Endless Track Traveling Device for Generator Inspection Robot
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Solution Overview
Problem
Existing traveling apparatuses face challenges in reducing size and thickness while maintaining stable contact with obstacles, such as grooves, and detecting small projections and recesses, leading to increased size and vibration issues.
Innovation Solution
An endless-track traveling apparatus with parallel pulleys, a magnet for attraction, an elastic member to press the crawler belt against the traveling target, and sensors to detect expansion and contraction, allowing for reduced size and suppressed vibration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the diameter of wheels is increased to avoid contact with obstacles, then the stability of travel is improved, but the size of the traveling apparatus increases
Solution Approach 1:
The patent replaces the mechanical wheel system with an endless track system that uses magnetic attraction forces. Instead of relying on large wheel diameters to bridge obstacles, the crawler belt with magnetic attraction can conform to and traverse over obstacles of various sizes while maintaining stable contact, thus achieving reliability without increasing the overall apparatus size.
Solution Approach 2:
The patent changes the fundamental parameter of contact from discrete point contact (wheels) to continuous line contact (endless track). The endless track can adapt its shape to conform to obstacles, changing the geometric parameters of contact to maintain stability without requiring larger dimensions.
2Reliability
If multiple pulleys are added to ensure stable contact of crawler belt, then the reliability of contact is improved, but the device complexity increases
Solution Approach 1:
The patent extracts and eliminates the need for multiple support pulleys by using magnetic attraction force applied directly to the traveling target. The magnetic force pulls the crawler belt against the target surface, providing stable contact without requiring additional pulley components to maintain belt tension and contact.
Solution Approach 2:
The single pulley system combined with magnetic attraction performs multiple functions: it drives the crawler belt while the magnetic force ensures continuous contact with the traveling target. This multi-functional approach replaces the need for multiple specialized pulleys, reducing device complexity while maintaining reliability.
3Reliability
If a decompression chamber is used to press crawler belt against traveling target, then the contact stability is improved, but the device complexity and size increase
Solution Approach 1:
The patent replaces the complex pneumatic decompression chamber system with a magnetic attraction mechanism. The magnetic force directly pulls the crawler belt against the traveling target, achieving contact stability through a simpler electromagnetic field-based system rather than a mechanical pneumatic system.
Solution Approach 2:
The patent changes the pressing mechanism from pneumatic pressure (gas pressure differential) to magnetic attraction force. This parameter change eliminates the need for decompression chambers and complex pneumatic components, reducing device complexity while maintaining the ability to press the crawler belt stably against the traveling target.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables smooth travel with suppressed vibration over obstacles and precise detection of surface conditions, maintaining stable contact without increasing the apparatus's size.
Implementation Method 1
a magnet fixed in the casing to attract the traveling target
Implementation Method 2
an elastic member having one end in contact with an inside of the casing and another end in contact with the plate-shaped member, and urging the plate-shaped member in such a direction as to press the plate-shaped member against the endless track
Data Source
Figure 1
Figure 2
Figure 3
AI summary
An endless-track traveling apparatus (2) includes a casing (8), pulleys having axes arranged in parallel in the casing, a motor for driving the pulleys, and an endless track wound on outer circumferential surface portions of the pulleys to rotate together with the pulleys and move on a traveling target. The endless-track traveling apparatus further includes: a plate-shaped member disposed in contact with the endless track and opposed to the traveling target in a space surrounded by the endless track, and fitted in the casing (8); a magnet (10) fixed in the casing (8) to attract the traveling target; and an elastic member having one end in contact with an inside of the casing (8) and another end in contact with the plate-shaped member, and urging the plate-shaped member in such a direction as to press the plate-shaped member against the endless track.