Inspection Robot Crawler Layout for Stable Travel in Narrow Generator Gaps
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Solution Overview
Problem
Conventional traveling apparatuses face challenges in downsizing and stable travel, particularly when encountering obstacles like grooves or protrusions, and require multiple pulleys for stable contact, leading to increased size and complexity.
Innovation Solution
An inspection robot design utilizing an endless-track traveling apparatus with two portions of the crawler belt making contact with the traveling surface, allowing both to engage simultaneously, enabling downsizing and stable travel even over uneven surfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the diameter of the wheel is increased to avoid contact with obstacles, then the stability of travel is improved, but the overall size of the traveling apparatus becomes larger and thickness reduction becomes difficult
Solution Approach 1:
The invention divides the contact function into multiple crawler belts instead of using a single large wheel. Each crawler belt independently contacts the travel surface, distributing the stability function across multiple smaller components rather than requiring one large wheel, thus maintaining stability while reducing overall apparatus size
Solution Approach 2:
The invention transitions from radial contact (wheel contacting surface from one direction) to bilateral contact (crawler belts contacting surface from both upper and lower sides). This dimensional change in contact approach allows smaller components to achieve the stability that would otherwise require larger radial dimensions
2Reliability
If multiple pulleys are provided to press the crawler belt to the travel surface for stable travel, then the stability of travel is improved, but the number of components increases and the traveling apparatus becomes upsized
Solution Approach 1:
The invention merges the functions of multiple pulleys into the crawler belt structure itself. The crawler belt integrates the contact surface and the pressing mechanism, eliminating the need for separate pulley components while maintaining the stable contact function
Solution Approach 2:
The crawler belt serves multiple functions simultaneously: it provides the contact surface with the travel surface, acts as the pressing mechanism through its bilateral contact configuration, and functions as the driving element. This multi-functionality eliminates the need for separate dedicated components like pulleys
3Length of stationary object
If a control box is disposed between front and rear wheels to reduce thickness, then the thickness of the traveling apparatus is reduced, but the bottom plain contacts the travel surface causing inability to travel or large vibration
Solution Approach 1:
The invention segments the thickness-reducing function from the control box placement to the crawler belt configuration. Instead of placing components between wheels and accepting bottom contact issues, the crawler belts themselves are configured to contact from both upper and lower sides, distributing the contact function and eliminating vibration problems while maintaining reduced thickness
Solution Approach 2:
The invention changes the contact dimension from bottom-only contact to bilateral contact (upper and lower sides). This allows the control box to be positioned without causing bottom plain contact issues, as the crawler belts provide contact from both directions, enabling thickness reduction without sacrificing travel capability
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
The design allows for a compact and stable travel of the inspection robot, capable of navigating narrow gaps and uneven terrain without increasing the size of the apparatus, facilitating effective inspection of electric power generators.
Implementation Method 1
a negative pressure is made to occur in a decompression chamber of a traveling body and hence a crawler belt made of a flexible member, wound over the front and rear pulleys, is pressed to the wall face so that traveling is performed
Data Source
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AI summary
There is provided a planar member having a flat portion that makes contact with the inner circumferential surface of an endless track at a position at a traveling subject side with respect to a virtual straight line that connects a vertex, at the traveling subject side, in the outer circumferential surface of a first pulley and a vertex, at the traveling subject side, in the outer circumferential surface of a second pulley.