JP5874661B2 - Wall traveling cart - Google Patents

Description

  The present invention relates to a wall surface traveling carriage that is attracted by a magnetic force and moves along a wall surface.

  For walls made of magnetic materials such as steel chimneys and outer walls of a blast furnace hot stove, use of a cart that runs on the wall while adsorbed by magnetic force, detects other cracks and the state of cracks, and other operations Has been done. If the wall surface of the work target is flat as a whole, the carriage can travel on the wall without difficulty and perform the prescribed work.However, depending on the chimney and the structure of the furnace and other conditions, there may be steps on the wall surface. This prevents the bogie from running smoothly.

  For this reason, the wall surface traveling apparatus which can get over a level | step difference as described in patent document 1 is provided. In this wall surface traveling device, a wheel is disposed at each apex of a triangle along the wall surface, and is substantially a tricycle carriage. In this carriage, a wall surface attracting magnetic force unit is disposed at the center of a triangle formed by three wheels, and auxiliary wall surface attracting magnetic force units are disposed at respective outer positions on the three sides of the triangle. The unit is placed in and out of the cylinder device with the wall facing the wall. Then, the front and rear wheels of the three wheels are switched between driving and driven, and the four magnetic units are individually switched between adsorption and release to overcome the step on the wall surface.

JP 2001-151169 A

However, in the one described in Patent Document 1, a mechanism for switching the front and rear wheels of the three wheels between driving and driven and four magnetic units in addition to the wheels are provided, and these are attracted and released. Since a mechanism for switching between the two is required, the structure and control are complicated.
SUMMARY OF THE INVENTION An object of the present invention is to obtain a wall traveling vehicle with a simplified structure and control.

  An aspect of the present invention is a wall surface traveling carriage that moves along a wall surface by magnetizing a magnetic adsorption wheel attached to the vehicle body so as to be able to roll on the wall surface, and behaves integrally therewith. A wheel push-up mechanism is provided on a vehicle body side member made of a member, and the wheel push-up mechanism is configured to detect that the magnetic adsorption wheel has approached or contacted the step in front of the rolling direction, and a wall surface at the time of detection of the detection unit. The wall traveling carriage is provided with a push-up member that protrudes toward the surface and pushes up the magnetic adsorption wheel in a direction away from the wall surface. Here, the vehicle body side member provided with the wheel push-up mechanism is a general term for the members that are not the vehicle body and the vehicle body but behave integrally with the vehicle body, and means that the magnetic adsorption wheel is excluded. For this reason, in this aspect, when the detection unit detects that the magnetic adsorption wheel has approached or contacted the step in front of the rolling direction, the push-up material protrudes toward the wall surface and pushes the vehicle body away from the wall surface. As a result, the approaching or contacting magnetic attraction wheel is also pushed up in the same direction. Therefore, the magnetic attracting wheel is separated from the wall surface, and at the same time the magnetic adhesion force to the wall surface is reduced, so that it is possible to ride on the stepped portion.

The detection unit is configured by a striker that is supported by the vehicle body side member so as to be capable of advancing and retreating in the rolling direction of the magnetic attraction wheel and biased toward the front in the rolling direction of the magnetic attraction wheel, and the striker It is preferable to interpose a movement direction conversion mechanism for converting the backward movement of the striker into the protruding movement of the push-up material between the push-up material. Thereby, the magnetic adsorption | suction wheel can be pushed up from a wall surface, without using other motive power using the force which a driving | running | working trolley drive | works.
The movement direction conversion mechanism is connected to the advancing / retreating member that moves forward / backward with respect to the rolling direction of the magnetic attraction wheel in conjunction with the movement of the striker, and is connected to the advancing / retreating member and the push-up member. It can also consist of an inclined link which changes an angle in the direction approaching a right angle with respect to a magnetic body wall surface.

  Further, the movement direction conversion mechanism is further provided with an auxiliary link, and the auxiliary link is connected to the advance / retreat member and the vehicle body side member, and the connection position of the vehicle body side member is farther from the wall surface than the advance / retreat member. It is assumed that the angle changes in a direction approaching a right angle with respect to the magnetic wall surface by retreating the advancing / retreating member, and the push-up material is projected by the angle change of the auxiliary link in addition to the angle change of the inclined link. Good. In this case, the distance between the free ends of each link changes due to the change in the angle of refraction of the links refracted in a “<” shape by the inclined link and the auxiliary link, and the push-up material protrudes by the difference of the distance. Move to either side of the retract side.

Further, the wheel push-up mechanism may be provided for each magnetic adsorption wheel, and the push-up material may be provided at a position perpendicular to the axis of the axle with the push-up material facing the side surface of the magnetic adsorption wheel. Thereby, the push-up material can effectively push up the magnetic adsorption wheel.
Furthermore, the striker and the reciprocating member and the tilt links and the set of the auxiliary link are respectively provided in the front-rear symmetrical with respect to the center of the magnetic attraction wheels, set by Pantagura off mechanism set and the auxiliary link of the tilt links It is good to configure. As a result, it is possible to get over the step with respect to the movement of the wall traveling cart in both the front and rear directions.

The push-up member may be attached to an actuator that protrudes toward the wall surface by magnetic force, spring force, or fluid pressure, and the detection unit may be configured by switches that operate during the detection to activate the actuator.
In addition, the magnetic adsorption wheels are arranged at three positions on the front, middle, and rear in the front-rear direction of the vehicle body, and the vehicle body is aligned with the vehicle body body and the axis thereof in the same direction and in the middle on the wall surface. The swinging vehicle body is pivotally mounted so as to be able to swing in the approaching direction and the direction away from the wall surface, and at the front and rear ends of the swinging vehicle body, either one of the front and rear stages and the middle magnetic adsorption wheel are disposed, It is good to arrange | position the magnetic adsorption | suction wheel of the other above in the front-and-rear stage to a vehicle body main body. By this. Even if one of the front, middle, and rear magnetic attraction wheels is pushed up from the wall surface, since the other magnetic attraction wheels are magnetically attached to the wall surface, the carriage does not leave the wall surface.

  For this reason, it is possible to obtain a wall surface traveling trolley in which the structure and control for overcoming the stepped portion of the wall surface are simplified.

The side view which shows 1st Embodiment. The front view of FIG. The principal part enlarged view in FIG. (A)-(d) is explanatory drawing which shows the behavior of the wheel of FIG. Explanatory drawing which shows the modification of 1st Embodiment. The side view which shows 2nd Embodiment.

1 and 2 show a first embodiment, and an entire wall traveling cart that is moving forward with a vertical wall surface W facing upward is shown as a schematic view. The wall surface W is the surface of a wall made of a magnetic material such as a steel chimney or the outer wall of a blast furnace hot stove.
In view of this, the wall traveling cart is the front in FIGS. 1 and 2 and the rear is the rear. The vehicle body 1 includes a vehicle body 11 and a swinging vehicle body 12 pivotally attached to a vertical portion 11a that forms a part of the vehicle body 11 at the front end thereof. The oscillating vehicle body 12 is pivotally attached so that the axis is oriented in the same direction as the vehicle body 11 and is pivoted in the direction approaching the wall surface W by the pivot 2 and away from the wall surface W in the middle. The oscillating vehicle body 12 is composed of left and right members 12 a and 12 b connected by a pivot 2.

  Left and right magnetic adsorption wheels 4 (front wheels 4a) are mounted on the front end of the swinging vehicle body 12, specifically on the left and right outer sides of the front ends of the left and right members 12a and 12b via axles 3 (3a). In addition, left and right magnetic adsorption wheels 4 (middle wheels 4b) are mounted on the rear ends of the swinging vehicle body 12, that is, the left and right outer sides of the rear ends of the left and right members 12a and 12b via axles 3 (3b). Furthermore, left and right magnetic adsorption wheels 4 (rear wheels 4c) are mounted on the left and right outer sides at the rear end of the vehicle body 11 via axles 3 (3c). Here, when distinguishing the front, middle, and rear of the axle 3, the reference numerals of the axles 3a, 3b, and 3c are attached, and when the description is made without making the distinction, the reference numeral of the axle 3 is simply attached. Similarly, the magnetic attraction wheel 4 is also given the reference numerals of the magnetic attraction wheels 4a, 4b, 4c when distinguishing the front, middle and rear, and simply the reference numeral of the magnetic attraction wheel 4 when explaining without making the distinction. . The magnetic adsorption wheels 4, 4a, 4b, and 4c may be simply referred to as wheels. The wheel 4 has at least an outer periphery made of a permanent magnet or an electromagnet, and is attracted to the wall surface W by its magnetic force to maintain and run the vehicle body 1 on the wall surface W.

  In this embodiment, each axle 3 is fixed to the vehicle body 1, and wheels 4 are rotatably mounted on the axle 3. The wheels 4 are driven to rotate relative to the vehicle body 1 and the axle 3 by means (not shown). Shall be. As the rotational drive means, for example, a conventional means for driving the wheels 4 without transmitting power to the axle 3 is used, such as attaching a drive motor to each wheel 4 to drive all wheels. To do. Since the power transmission means to the wheel 4 is not a main part of the present invention, detailed description thereof is omitted. The axle 3b is continuous between the left and right members 12a and 12b forming the swinging vehicle body 12, and the axle 3b is fixed between the left and right members 12a and 12b together with the pivot 2.

  A circular plate 5 is fixed to each axle 3 with a gap from the outer surface of the wheel 4. Since the plate 5 has a diameter smaller than that of the wheel 4, the plate 5 does not come into contact with the wall surface W, and behaves in the same manner as the vehicle body 11 or the swinging vehicle body 12 together with the non-rotating axle 3. Therefore, the axle 3 and the plate 5 together with the vehicle body 1 constitute a vehicle body side member referred to in the present invention.

  A guide member 62 that slides and guides the advance / retreat member 61 in the front-rear direction parallel to the wall surface W is mounted on the plate 5 constituting the vehicle body side member, as shown in particular in FIG. The advancing / retracting member 61 has a rod shape, and a striker 7 that protrudes outward from the outer periphery of the wheel 4 is attached to the tip thereof. The striker 7 forms a detection unit in which the wheel 4 detects the approach or contact of the wall surface W to the step portion D. The striker 7 and the advance / retreat member 61 are biased by a spring 63 in a direction in which the striker 7 protrudes from the outer periphery of the wheel 4.

  A guide member 64 that slides and guides the push-up material 8 protruding toward the wall surface W in a direction perpendicular to the wall surface W is fixed to the plate 5. When viewed from the side of the wheel 4, the push-up member 8 protrudes from the outer periphery of the wheel 4 toward the wall surface W, so that the vehicle body side member such as the plate 5 and the wheel 4 attached to the vehicle body 1 are separated from the wall surface W. The member is pushed up in the direction of leaving, and in this embodiment, has a rod shape that faces in a direction perpendicular to the wall surface W. The push-up material 8 is at a position facing the side surface of the wheel 4, and its axis is at a position orthogonal to the axis of the axle 3.

  An inclined link 65 is connected between the rear end of the advance / retreat member 61 and the rear end of the push-up member 8. The inclined link 65 is arranged so that the angle changes in a direction approaching a right angle with respect to the wall surface W when the advance / retreat member 61 moves backward against the bias of the spring 63. An auxiliary link 66 is also connected between the rear end of the advancing / retracting member 61 and the axle 3 forming the vehicle body member. The connecting position of the auxiliary link 66 with the vehicle body side member may be the plate 5 instead of the axle 3, but the connecting position is a position farther from the wall surface W than the advance / retreat member 62. Then, it is assumed that the angle changes in a direction approaching a right angle with respect to the wall surface W by the retreat of the advance / retreat member 62. To make it protrude.

  Here, due to the angle change of the auxiliary link 66, the advance / retreat member 61 is inclined in the direction in which the rear end of the advance / retreat member 61 moves to the wall surface W side. For this reason, in addition to the protruding amount of the push-up member 8 due to the change in the angle of the inclined link 65, the entire inclined link 65 moves to the wall surface W side due to the inclination of the advance / retreat member 61 by the auxiliary link 66. Will increase. Further, the guide member 62 may be changed in posture so as to allow the inclination of the advance / retreat member 61.

The backward movement of the striker 7 is converted into the protruding movement of the push-up member 8 by the advance / retreat member 61, the guide member 62 for guiding it, the spring 63, the guide member 64, the inclined link 65, and the auxiliary link 66. The moving direction conversion mechanism 6 is configured.
In addition, a striker 7 is disposed behind the wheel 4 so as to be forward in the rolling direction when the vehicle body 1 moves backward, and the movement direction conversion mechanism 6 is also configured between the striker 7 and the push-up material 8. Thus, two motion direction conversion mechanisms 6 that are symmetrical with respect to one wheel 4 are provided. Accordingly, the pantograph mechanism P is configured by two sets of links, that is, the inclined link 65 and the auxiliary link 66.

  Next, the movement of the wheel 4 over the stepped portion D of the wall surface W will be described. First, the height of the step portion D is a dimension equal to or smaller than the radius of the wheel 4. This is because if the height exceeds the radius, the wheel 4 cannot get over the radius. Moreover, it is not necessary to rely on this invention in the case of the step part which can get over even if there is no push-up function of the pushing-up material 8, such as a slight protrusion from the wall surface W. Therefore, the height of the step portion D is a height that is equal to or less than the radius of the wheel 4 and cannot be overcome unless the push-up material 8 is pushed up.

  As the vehicle body 1 moves forward, the wheel 4 approaches the stepped portion D (FIG. 4A), and then the striker 7 as a detecting portion protruding forward from the outer surface of the wheel 4 comes into contact with the stepped portion D and advances as it is. The striker 7 moves backward relative to the bias of the spring 63. Here, the striker 7 on the front side of the wheel 4 and the movement direction converting mechanism 6 on the front side continuous thereto operate to cause the push-up material 8 to protrude. That is, the advance / retreat member 61 is also retracted integrally with the striker 7 and the angles of the inclined link 65 and the auxiliary link 66 are inclined in a direction approaching a right angle with respect to the wall surface W. Then, the links 65 and 66 project the push-up material 8 toward the wall surface W with respect to the vehicle body side member such as the axle 3 and push up the vehicle body side member such as the axle 3 from the wall surface W. For this reason, since the wheel 4 is pushed up from the wall surface W together with the vehicle body side member and floats (in the direction of arrow A in FIG. 4B), the magnetizing force of the wheel 4 on the wall surface W is rapidly reduced.

  On the other hand, since the other wheels 4 that are not in contact with the stepped portion D are magnetically attached to the wall surface W and rotate and have a propulsive force, the vehicle body 1 continues to advance. For this reason, even if the wheel 4 that has come up from the wall surface W in contact with the step portion D has no forward driving force, the direction determined by the propulsive force of other wheels and the contact between the step portion D and the wheel 4 (FIG. 4 ( The wheel 4 rides on the step D by the direction of arrow B in c).

  Next, the wheel 4 continues to ride on the stepped portion D, and when the striker 7 passes the stepped portion D, the wheel 4 is in direct contact with the stepped portion D and magnetized, and the driving force by the wheel 4 is also obtained. The striker 7 in this state is in a state in which the striker 7 protrudes forward again by the urging force of the spring 63 of the movement direction conversion mechanism 6, and therefore the push-up member 8 is in a retracted state. Here, the ride is in the final stage, and the traveling angle of the wheel 4 is slow (in the direction of arrow C in FIG. 4D). Thereafter, the wheel 4 shifts to a new wall surface over the step portion D and continues to advance. Then, when the subsequent wheel 4 reaches the step portion D, it can travel over the uneven wall surface W and perform a predetermined inspection or the like.

Here, the vehicle body 1 is composed of a vehicle body 11 and a swinging vehicle body 12 pivotally attached to the vehicle body 11, and the wheels have three stages, front, middle, and rear. Even if it is separated from the wall surface W, since it is magnetically attached to the wall surface W in the other two stages, stable wall surface travel is possible.
Although the vehicle body 1 has been described as having a simple configuration as shown in the figure, the equipment mounted on the vehicle body 1 is determined depending on the purpose of wall travel, so that the shape of the vehicle body 1 and the like changes depending on the conditions such as the load. Is. In the above embodiment, the striker 7 is disposed in front of and behind the wheel 4. However, the rearward direction change mechanism 6 can be omitted if the vehicle body 1 does not move backward. In the movement direction conversion mechanism 6, the auxiliary link 66 can be omitted and the push-up member 8 can be protruded by the movement of only the inclined link 65. In this case, the guide member 62 is preferably fixed to the plate 5 so that the posture of the advance / retreat member 61 does not change during advance / retreat. By doing so, the advance / retreat movement of the advance / retreat member 61 is efficiently converted into the advance / retreat movement of the push-up member 8.

According to the first embodiment, the vehicle body side member and the wheel 4 are pushed up from the wall surface W by using the force by which the vehicle body 1 moves forward. Therefore, special power and special control are not required when getting over the steps.
FIG. 5 shows a modification of the first embodiment, in order to reduce the frictional resistance between the push-up material 8 and the wall surface W by rotatably mounting a roller 8a on the tip of the push-up material 8. belongs to.
FIG. 6 shows the second embodiment, and a vehicle body (not shown) and the wheels 4 and the plates 5 attached thereto are the same as those in the first embodiment. Further, the striker 7, the advance / retreat member 61, the guide The member 62, the spring 63, the push-up material 8, the roller 8a, and the wall surface W are the same as in the first embodiment.

  In the second embodiment, the push-up material 8 is attached to the actuator 13, and the push-up material 8 appears and disappears toward the wall surface W by the power of the actuator 13. Further, a switch 14 such as a limit switch is provided facing the advancing / retreating path of the advancing / retreating member 61 to constitute a detection unit that detects the retreating of the advancing / retreating member 61. A controller 15 that controls the actuator 13 is connected to the switches 14 and the actuator 13 so as to perform an operation for causing the push-up member 8 to project when the switches 14 detect the backward movement of the advance / retreat member 61. . The control device 15 is attached to any one of the vehicle body side members.

As the actuator 13, any conventionally used device can be used as long as the push-up material 8 can be advanced and retracted toward the wall surface W. For example, the push-up member 8 is connected to a piston of a cylinder that is operated by air pressure or hydraulic pressure, or the push-up member 8 is connected to a plunger of an electromagnetic switching device that is advanced and retracted by switching of magnetic force and a spring. Other configurations and operations are the same as those in the first embodiment.
As described above, in these embodiments, when the wheel 4 approaches or comes into contact with the stepped portion D, the push-up member 8 protrudes toward the wall surface W to float the wheel 4 from the wall surface W and weaken the magnetic adhesion force of the wheel. The wheel 4 can easily ride on the step D by the propulsive force of the other wheel 4 without requiring a complicated device and control.

DESCRIPTION OF SYMBOLS 1 Car body 11 Car body 12 Swing car body 2 Pivot 3 Axle 4 Magnetic adsorption wheel 5 Plate 6 Motion direction conversion mechanism 61 Advance / retreat member 62 Guide member 63 Spring 64 Guide member 65 Inclined link 66 Auxiliary link 7 Striker 8 Push-up material D Step part P Pantograph mechanism W

Claims (8)

  A wall surface traveling carriage that magnetizes magnetically adsorbing wheels attached to a vehicle body so as to be able to roll on the wall surface and moves along the wall surface. A push-up mechanism is provided, and the wheel push-up mechanism includes a detection unit that detects that the magnetic adsorption wheel has approached or contacted the step in front of the rolling direction, and protrudes toward the wall surface when detecting the detection unit. A wall traveling cart comprising a push-up member that pushes up a wheel in a direction away from the wall surface.   The detection unit is configured by a striker that is supported by the vehicle body side member so as to be capable of advancing and retreating in the rolling direction of the magnetic attraction wheel and biased toward the front in the rolling direction of the magnetic attraction wheel, and the striker 2. The wall traveling cart according to claim 1, wherein a movement direction conversion mechanism for converting a backward movement of the striker into a protruding movement of the lifting material is interposed between the lifting material and the lifting material.   The movement direction conversion mechanism includes a forward / backward member that moves forward and backward in relation to the rolling direction of the magnetic attraction wheel in conjunction with the movement of the striker, and a magnetic body that is connected to the forward / backward member and the push-up member and moves backward and forward. The wall traveling vehicle according to claim 2, comprising an inclined link that changes an angle in a direction approaching a right angle to the wall surface.   The movement direction conversion mechanism is further provided with an auxiliary link, and this auxiliary link is connected to the advance / retreat member and the vehicle body side member, and the connection position of the vehicle body side member is farther from the wall surface than the advance / retreat member. The push-up member is projected by changing the angle of the auxiliary link in addition to changing the angle of the inclined link, as the angle changes in a direction approaching a right angle with respect to the magnetic wall surface by retreating the advance / retreat member. The wall traveling cart according to claim 3.   The wheel push-up mechanism is provided for each magnetic adsorption wheel, and the push-up material is provided at a position perpendicular to the axis of the axle with the push-up material facing the side surface of the magnetic adsorption wheel. The wall traveling cart according to any one of 4. The striker and the set of the reciprocating member and the tilt links the auxiliary link are respectively provided in the front-rear symmetrical with respect to the center of the magnetic attraction wheel, constituting the Pantagura off mechanism by a set of pairs and the auxiliary link of the tilt links The wall surface traveling vehicle according to claim 4, wherein the vehicle is a wall traveling vehicle.   The push-up member is attached to an actuator that protrudes toward the wall surface by magnetic force, spring force, or fluid pressure, and the detection unit is configured by switches that operate at the time of the detection to operate the actuator. The wall traveling vehicle according to claim 1.   The magnetic attraction wheels are arranged at the front, middle, and rear three positions in the front-rear direction of the vehicle body, and the vehicle body and the vehicle body are oriented in the same direction with the axis line in the same direction and approach the wall surface in the middle. And a swinging vehicle body pivotably mounted in a direction away from the wall surface, and one of the front and rear stages and a middle magnetic adsorption wheel are disposed at the front and rear ends of the swinging vehicle body, and the body body The wall traveling vehicle according to any one of claims 1 to 7, wherein a magnetic adsorption wheel on the other side of the front and rear stages is arranged.

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