave wall surface. [Figure 31] FIG. 31 is a perspective view showing a wall surface in which a concave second surface rises from a convex first surface. DETAILED DESCRIPTION OF THE INVENTION

[0010] A wall-climbing vehicle according to one embodiment will be described with reference to FIGS. 1 and 2 are a side view and a front view of the wall-climbing vehicle according to this embodiment. The wall-climbing vehicle according to this embodiment includes a vehicle body 20, two first wheels 40A, and two second wheels 40B attached to the vehicle body 20. The two first wheels 40A and the two second wheels 40B are attached at a distance in the direction of travel (lateral direction in FIG. 1) when the first wheels 40A and the second wheels 40B are rotated. In this specification, the side in which the first wheel 40A is positioned relative to the second wheels 40B may be referred to as the "front," and the opposite side may be referred to as the "rear." The two first wheels 40A are attached at the same position in the direction of travel, and the two second wheels 40B are also attached at the same position in the direction of travel.

[0011] The first wheel 40A includes a rotating body 41A, an oscillating magnet 42A, and an axle 43A. The rotating body 41A rotates around the axle 43A, and the oscillating magnet 42A oscillates around the axle 43A as a center of oscillation, independently of the rotation of the rotating body 41A. A travel motor 45A applies a rotational force to the rotating body 41A. In this specification, rotating the rotating body 41A of the first wheel 40A may be referred to as "rotating the first wheel 40A," and rotating the rotating body 41B of the second wheel 40B may be referred to as "rotating the second wheel 40B."

[0012] The oscillating magnet attitude control motor 46A controls the attitude of the oscillating magnet 42A. That is, the oscillating magnet attitude control motor 46A oscillates the oscillating magnet 42A and stops it at a target position. The oscillating magnet 42A can also be set to a state where it is free to oscillate.

[0013] The first wheels 40A (FIG. 2) are arranged on the left and right sides of the vehicle body 20. The oscillating magnets 42A are arranged between the respective rotating bodies 41A and the main body 21 of the vehicle body 20. The oscillating central axis of the oscillating magnet 42A coincides with the rotation central axis of the first wheel 40A. The length from the oscillating central axis to the tip of the oscillating magnet 42A is shorter than the radius of the rotating body 41A. The inside of the rotating body 41A may be hollow, and the oscillating magnets 42A may be arranged inside the rotating body 41A. Alternatively, the oscillating magnets 42A may be arranged on the outside of each of the rotating bodies 41A, with the vehicle body 20 as the center.

[0014] The second wheel 40B (FIG. 1) has a similar structure to the first wheel 40A. That is, the second wheel 40B includes a rotor 41B, a swing magnet 42B, and an axle 43B. A travel motor 45B applies a rotational force to the rotor 41B of the second wheel 40B. A swing magnet attitude control motor 46B swings the swing magnet 42B of the second wheel 40B and stops it at a target position. In addition, the swing magnet 42B can be set to a free swinging state.

[0015] When the first wheel 40A and the second wheel 40B are brought into contact with a wall surface 70 made of a magnetic material such as steel and the oscillating magnet 42A is set in a state in which it is free to oscillate, the magnetic force acting between the oscillating magnet 42A and the wall surface 70 stabilizes the oscillating magnet 42A in a position facing the wall surface 70. At this time, the magnetic force attracts the first wheel 40A to the wall surface 70. When the oscillating magnet 42A is oscillated and brought to a standstill in a position in which the oscillating magnet 42A faces the vehicle body 20, the magnetic force between the oscillating magnet 42A and the wall surface 70 weakens, and the state in which the first wheel 40A is attracted to the wall surface 70 is released. In this way, the attraction force of the first wheel 40A to the wall surface 70 can be changed by controlling the position of the oscillating magnet 42A.

[0016] Similarly, the adhesive force of the second wheel 40B to the wall surface 70 can be changed. The state in which each of the first wheel 40A and the second wheel is attached to the wall surface 70 is referred to as an "adsorption state," and the state in which the adhesion is released is referred to as an "adsorption-released state."

[0017] A control unit 50 is mounted on the vehicle body 20. The control unit 50 controls the travel motors 45A and 45B to rotate the rotating bodies 41A and 41B in a desired direction. Furthermore, the control unit 50 controls the swing magnet attitude control motors 46A and 46B to switch the states of the first wheel 40A and the second wheel 40B between an adsorption state and an adsorption release state.

[0018] The vehicle body 20 includes a main body 21, a protrusion 22A, and an auxiliary wheel 23A. The protrusion 22A protrudes forward from the main body 21. The auxiliary wheel 23A is rotatably attached to the tip of the protrusion 22A. The auxiliary wheel 23A is a passive wheel, and is not actively driven to rotate by a motor or the like, but rotates passively. The central axis of rotation of the auxiliary wheel 23A is parallel to the central axis of rotation of the first wheel 40A. The auxiliary wheel 23A is attached at a position that protrudes further forward than the first wheel 40A. The auxiliary wheel 23A can be said to be the tip located at the most forward side of the wall-climbing vehicle.

[0019] A contact sensor 24A is attached to the protrusion 22A. The contact sensor 24A detects when the training wheel 23A comes into contact with an obstacle. The detection result of the contact sensor 24A is input to the control unit 50. Based on the detection result of the contact sensor 24A, the control unit 50 controls the rotation of the rotating bodies 41A and 41B and controls switching of the adhesion state of the first wheel 40A and the second wheel 40B.

[0020] The wall-climbing vehicle according to this embodiment can travel in one of a number of travel modes, specifically, a first travel mode, a second travel mode, a third travel mode, and a wall-climbing mode. These travel modes will be described below with reference to Figs. 3 to 7.

[0021] 3 is a schematic side view showing the positional relationship between the wall-climbing vehicle and the wall surface when traveling in the first traveling mode. A second surface 72 rises almost vertically from a nearly horizontal first surface 71. The wall-climbing vehicle is traveling toward the second surface 72 in the first traveling mode, with its front facing the second surface 72.

[0022] In the first traveling mode, the first wheel 40A and the second wheel 40B may be in an adsorbed state or a released adsorption state. The control unit 50 controls the traveling motors 45A and 45B to rotate the rotating body 41A of the first wheel 40A and the rotating body 41B of the second wheel 40B in the directions of the arrows. This causes the wall-climbing vehicle to travel on the first surface 71. Hereinafter, rotating the rotating body 41A of the first wheel 40A may be simply referred to as "rotating the first wheel 40A." The same applies to the second wheel 40B.

[0023] 4 is a side view showing the positional relationship between the wall-climbing vehicle, first surface 71, and second surface 72 when switching from the first traveling mode to the second traveling mode. When the wall-climbing vehicle travels toward second surface 72, training wheel 23A comes into contact with second surface 72. When training wheel 23A comes into contact with second surface 72, contact sensor 24A detects the contact, and control unit 50 acquires detection information from contact sensor 24A.

[0024] When the control unit 50 detects that the training wheel 23A has come into contact with the second surface 72, it switches the travel mode of the wall-climbing vehicle from the first travel mode to the second travel mode. Specifically, it sets the first wheel 40A to an attraction-released state and sets the second wheel 40B to an attraction state. For example, it changes the orientation of the oscillating magnet 42A of the first wheel 40A so that it faces the vehicle body 20. This weakens the attraction force of the first wheel 40A to the first surface 71 and reduces it to almost zero. Furthermore, it stops applying a rotational force to the first wheel 40A and applies a rotational force to the second wheel 40B.

[0025] 5 is a schematic side view showing the positional relationship between the wall-climbing vehicle, first surface 71, and second surface 72 when traveling in the second traveling mode. With auxiliary wheel 23A in contact with second surface 72, second wheel 40B is set to an adhesive state and rotated, and first wheel 40A is set to an adhesive release state, thereby applying a moment to vehicle body 20 in a direction (counterclockwise in FIG. 5) that causes first wheel 40A to lift off first surface 71. As a result, auxiliary wheel 23A moves upward along second surface 72, and first wheel 40A lifts off first surface 71. By setting second wheel 40B to an adhesive state and rotating it in the direction of the arrow, auxiliary wheel 23A moves upward along second surface 72.

[0026] In the second traveling mode, the second wheel 40B is set to the attracted state, and therefore, even if the tilt angle of the vehicle body 20 with respect to the first surface 71 changes, the oscillating magnet 42B of the second wheel 40B is always oriented toward the first surface 71 due to magnetic force. Therefore, the second wheel 40B is maintained in a state of being attracted to the first surface 71. Furthermore, because the first wheel 40A is set to the attracted state, the first wheel 40A easily lifts off the first surface 71.

[0027] 6 is a schematic side view showing the positional relationship between the wall-climbing vehicle, first surface 71, and second surface 72 when the wall-climbing vehicle is traveling in the third traveling mode. As the wall-climbing vehicle continues traveling in the second traveling mode, the rotating body 41A of the first wheel 40A comes into contact with the second surface 72, and the training wheel 23A moves away from the second surface 72. The contact sensor 24A detects that the training wheel 23A has moved away from the second surface 72.

[0028] When the control unit 50 detects from information from the contact sensor 24A that the training wheel 23A has left the second surface 72, it sets the first wheel 40A to an attractive state and rotates it in the forward direction indicated by the arrow. The oscillating magnet 42A of the first wheel 40A oscillates so as to face the second surface 72, and the attraction force of the first wheel 40A to the second surface 72 increases. As a result, the first wheel 40A travels on the second surface 72, and the second wheel 40B travels on the first surface 71. This increases the tilt angle of the vehicle body 20 relative to the first surface 71.

[0029] 7 is a side view showing the positional relationship between the wall-climbing vehicle, the first surface 71, and the second surface 72 when switching from the third traveling mode to the wall-climbing mode. As the wall-climbing vehicle continues traveling in the third traveling mode, the rotating body 41B of the second wheel 40B comes into contact with the second surface 72. In the third traveling mode, the second wheel 40B is in a state of being attracted to the first surface 71. This attraction force acts in a direction that prevents the wall-climbing vehicle from moving upward along the second surface 72.

[0030] Furthermore, the rotational force of the second wheel 40B acts in a direction that causes the second wheel 40B to travel on the first surface 71, and does not act in a direction that causes the second wheel 40B to move upward along the second surface 72. Therefore, even if a rotational force is applied to the rotating body 41B of the second wheel 40B, the rotating body 41B hardly rotates due to the frictional force between the rotating body 41B and the first surface 71. For example, it is possible to detect that the rotating body 41B has come into contact with the second surface 72 from the relationship between the rotational force applied to the rotating body 41B of the second wheel 40B and the rotational speed of the rotating body 41B.

[0031] When the control unit 50 detects that the rotating body 41B of the second wheel 40B has come into contact with the second surface 72, it sets the second wheel 40B to an adhesion-released state and stops applying rotational force. This weakens the adhesion force of the second wheel 40B to the first surface 71, and it becomes almost zero. The wall-climbing vehicle moves upward on the second surface 72 by the rotation of the first wheel 40A, and the rotating body 41B of the second wheel 40B lifts off the first surface 71. For example, the lifting of the second wheel 40B from the first surface 71 can be estimated from the rotation angle of the rotating body 41A of the first wheel 40A from the point when the second wheel 40B was set to the adhesion-released state.

[0032] In addition, when the control unit 50 detects that the rotating body 41B of the second wheel 40B has come into contact with the second surface 72, it may swing the oscillating magnet 42B toward the second surface 72 so that the second wheel 40B is in an attracted state to the second surface 72.

[0033] 8 is a schematic side view showing the relative positions of the wall-mounted vehicle, first surface 71, and second surface 72 when traveling in wall-mounted mode. When the control unit 50 determines that the rotor 41B of the second wheel 40B has left the first surface 71, it sets the second wheel 40B to an attached state and rotates it in the forward direction. The magnetic force of the oscillating magnet 42B of the second wheel 40B causes it to face the second surface 72, and the second wheel 40B is attached to the second surface 72.

[0034] With both the first wheel 40A and the second wheel 40B attached to the second surface 72, the rotating bodies 41A and 41B are rotated in the forward direction, causing the wall-climbing vehicle to move upward on the second surface 72. In the first traveling mode (FIG. 3) in which the wall-climbing vehicle travels on the substantially horizontal first surface 71, the first wheel 40A and the second wheel 40B may be set to an attached state or a released state. For example, if the first surface 71 is formed of a non-magnetic material such as concrete or asphalt, no adhesive force is generated between the oscillating magnet 42B and the first surface 71. In this case, the weight of the wall-climbing vehicle generates a traction force between the first wheel 40A and the second wheel 40B and the first surface 71 for traveling. In the wall-climbing mode in which the wall-climbing vehicle travels on the substantially vertical second surface 72, both the first wheel 40A and the second wheel 40B are set to an attached state.

[0035] Next, the excellent effects of this embodiment will be described in comparison with a comparative example shown in Fig. 9. Fig. 9 is a side view of a wall-climbing vehicle according to the comparative example. In the comparative example, the vehicle body 20 is not provided with the protrusion 22A and the auxiliary wheels 23A. The loaded object 75 protrudes forward beyond the first wheel 40A. When the wall-climbing vehicle travels on the first surface 71 toward the second surface 72, the loaded object 75 comes into contact with the second surface 72 before the first wheel 40A comes into contact with the second surface 72.

[0036] In this state, if the first wheel 40A is set to the suction release state, the second wheel 40B is set to the suction state, and a rotational force is applied to the second wheel 40B, a moment is generated in a direction that causes the first wheel 40A to lift up from the first surface 71. However, the frictional force between the mounted object 75 and the second surface 72 acts in a direction that cancels this moment. If the moment due to the maximum frictional force generated between the mounted object 75 and the second surface 72 is greater than the moment that causes the first wheel 40A to lift up from the first surface 71, the first wheel 40A will not lift up from the first surface 71. For this reason, the wall-climbing vehicle cannot move from the first surface 71 to the second surface 72.

[0037] In contrast, in this embodiment, as shown in FIG. 4, the auxiliary wheel 23A comes into contact with the second surface 72 before the loaded object 75 comes into contact with the second surface 72. The rolling friction force between the auxiliary wheel 23A and the second surface 72 is smaller than the maximum friction force between the loaded object 75 and the second surface 72. Therefore, by rotating the second wheel 40B in the forward direction while the auxiliary wheel 23A is in contact with the second surface 72, the first wheel 40A can be lifted off the first surface 71. In this state, the vehicle can travel in the second traveling mode (FIG. 5) until the first wheel 40A comes into contact with the second surface 72.

[0038] Thereafter, by traveling in the third traveling mode and the wall traveling mode, the wall traveling vehicle moves from the first surface 71 to the second surface 72 and can travel on the second surface 72.

[0039] Next, a preferred height of the training wheels 23A from the first surface 71 will be described with reference to Figures 10 and 11. Figure 10 is a schematic side view showing the wall-climbing vehicle traveling on the first surface 71 toward the second surface 72, with the training wheels 23A in contact with the second surface 72. The first surface 71 is parallel to the horizontal plane, and the second surface 72 rises from the first surface 71 at a right angle.

[0040] In order for the wall-climbing vehicle to climb up the second surface 72, a moment in the direction that causes the first wheel 40A to lift off the first surface 71 in the state shown in Figure 10 (a counterclockwise moment in Figure 10) must act on the wall-climbing vehicle. The center of gravity of the wall-climbing vehicle is denoted as GC, and each parameter is defined as follows. It is assumed that the condition is met that the distance from the center of gravity GC to the ground contact point of the first wheel 40A and the ground contact point of the second wheel 40B in the traveling direction is equal. A wall-climbing vehicle can travel both forward and backward without distinguishing between them, and this condition is generally met.

[0041] N A Normal force acting on the first wheel 40A from the first surface 71 N B Normal force acting on the second wheel 40B from the first surface 71 N W Normal force acting on the auxiliary wheel 23A from the second surface 72 F A : Driving force of the first wheel 40A F B : Driving force of the second wheel 40B F mag : Adsorption force by the swing magnet 42B (FIG. 1) of the second wheel 40B M: Total mass of the wall crawler and its payload 75 g:Gravity acceleration d: Distance in the traveling direction from the center of gravity GC to the ground contact point of the first wheel 40A and the ground contact point of the second wheel 40B L: Distance in the direction of travel from the center of gravity GC to the contact point of the auxiliary wheel 23A h: Height from the first surface 71 to the auxiliary wheel 23A when the first wheel 40A and the second wheel 40B are in contact with the first surface 71

[0042] The attraction force of the oscillating magnet 42A (Fig. 1) of the first wheel 40A generates a clockwise moment on the wall-mounted vehicle, so in order to rotate the wall-mounted vehicle counterclockwise, it is preferable to set the first wheel 40A to an attraction-released state. The balance of forces in the running direction and vertical direction gives the following equation:

number

[0043] If the moment around the contact point of the second wheel 40B as the center of rotation satisfies the following formula, the wall-mounted vehicle rotates counterclockwise.

number

[0044] From equations (1) and (2), the following equation is obtained: where N W The assumption is made that it is >0.

number

[0045] 11 is a schematic side view showing the state in which the first wheel 40A is lifted off the first surface 71. The tilt angle of the wall-mounted vehicle is marked as θ. In order for the wall-mounted vehicle to climb the second surface 72, a counterclockwise moment must act on the wall-mounted vehicle even when the first wheel 40A is lifted off the first surface 71.

[0046] When the first wheel 40A is lifted off the first surface 71, a normal force N acting on the first wheel 40A increases. A , and the driving force F generated by the first wheel 40A. A When the contact point of the second wheel 40B is the center of rotation, gravity generates a clockwise moment, and a normal force N acting on the auxiliary wheel 23A is W generates a counterclockwise moment. In order to generate a counterclockwise moment on the wall climbing vehicle, the following formula must be satisfied.

number

[0047] Since a counterclockwise moment must be acting at the moment the first wheel 40A lifts off the first surface 71, equation (4) must also hold true when θ = 0. If θ = 0 in equation (4), the following condition is obtained.

number

[0048] As the tilt angle θ increases from 0° to 90°, the left side of equation (4) increases monotonically and the right side decreases monotonically. Therefore, if equation (5) is satisfied, equation (4) is also satisfied. Therefore, the driving force F of the second wheel 40B is B When the total mass M of the wall climbing vehicle and the mounted object 75 and the distance d are determined, the height h of the auxiliary wheels 23A may be determined so that the formula (5) is satisfied.

[0049] Next, a modified example of the embodiment shown in Figures 1 to 8 will be described with reference to Figure 12. Figure 12 is a side view of a wall-climbing vehicle according to this modified example. The wall-climbing vehicle according to this modified example has electromagnets 44A and 44B instead of the oscillating magnets 42A and 42B of the embodiment shown in Figure 1, and has electromagnet drive circuits 47A and 47B instead of the oscillating magnet attitude control motors 46A and 46B.

[0050] The electromagnets 44A and 44B are disposed around the entire circumference of the rotating body 41A of the first wheel 40A and the rotating body 41B of the second wheel 40B, respectively, slightly inward from the outer circumferential surface of the rotating body 41A. The electromagnet drive circuits 47A and 47B respectively pass current through the electromagnets 44A and 44B in response to commands from the control unit 50. When current is passed through the electromagnet 44A, the electromagnet 44A generates a magnetic force, and the first wheel 40A is set to an attracted state. When the current flowing through the electromagnet 44A is stopped, the magnetic force of the electromagnet 44A disappears, and the first wheel 40A is set to a released state. Similarly, the second wheel 40B can be switched between an attracted state and a released state by switching on and off the current flowing through the electromagnet 44B.

[0051] Next, with reference to Fig. 13, another modification of the embodiment shown in Figs. 1 to 8 will be described. Fig. 13 is a side view of a wall-climbing vehicle according to this modification. In the embodiment shown in Fig. 1, training wheels 23A are attached to the tips of protruding portions 22A. In contrast, in this modification, training wheels 23A are not attached to the tips of protruding portions 22A, and instead the tips of protruding portions 22A are curved upward like the tips of skis.

[0052] When the tip of protrusion 22A comes into contact with second surface 72, the tip of protrusion 22A undergoes elastic deformation. When the tip of protrusion 22A undergoes elastic deformation, the tip of protrusion 22A moves on second surface 72, and a kinetic friction force acts between them. Because the kinetic friction force is smaller than the static friction force, the tip of protrusion 22A becomes more likely to slide relative to second surface 72. As a result, the moment acting in a direction that cancels out the moment generated in vehicle body 20 due to the rotation of second wheel 40B becomes smaller, and vehicle body 20 tilts in a direction that lifts first wheel 40A off first surface 71.

[0053] Instead of the configuration in which the auxiliary wheel 23A is attached to the tip of the protrusion 22A as in this modified example, the tip of the protrusion 22A may be curved upward.

[0054] Next, various other modifications of the embodiment shown in FIGS. 1 to 8 will be described. It is preferable that the distance that the auxiliary wheel 23A protrudes forward from the first wheel 40A can be adjusted. For example, it is preferable that a slider or the like is used on the protrusion 22A to make the protrusion 22A extendable and retractable. Depending on the size of the load 75 to be mounted on the vehicle body, it is preferable that the protrusion 22A be extended and retracted so that the auxiliary wheel 23A is positioned forward of the load 75. The extension and retraction of the protrusion 22A may be performed manually or electrically.

[0055] In the embodiment shown in FIGS. 1 to 8, the first wheel 40A is set to the attraction-released state while the vehicle is traveling in the second traveling mode (FIG. 5). However, the first wheel 40A may be set to the attraction state after the height of the first wheel 40A above the first surface 71 exceeds a certain height. When the first wheel 40A moves far enough away from the first surface 71 that the magnetic force does not substantially act on it, the first wheel 40A will no longer be attracted to the first surface 71 even if it is set to the attraction state. When the first wheel 40A approaches the second surface 72, the magnetic force causes the oscillating magnet 42A of the first wheel 40A to face the second surface 72 and be attracted to the second surface 72.

[0056] 1 to 8, an example has been described in which the wall-mounted vehicle moves from a substantially horizontal first surface 71 to a substantially vertical second surface 72, but the first surface 71 does not necessarily have to be substantially horizontal. For example, the wall-mounted vehicle according to the embodiment shown in Figs. 1 to 8 can travel downward on the first surface 71, which is substantially vertical to the horizontal plane, and move to the substantially horizontal second surface 72.

[0057] When the first surface 71 is a wall surface that is nearly perpendicular to the horizontal plane and the second surface 72 is a ceiling that faces the direction of gravity, the use of permanent magnets for the auxiliary wheels 23A allows the wall-climbing vehicle to transfer from the first surface 71 to the second surface 72. In the second traveling mode shown in Figure 5, the auxiliary wheels 23A are attracted to the second surface 72 by magnetic force, preventing the wall-climbing vehicle from falling. After the first wheels 40A come into contact with the second surface 72 and enter an attracted state, if the counterclockwise moment in Figure 5 generated by the tractive force between the first wheels 40A and the second wheels 40B exceeds the clockwise moment generated by the attraction force of the auxiliary wheels 23A, the auxiliary wheels 23A will detach from the second surface 72, and the wall-climbing vehicle can transition to the third traveling mode (Figure 6).

[0058] 1 to 8, the control unit 50 autonomously controls the rotation of the first wheel 40A and the second wheel 40B and controls the switching between the adsorption state and the release state of the first wheel 40A and the second wheel 40B. As another example, an operator may remotely operate the control unit 50 to issue commands to rotate the first wheel 40A and the second wheel 40B and to switch between the adsorption state and the release state of the first wheel 40A and the second wheel 40B.

[0059] Next, a wall-mounted vehicle according to another embodiment will be described with reference to Figures 14 to 19B. Below, a description of the components common to the wall-mounted vehicle according to the embodiment described with reference to Figures 1 to 8 will be omitted.

[0060] Figure 14 is a side view of the wall climbing vehicle according to this embodiment. In the embodiment shown in Figure 1, the vehicle body 20 includes a protrusion 22A that protrudes forward from the main body 21. In this embodiment, the vehicle body 20 further includes a protrusion 22B that protrudes rearward from the main body 21, and an auxiliary wheel 23B attached to the tip of the protrusion 22B. The auxiliary wheel 23B protrudes rearward beyond the second wheel 40B. Furthermore, the auxiliary wheel 23B protrudes rearward beyond the rear tip of the mounted object 75. A contact sensor 24B detects that the auxiliary wheel 23B has come into contact with an obstacle.

[0061] The wall-climbing vehicle according to the embodiment shown in Figures 1 to 8 can travel in any of the first traveling mode, the second traveling mode, the third traveling mode, and the wall-climbing mode. In addition, the wall-climbing vehicle according to this embodiment can also travel in the fourth traveling mode. These traveling modes will be explained below with reference to Figures 15 to 18.

[0062] 15 is a side view showing the positional relationship between the wall-mounted vehicle, the first surface 71, and the second surface 72 when traveling in the first traveling mode. As in the first traveling mode of the wall-mounted vehicle according to the embodiment shown in FIG. 3, the control unit 50 rotates the first wheel 40A and the second wheel 40B to travel on the first surface 71. In the second traveling mode and the third traveling mode of the wall-mounted vehicle according to the embodiment, the control unit 50 also performs control similar to that in the second traveling mode and the third traveling mode of the wall-mounted vehicle according to the embodiment shown in FIGS. 5 and 6.

[0063] 16 is a side view showing the positional relationship between the wall-climbing vehicle, first surface 71, and second surface 72 when switching from the third traveling mode to the fourth traveling mode. When traveling in the third traveling mode is continued with the first wheel 40A attached to the second surface 72 and the second wheel 40B attached to the first surface 71, the rear auxiliary wheel 23B comes into contact with the first surface 71. When the control unit 50 detects from the detection result of the contact sensor 24B that the rear auxiliary wheel 23B has come into contact with the first surface 71, it sets the second wheel 40B to an adhesion-released state. Specifically, it orients the swing magnet 42B of the second wheel 40B toward the main body 21 of the vehicle body 20.

[0064] 17 is a side view showing the positional relationship between the wall-climbing vehicle, first surface 71, and second surface 72 when traveling in the fourth traveling mode. In the fourth traveling mode, the first wheel 40A is attached to the second surface 72, the second wheel 40B is set to a non-attached state, and the first wheel 40A is rotated. As a result, the first wheel 40A travels upward on the second surface 72, and the rear auxiliary wheel 23B rolls on the first surface 71 and moves toward the second surface 72. The second wheel 40B lifts off the first surface 71. In the fourth traveling mode, the vehicle body 20 is supported by the first wheel 40A and the rear auxiliary wheel 23B.

[0065] 18 is a side view showing the positional relationship between the wall-mounted vehicle, first surface 71, and second surface 72 when switching from the fourth traveling mode to the wall-mounted traveling mode. When the second wheel 40B comes into contact with the second surface 72, the control unit 50 sets the second wheel 40B to an attracted state. As a result, the oscillating magnet 42B of the second wheel 40B faces the second surface 72, and the second wheel 40B is attracted to the second surface 72.

[0066] In the wall surface running mode, as in the embodiment shown in Figure 8, the first wheel 40A and the second wheel 40B are both attracted to the second surface 72 and rotate, causing the wall surface running vehicle to run upward on the second surface 72.

[0067] Next, a preferred positional relationship between the first wheel 40A, the second wheel 40B, and the training wheels 23A and 23B will be described with reference to Figures 19A and 19B. Figures 19A and 19B are schematic side views showing the positional relationship between the first wheel 40A, the second wheel 40B, the training wheels 23A and 23B, the first surface 71, and the second surface 72.

[0068] 19A, when the wall-climbing vehicle moves from the first surface 71 to the second surface 72, if the rear auxiliary wheel 23B contacts the first surface 71 before the first wheel 40A contacts the second surface 72, the driving force of the wall-climbing vehicle cannot be transmitted to either the first surface 71 or the second surface 72. For this reason, the wall-climbing vehicle cannot climb the second surface 72. In order to enable the wall-climbing vehicle to move from the first surface 71 to the second surface 72 and travel upward on the second surface 72, it is preferable to prevent a state in which both auxiliary wheels 23A, 23B contact the first surface 71 and the second surface 72 at the same time.

[0069] As shown in Fig. 19B, when the first wheel 40A and the front auxiliary wheel 23A are in contact with the second surface 72 at the same time, it is preferable that the second wheel 40B is in contact with the first surface 71 and the rear auxiliary wheel 23B is lifted up from the first surface 71. Furthermore, as shown by the dashed lines in Fig. 19B, when the second wheel 40B and the rear auxiliary wheel 23B are in contact with the first surface 71A at the same time, it is preferable that the first wheel 40A is in contact with the second surface 72A and the front auxiliary wheel 23A is lifted up from the second surface 72A.

[0070] Next, the excellent effects of this embodiment will be described. 16, if the rearwardly protruding protrusion 22A is not provided, the rearwardly protruding portion of the loaded object 75 may come into contact with the first surface 71 before the second wheel 40B comes into contact with the second surface 72. The frictional force generated between the loaded object 75 and the first surface 71 acts in a direction that inhibits the first wheel 40A from traveling due to the rotation of the first wheel 40A.

[0071] In contrast, in this embodiment, as shown in Fig. 16, the auxiliary wheels 23B come into contact with the first surface 71, so the loaded object 75 does not come into contact with the first surface. The frictional force generated between the first surface 71 and the auxiliary wheels 23B is a force due to rolling friction, and is sufficiently small so as not to impede the movement of the first wheel 40A. Therefore, even if the rear tip of the loaded object 75 protrudes beyond the second wheel 40B, the wall-climbing vehicle can move from the first surface 71 to the second surface 72.

[0072] Furthermore, in this embodiment, even when the wall-mounted vehicle travels backward on the first surface 71 toward the second surface 72, it is possible to move from the first surface 71 to the second surface 72.

[0073] Next, a wall-mounted vehicle according to yet another embodiment will be described with reference to Figures 20 to 22. Below, a description of the configuration common to the wall-mounted vehicle according to the embodiment described with reference to Figures 1 to 8 will be omitted.

[0074] Figure 20 is a side view of the wall climbing vehicle according to this embodiment. The auxiliary wheels 23A of the wall climbing vehicle according to the embodiment described with reference to Figures 1 to 8 only rotate passively due to friction with the wall surface. In contrast, in this embodiment, the auxiliary wheels 23A are rotated by an auxiliary wheel motor 49A. In this way, the auxiliary wheels 23A actively rotate.

[0075] 21 is a schematic side view showing the state in which the wall-mounted vehicle according to this embodiment travels on the first surface 71 toward the second surface 72 and the auxiliary wheels 23A come into contact with the second surface 72. In this embodiment, in addition to the forces shown in FIG. 10, the auxiliary wheels 23A are rotationally driven to apply a driving force F CThis driving force F C This generates a counterclockwise moment on the wall crawler.

[0076] 22 is a schematic side view showing a state in which the first wheel 40A of the wall climbing vehicle according to this embodiment is lifted up from the first surface 71. In this embodiment, in addition to the forces shown in FIG. 11, the auxiliary wheel 23A is rotationally driven to apply a driving force F C This driving force F C This generates a moment that rotates the wall crawler counterclockwise. C Since the moment due to the force is added, the condition imposed on the position of the auxiliary wheels 23A for the wall climbing vehicle to climb the second surface 72 is relaxed.

[0077] Next, the excellent effects of the embodiment shown in FIGS. 20 to 22 will be described. In this embodiment, the wall climbing vehicle can move more easily from the first surface 71 to the second surface 72 by actively rotating the auxiliary wheels 23A.

[0078] Next, a wall-mounted vehicle according to yet another embodiment will be described with reference to Figures 23 to 27. Below, a description of the configuration common to the wall-mounted vehicle according to the embodiment described with reference to Figures 14 to 18 will be omitted.

[0079] Figure 23 is a side view of the wall-climbing vehicle according to this embodiment. In the embodiments shown in Figures 14 to 18, the auxiliary wheels 23A and 23B rotate passively, but in this embodiment, they rotate actively, similar to the embodiment shown in Figure 20. For example, auxiliary wheel motors 49A and 49B apply rotational forces to the auxiliary wheels 23A and 23B, respectively.

[0080] 24 is a schematic side view showing the wall-climbing vehicle in the middle of moving from the first surface 71 to the second surface 72. The front auxiliary wheel 23A is in contact with the second surface 72, the rear auxiliary wheel 23B is in contact with the first surface 71, and both the first wheel 40A and the second wheel 40B are lifted off the first surface 71 and the second surface 72. In this state, the wall-climbing vehicle can move from the first surface 71 to the second surface 72 by driving and rotating at least one of the auxiliary wheels 23A and 23B.

[0081] Next, the excellent effects of the embodiment shown in FIGS. 23 and 24 will be described. 14 to 18, if the protrusions 22A, 22B are made too long, the driving force of the first wheel 40A and the second wheel 40B will not be transmitted to the second surface 72 and the first surface 71, as shown in Fig. 19A, and the wall-mounted vehicle will not be able to move from the first surface 71 to the second surface 72. In contrast, in this embodiment, as shown in Fig. 24, even if the protrusions 22A, 22B are made long, the wall-mounted vehicle will be able to move from the first surface 71 to the second surface 72. This mitigates the upper limit on the size of the load 75 that can be carried.

[0082] Furthermore, with reference to Figures 25 to 27, other excellent effects of the embodiment shown in Figures 23 and 24 will be described. Figures 25 to 27 are schematic side views showing the positional relationship between the wall-mounted vehicle, first surface 71, and second surface 72 when the angle between first surface 71 and second surface 72 is an acute angle, i.e., when second surface 72 overhangs first surface 71.

[0083] As shown in Figure 25, the wall-mounted vehicle travels on the first surface 71 toward the second surface 72, and the front auxiliary wheel 23A comes into contact with the second surface 72. The first wheel 40A is set to the adsorption-released state. When the contact point of the second wheel 40B is set as the center of rotation, gravity Mg generates a clockwise moment on the wall-mounted vehicle, and the driving force F of the auxiliary wheel 23A is C generates a counterclockwise moment. The normal force N acting on the auxiliary wheel 23A is Wmay generate a clockwise moment or a counterclockwise moment depending on the positional relationship between the contact point between the auxiliary wheel 23A and the second surface 72 and the ground contact point of the second wheel 40B. If the resultant moment of these moments is counterclockwise, the first wheel 40A of the wall-climbing vehicle will lift off the first surface 71.

[0084] As shown in FIG. 26, when the first wheel 40A is set in an adsorption state in a state where the first wheel 40A is in contact with the second surface 72, an adsorption force F magA A driving force F is generated at the first wheel 40A. A When gravity Mg is generated, the first wheel 40A moves upward on the second surface 72. When the rear auxiliary wheel 23B moves away from the first surface 71, the only moment that rotates around the contact point of the first wheel 40A is gravity Mg. Gravity Mg generates a moment that rotates the wall-climbing vehicle counterclockwise, so the second wheel 40B approaches the second surface 72.

[0085] 27, when the second wheel 40B comes into contact with the second surface 72, the second wheel 40B is set in an adsorption state. magB After that, the driving force F of the first wheel 40A is generated. A and the driving force F of the second wheel 40B. B As a result, the wall-mounted vehicle travels upward on the second surface 72.

[0086] In this way, in this embodiment, even if the second surface 72 overhangs the first surface 71 , the wall-mounted vehicle can move from the first surface 71 to the second surface 72 .

[0087] Next, a wall-mounted vehicle according to yet another embodiment will be described with reference to Figures 28 to 31. Below, a description of the configuration common to the wall-mounted vehicle according to the embodiment described with reference to Figures 1 to 8 will be omitted.

[0088] 28 and 29 are a perspective view and a front view, respectively, of the wall-climbing vehicle according to this embodiment. The wall-climbing vehicle according to this embodiment, like the wall-climbing vehicle according to the embodiment described with reference to FIGS. 1 to 8, comprises a vehicle body 20, two first wheels 40A, and two second wheels 40B. The vehicle body 20 includes a main body 21, a protrusion 22A, and auxiliary wheels 23A. A fixing part (not shown) for fixing a work attachment (not shown) for performing work such as welding, painting, or visual inspection is mounted on the main body 21.

[0089] When viewing the main body 21 from the front with the protruding portion 22A protruding, two rocker links 30 are attached to the right and left sides of the main body via shafts 31. One first wheel 40A and one second wheel 40B are attached to the main body 21 of the vehicle body 20 via one rocker link 30, and the other first wheel 40A and the other second wheel 40B are attached to the main body 21 via another rocker link 30.

[0090] Each rocker link 30 is rotatable relative to the vehicle body 20, with a shaft 31 as the central axis of rotation. Each rocker link 30 has a generally inverted V shape in side view, and is composed of a central portion 30C, two front portions 30A, and two rear portions 30B. The two front portions 30A extend obliquely downward from the central portion 30C toward the front, and the two rear portions 30B extend obliquely downward from the central portion 30C toward the rear.

[0091] A rotor 41A of the first wheel 40A is rotatably supported by an axle 43A between the two front portions 30A. A rotor 41B of the second wheel 40B is rotatably supported by an axle (not shown) between the two rear portions 30B. The rotor 41A of the first wheel 40A and the rotor 41B of the second wheel 40B each have a spherical shell shape and have a cavity inside. Inside the rotor 41A, a oscillating magnet 42A is supported by a support shaft 48A that is arranged coaxially with the axle 43A. By rotating the support shaft 48A, the oscillating magnet 42A oscillates around the rotational axis of the rotor 41A.

[0092] Furthermore, the oscillating magnet 42A can also swing left and right relative to the support shaft 48A when viewed from the front. The left and right swing of the oscillating magnet 42A is performed passively. For example, when a magnetic material approaches the oscillating magnet 42A, the tip of the oscillating magnet 42A swings left and right so that it faces the magnetic material.

[0093] The two shafts 31 are arranged coaxially. The outer ends of the two shafts 31 are fixed to the center portion 30C of the rocker link 30. The two shafts 31 are each rotatably supported with respect to the vehicle body 20. The two shafts 31 are also connected to each other via a differential gear (not shown) within the main body 21. The differential gear determines the tilt angle in the fore-and-aft direction of the main body 21 based on the differential in rotation of the two shafts 31. For example, when one rocker link 30 tilts in the fore-and-aft direction relative to the other rocker link 30, the main body 21 tilts in the fore-and-aft direction by an angle that is half the tilt angle of the rocker link 30.

[0094] Next, the excellent effects of the embodiment shown in FIGS. 28 and 29 will be described. In this embodiment, the two rocker links 30 can be rotated (oscillated) independently. Therefore, even if the surface on which the wall-climbing vehicle runs is curved or uneven, the two first wheels 40A and the two second wheels 40B can be brought into contact with the running surface.

[0095] To ensure that all four wheels (two first wheels 40A and two second wheels 40B) come into contact with a curved or uneven riding surface, it is not necessary to provide the main body 21. For example, the two rocker links 30 may be directly connected by a single shaft so that the two rocker links 30 can swing relative to each other. In this case, the protrusion 22A and the auxiliary wheel 23A may be provided on either or both of the two rocker links 30.

[0096] Furthermore, the longitudinal tilt angle (pitch angle) of the main body 21 is intermediate between the longitudinal tilt angles of the two rocker links 30, so that the fluctuation in the longitudinal tilt angle of the main body 21 is smaller than the fluctuation in the longitudinal tilt angle of the two rocker links 30. Therefore, even when traveling on a traveling surface with significant unevenness, the pitching deflection angle of the main body 21 can be suppressed.

[0097] Next, other excellent effects of this embodiment will be described with reference to Figures 30 and 31. Figure 30 is a front view of the wall-climbing vehicle traveling on a concave wall surface 70. The wall surface 70 has a shape with a recess in the center when the wall-climbing vehicle is viewed from the front. Because the rotating body 41A of the first wheel 40A and the rotating body 41B of the second wheel 40B (Figure 28) are spherical, even if the wall surface 70 is curved, the rotating bodies 41A and 41B become approximately parallel at the contact points between the wall surface 70 and the wall surface 70. This allows the rotating bodies 41A and 41B to come into stable contact with the wall surface 70.

[0098] Furthermore, because the oscillating magnet 42A can also oscillate left and right when viewed from the front, its magnetic force changes the orientation of the oscillating magnet 42A so that it faces the contact point between the rotating body 41A and the wall surface 70. This increases the attraction force of the first wheel 40A to the wall surface 70. The same applies to the second wheel 40B (FIG. 28).

[0099] Similarly, even when the wall surface 70 has a convex shape when viewed from the front of the wall-mounted vehicle, the rotating bodies 41A and 41B can stably contact the wall surface 70, thereby increasing the attraction force.

[0100] 31 is a perspective view showing a wall surface in which a concave second surface 72 rises from a convex first surface 71. The wall-climbing vehicle of this embodiment can stably run on a curved running surface and can obtain a large attraction force, so it can move from the convex first surface 71 to the concave second surface 72 as shown in FIG. 31. Conversely, even if the first surface 71 is curved concavely and the second surface 72 is curved convexly, it can move from the first surface 71 to the second surface 72.

[0101] The wall-mounted crawler vehicle according to this embodiment can be used for various processing and inspection of steel structures at construction sites, as well as for various processing and inspection of the hulls of ships under construction or maintenance, and for various processing and inspection of steel structures such as large containers and large cranes.

[0102] The above-described embodiments are merely examples, and it goes without saying that partial substitution or combination of the configurations shown in different embodiments is possible. Similar effects resulting from similar configurations of multiple embodiments will not be mentioned sequentially for each embodiment. Furthermore, the present invention is not limited to the above-described embodiments. For example, it will be obvious to those skilled in the art that various modifications, improvements, combinations, etc. are possible. [Explanation of symbols]

[0103] 20 Body 21 Main Unit 22A, 22B protrusion 23A, 23B Auxiliary wheel (tip) 24A, 24B Contact Sensor 30 Rocker Link 30A Front part of rocker link 30B Rear part of rocker link 30C rocker link center 31 Shaft 40A 1st wheel 40B 2nd wheel 41A, 41B Rotating body 42A, 42B Oscillating magnet 43A, 43B axle 44A, 44B electromagnet 45A, 45B traction motor 46A, 46B Oscillating magnet attitude control motor 47A, 47B Electromagnet drive circuit 48A spindle 49A, 49B Auxiliary wheel motor 50 control section 70 Floor 71, 71A 1st page 72, 72A 2nd side 75 Payload

Claims

1. The car body and a first wheel and a second wheel attached to the vehicle body, capable of adhering to a surface with which they come into contact, and capable of switching between an adhering state and an adhering release state; a traction motor that rotates the first wheel and the second wheel; a control unit that switches each of the first wheel and the second wheel between an adsorption state and an adsorption release state and controls rotation of the first wheel and the second wheel; Equipped with the first wheel and the second wheel are attached at an interval in a traveling direction, which is a direction in which the vehicle body moves when the first wheel and the second wheel are rotated, The control unit a first running mode in which the vehicle runs on a first surface in a direction from the second wheel toward the first wheel; a second running mode in which, with the second wheel in contact with the first surface, the first wheel is set to a released state, the second wheel is set to a suction state, and, with the first wheel lifted up from the first surface, the second wheel is rotated and the vehicle runs until the first wheel comes into contact with a second surface rising from the first surface; Realize this, The vehicle body is a first tip portion protruding from the first wheel in a direction from the second wheel toward the first wheel; a first training wheel provided at the first tip portion; and A wall climbing vehicle in which a magnet is used for the first training wheel.

2. A wall-climbing vehicle as described in claim 1, wherein the control unit realizes the second driving mode when the first tip portion is in contact with the second surface.

3. A wall-climbing vehicle as described in claim 1 or 2, wherein the first auxiliary wheel is a passive wheel and is not actively driven to rotate.

4. The control unit further A wall-climbing vehicle as described in any one of claims 1 to 3, which realizes a third running mode in which the first wheel is set to an adhesive state when the first wheel is in contact with the second surface and the second wheel is in contact with the first surface, and the first wheel is rotated to run.

5. the vehicle body has a second tip portion that protrudes beyond the second wheel in a direction from the first wheel toward the second wheel, The control unit further A wall-climbing vehicle as described in any one of claims 1 to 4, which realizes a fourth running mode in which, when the second tip portion is in contact with the first surface and the first wheel is in contact with the second surface, the first wheel is set to an adsorption state, the second wheel is set to a non-adsorption state, and the first wheel is rotated to run while the second wheel is lifted off the first surface.

6. The wall-climbing vehicle according to claim 5, wherein the vehicle body has a second auxiliary wheel provided at the second tip portion.

7. The control unit further A wall-climbing vehicle as described in any one of claims 1 to 6, which realizes a wall-climbing mode in which the first wheel and the second wheel are both set to an adsorption state while in contact with the second surface, and the first wheel and the second wheel rotate to run.

Images