JP2013177112A - Wheel for magnetic body moving vehicle and magnetic body moving vehicle - Google Patents

Abstract

There is provided a wheel for a magnetic mobile vehicle capable of traveling while attracting a magnetic force continuously to the surface regardless of the surface shape of the magnetic structure.
A magnetic vehicle wheel 10 provided in a magnetic vehicle that travels while adsorbing to a structure made of a magnetic material transmits a rotation of an axle to a magnet group 110 including a plurality of magnets and a central portion. Structure of a magnet holding portion 120 that holds a magnet group and a magnet holding portion 120 that holds the magnet group in a state of being arranged at least along the circumferential direction. And a friction portion 130 made of a friction member that covers a contact surface with an object and generates friction with the structure.
[Selection] Figure 2

Description

  The present invention relates to a magnetic vehicle wheel provided in a magnetic vehicle that is attracted to a structure made of a magnetic material and travels, and a magnetic vehicle including the same.

  In nuclear power plants, thermal power plants, chemical plants, steel plants, various tanks, ships, etc., it is necessary to inspect the maintenance status of equipment and perform repair work as necessary. However, if the site where the repair work is performed is, for example, very uneven, steeply inclined, narrow, or high, it is difficult for the operator to approach and the work is performed efficiently. I can't. Further, depending on the work site, the worker may not be able to approach the work site from the viewpoint of safety.

  Therefore, in recent years, there has been proposed a magnetic body moving vehicle that is equipped with a work device and can travel while adsorbed on a road surface of a magnetic body structure made of a magnetic body. For example, in Patent Document 1, there are five or more body nodes that are rigid bodies arranged in parallel in the traveling direction of the vehicle, and four support shafts that support each body node so that it can be folded and unfolded with respect to the adjacent body node. , And a magnetic body moving vehicle constituted by six or more wheels having a magnetic force and having an axle rotatably supported with respect to the vehicle main body.

  The four or more support shafts arranged between the front end wheel and the rear end wheel of the magnetic mobile vehicle described in Patent Document 1 are arranged between the wheels on the outside of the wheel in the axial direction view. 1 and a second support shaft disposed inside the wheel. The second support shaft is a wheel other than the foremost wheel and the rearmost wheel (hereinafter referred to as the center wheel) as viewed in the axle direction. Two axles are provided on the inner side of the wheel), and the axles are provided at the foremost vehicle body node, the rearmost vehicle body node, and the vehicle body node between the second spindles arranged inside the same wheel. By adopting such a configuration, the magnetic vehicle can be stably mounted on the surface of the magnetic body having a steep inclination or on the surface of the magnetic body that is a sharply entering or exiting corner with the magnetic body moving vehicle adsorbed to the magnetic body. Can travel smoothly.

JP 2008-12947 A

  The surface (road surface) of a magnetic structure such as a steel structure has a curved surface, but most have a concavo-convex structure in which a rib plate is attached to a flat surface. In order to continuously inspect and photograph the surface of the magnetic structure, a magnetic mobile vehicle capable of magnetically adsorbing these irregularities, vertical surface, and bottom surface is effective. However, when passing through the corners of the structure such as the entrance corner and the exit corner, there is a case where the adsorption running becomes difficult due to a decrease in magnetic attraction force and a reduction in friction coefficient.

  For example, in an endless track such as a crawler, it is possible to obtain a large suction area with respect to the road surface, and a high suction force can be expected. However, if each track plate constituting the endless track is made of a rigid magnet, for example, it travels on the projecting portion of the magnetic structure where the end surface of the protruding structure, that is, the end face of the bolt or rivet is aligned, for example. In this case, the contact between the endless track and the magnetic structure is a point contact. In addition, since the shoeboard is a rigid body, the number of contact points is limited and reduced, and the attractive force to the magnetic body structure when the magnetic body moving vehicle passes through the protrusion is insufficient.

  Therefore, the present invention has been made in view of the above problems, and an object of the present invention is to travel by attracting magnetic force continuously to the surface regardless of the surface shape of the magnetic structure. It is an object of the present invention to provide a new and improved magnetic vehicle wheel and a magnetic vehicle including the same.

  In order to solve the above problems, according to an aspect of the present invention, there is provided a wheel for a magnetic vehicle that is provided in a magnetic vehicle that travels while adsorbing to a structure made of a magnetic material. Such a wheel is composed of a magnet group composed of a plurality of magnets and an annular flexible member provided with a wheel for transmitting the rotation of the axle at the center, and the magnets constituting the magnet group are arranged at least in the circumferential direction. A magnet holding part that holds the magnet group in a state, and a friction part that is made of a friction member that covers a contact surface of the magnet holding part that holds the magnet group with the structure and causes friction between the magnet and the structure. It is characterized by.

  A plurality of magnets constituting the magnet group may be arranged in the width direction parallel to the wheel axle.

  Further, the magnets constituting the magnet group are arranged so that the polarities of the magnets adjacent to each other in the width direction are reversed with the radial direction of the wheel as the magnetic pole direction, and the magnet holding portion is interposed between the magnets. A magnetic elastic body and a nonmagnetic hard sphere embedded in the nonmagnetic elastic body and maintaining the interval between the magnets may be provided.

  Moreover, the magnet holding | maintenance part may be equipped with the cyclic | annular flexible magnetic permeability member which transmits the magnetic force of each magnet mutually on the center part side.

  In addition, the magnet holding part may include a sliding part that allows movement of each magnet relative to the flexible magnetic member between each magnet and the flexible magnetic member.

  Moreover, the magnet which comprises a magnet group may be evenly arrange | positioned in the width direction.

  Further, at least eight magnets constituting the magnet group may be arranged at equal intervals in the circumferential direction.

  Furthermore, the magnet holding part may be provided with a plurality of recesses in which the respective magnets are housed on the contact surface side with the structure.

  The friction part can be formed from any one of rubber, silicon, or silicon gel.

  In order to solve the above-described problem, according to another aspect of the present invention, four or more vehicle body nodes arranged in parallel in the traveling direction of the vehicle and a vehicle body node that can be bent with respect to adjacent vehicle body nodes. Three or more supporting shafts to be supported, at least three or more pairs of wheels provided on an axle orthogonal to the traveling direction of the vehicle, which are provided so that the vehicle body section can be bent on the supporting shafts, and wheels that drive the wheels Each wheel is composed of a magnet group composed of a plurality of magnets and an annular flexible member provided with a wheel for transmitting the rotation of the axle at the center, and at least a magnet constituting the magnet group It consists of a friction member that covers the contact surface with the structure of the magnet holding part that holds the magnets arranged in the circumferential direction and the magnet holding part that holds the magnet group, and generates friction between the structure and the structure. And a magnetic material moving vehicle comprising a friction part. It is provided.

  As described above, according to the present invention, there is provided a wheel for a magnetic body moving vehicle that can travel while attracting a magnetic force continuously to the surface regardless of the surface shape of the magnetic body structure, and the same. A magnetic vehicle can be provided.

It is a schematic perspective view which shows the magnetic body moving vehicle which concerns on the 1st Embodiment of this invention. It is a disassembled perspective view which shows the structure of the wheel provided in the magnetic body moving vehicle which concerns on the same embodiment. It is a disassembled perspective view which shows the structure of the wheel provided in the magnetic body moving vehicle which concerns on the 2nd Embodiment of this invention. It is a typical width direction sectional view of the wheel concerning the embodiment. It is a fragmentary perspective view which shows the more detailed structure of the wheel which concerns on the embodiment. It is a typical circumferential sectional view of a wheel concerning the embodiment.

  Exemplary embodiments of the present invention will be described below in detail with reference to the accompanying drawings. In addition, in this specification and drawing, about the component which has the substantially same function structure, duplication description is abbreviate | omitted by attaching | subjecting the same code | symbol.

<1. First Embodiment>
(1-1. Configuration of a magnetic vehicle)
First, with reference to FIG. 1, a schematic configuration of a magnetic mobile vehicle 10 according to a first embodiment of the present invention will be described. FIG. 1 is a schematic perspective view showing a magnetic vehicle 10 according to the present embodiment. In FIG. 1, some components are omitted from the wheel 100b. In FIG. 1, the vertical direction in FIG. 1 is the gravitational direction, and the xyz coordinates are the coordinates of the magnetic vehicle 10. FIG. 1 shows a state where the y direction of the magnetic body moving vehicle 10 substantially coincides with the direction of gravity (that is, the side surface traveling state of the magnetic body structure 5).

  A magnetic traveling vehicle 10 according to the present embodiment has six wheels 100a to 100f provided with a magnet group composed of a plurality of magnets, and travels on the magnetic body while being attracted to the magnetic structure 5. It is. As shown in FIG. 1, the magnetic mobile vehicle 10 includes a vehicle body formed by connecting four vehicle body nodes 12a to 12d, and a connection direction (x direction) of the vehicle body nodes 12a to 12d on the side of the vehicle body. And three pairs of wheels 100a to 100f arranged in the same manner.

  The vehicle body sections 12a to 12d are rigid bodies that constitute the base of the vehicle. As shown in FIG. 1, the vehicle body sections 12a to 12d are juxtaposed in the vehicle traveling direction (x direction) so that the bottom surfaces of the vehicle body sections 12a to 12d are flush with the vehicle placed on a horizontal plane. Is done. The vehicle body sections 12a to 12d are connected by a support shaft (not shown) extending in the y direction. The number of support shafts is one less than the number of vehicle body nodes, and in this embodiment, three support shafts are provided. The support shaft rotatably supports the adjacent vehicle body sections 12a to 12d. Accordingly, the vehicle body sections 12a to 12d connected by the support shaft can be relatively rotated around the support shaft. Thereby, the magnetic body moving vehicle 10 can bend the vehicle body. Although not shown in FIG. 1, a rotation restricting member that restricts the relative rotation range of the vehicle body sections 12 a to 12 d connected by the support shaft may be provided.

  The wheels 100 a to 100 f are elastic wheels having a magnetic force for adsorbing to the magnetic structure 5. As shown in FIG. 2, each wheel 100a-100f consists of the magnet group 110 which consists of the several magnet 112, and the cyclic | annular flexible member, and makes each magnet 112 which comprises the magnet group 110 to the circumferential direction and the width direction. The magnet holding part 120 that holds the arrayed state and the magnet holding part 120 that holds the magnet group 112 cover the contact surface with the magnetic body structure 5, and causes friction between the magnetic body structure 5. And a friction part 130 made of a friction member.

  The magnet 112 constituting the magnet group 110 is a permanent magnet made of, for example, a rare earth magnet. The magnets 112 according to the present embodiment are all plate-shaped having the same size, shape, and characteristics, but the present invention is not limited to such examples. For example, magnets 112 having different sizes, shapes, and characteristics may be used depending on the shape of the wheel 100 and the state of the road surface on which the magnetic vehicle 10 including the wheel 100 travels. For example, when it is desired to deform the wheel 100 so as to have a shape substantially similar to the road surface shape, the size of the magnet 112 may be reduced to provide flexibility. At this time, it is preferable to adjust the number of magnets and their characteristics so as to ensure a sufficient attractive force to the magnetic structure 5.

  The magnets 112 are housed in the plurality of recesses 122 formed in the magnet holding part 120, respectively. Moreover, the magnet holding | maintenance part 120 is formed from the flexible member. Thereby, the position of each magnet 112 can be freely changed within a deformable range of the magnet holding portion 120 while maintaining a three-dimensional distance between the magnets 112. In other words, the magnet holding unit 120 holds each magnet group 112 so that the relative position does not change in the circumferential direction and the width direction, and holds each magnet 112 movably in the radial direction due to its elasticity. . Such a magnet holder 120 is desirably formed of a material having high flexibility and a small volume change due to temperature or the like, such as rubber, silicon, or silicon gel.

  A state where the magnet 112 is housed in the recess 122 of the magnet holding unit 120 is shown in the wheel 100b of FIG. The concave portion 122 of the magnet holding portion 120 and the first wall portion 124a provided along the width direction of the magnet holding portion 120 on the side facing the road surface of the magnetic body structure 5 (that is, the outer peripheral surface side). It is a space formed by the wall portion 124 including the second wall portion 124b provided along the direction. The height of the wall portion 124 (the length in the radial direction of the wheel 100) is formed, for example, approximately the same as the height of the magnet 112 accommodated in the recess 122. Thereby, the contact surface of the wheel 100 which contacts the magnetic body structure 5 can be made smooth.

  The magnet holding part 120 shown in FIG. 2 includes 20 first wall parts 124a and two second wall parts 124b. Therefore, the magnet holding unit 120 can accommodate three magnets 112 in the width direction of the wheel 100 and twenty magnets 112 in the circumferential direction. Of course, the number and arrangement of the magnets 112 provided on the wheel 100 are not limited to the example shown in FIG. The wheel 100 according to the present embodiment only needs to be provided with a magnet 112 so that the wheel 100 can reliably contact the magnetic structure 5 and the surface shape of the wheel 100 can be deformed. It is sufficient to provide at least one magnet 112 in the width direction and at least eight magnets 112 in the circumferential direction.

  Here, considering the case where an annular magnet is used for the wheels 100a to 100f, the distance between the center of rotation and the traveling surface is always constant even when the wheels are rotated. On the other hand, if it divides | segments and polygonal like the magnet group 110 which concerns on this embodiment, the geometric distance of a driving | running | working surface and a wheel center will fluctuate | variate at the time of rotation driving of a wheel. When the number of divisions of the magnet in the circumferential direction is n, the ratio between the fluctuation distance Δh and the radius (that is, a constant distance) r of the circular magnet is expressed by the following formula 1.

  Δh / r = 1−cos (π / n) (Formula 1)

  The fluctuation distance Δh is proportional to unnecessary vertical movement of the vehicle body and fluctuations in the attractive force when the attractive magnet is replaced. In order to reduce the fluctuation ratio (Δh / r), it is better to increase the number of divisions n. However, if the number of divisions is increased too much and the size of the magnet 112 is reduced, the ratio of the gaps between the magnets increases, and the average There is concern about a decrease in adsorption power. In addition, since the thickness of the magnet 112 in the radial direction is about 10 to 20% of the radius, if the shape of the magnet is flat (elongated), it is difficult to manufacture and the magnetic force is reduced. For example, if the variation ratio (Δh / r) expressed by Equation 1 is 0.08 or less, the division number n is 8 or more. In practice, the number n of magnet divisions is preferably about 20.

  Moreover, the magnet holding | maintenance part 120 which concerns on this embodiment hold | maintains each magnet 112 which comprises the magnet group 110 at equal intervals in the circumferential direction and the width direction. Thereby, the wheel 100 can be stably adsorbed to the magnetic structure 5 regardless of the location where the magnetic structure 5 is in contact with the road surface. However, the present invention is not limited to such an example, and the interval between the magnets 112 may vary depending on the location of the wheel 100.

  The magnet holding part 120 holding the magnet 112 is provided with a friction part 130 so as to cover the surface thereof. The friction part 130 is a part that directly contacts the surface of the magnetic body structure 5, and is provided at least in a part that may contact the surface of the magnetic body structure 5 of the magnet holding part 120. Although the friction part 130 shown in FIG. 2 has the outer peripheral part 132 and the side parts 134a and 134b so that the whole magnet holding part 120 may be covered, this invention is not limited to this example, For example, a magnetic body structure The friction portion 130 may be configured only from the outer peripheral portion 132 having a high possibility of contact with 5.

  The friction part 130 is a friction member provided to generate friction between the wheel 100 and the magnetic structure 5. The friction part 130 is formed of a material having a high coefficient of friction with the magnetic structure 5, such as rubber, silicon, silicon gel, or the like. The friction coefficient μ between the friction portion 130 and the magnetic body structure 5 can be set to about 0.1 to 0.9, for example. Thereby, the slip of the wheel 100 with respect to the magnetic body structure 5 can be reduced, and the tangential force of the wheel 100 can be generated efficiently. Therefore, the wheel 100 can be prevented from sliding off the magnetic structure 5 regardless of the posture of the vehicle body.

  The magnet holding part 120 and the friction part 130 may be formed of the same material or different materials. If these members are formed of the same material, the magnet holding portion 120 and the friction portion 130 can be integrally formed, and manufacturing can be facilitated. On the other hand, the required performance is different between the magnet holder 120 that places importance on flexibility and the friction portion 130 that places importance on the coefficient of friction and wear resistance. Therefore, the high-performance wheel 100 can be realized by selecting the material of the material suitable for the required performance by the magnet holding unit 120 and the friction unit 130, respectively.

  A wheel (not shown) that transmits the rotation of the axle is provided at the center 126 of the magnet holder 120. The wheel is a rotation center of the wheels 100a to 100f and is connected to an axle (not shown) that rotates the wheels 100a to 100f with a driving force transmitted by a transmission gear described later. The axle protrudes in the extending direction (y direction) of the support shaft connecting the vehicle body sections 12a to 12d. One end of the axle is engaged with a final gear arranged at the final stage of a transmission gear of a geared motor, which is a drive mechanism including a motor that rotationally drives each of the wheels 100a to 100f and a transmission gear that transmits driving force. Wheels 100a to 100f are respectively attached to the other ends of the axles.

  In the magnetic mobile vehicle 10 having such a configuration, independent torque control of the wheels 100a to 100f is performed by a control device mounted on the magnetic mobile vehicle 10 or provided separately. As a result, the vehicle body can be bent or extended, and it is possible to pass through the corners of the magnetic structure 5, the exit corner, the vertical plane, and the like.

  In addition, it is good for the magnetic body moving vehicle 10 which concerns on this embodiment to provide the wheel 100a-100f of 3 to 6 or more wheels. When the magnetic body moving vehicle 10 travels through corners such as entering corners and exiting corners by utilizing the bending of the vehicle body sections 12a to 12d, the ground contact area of the wheels in contact with the corners is extremely reduced, and the attractive magnetic force is also reduced. Run short. For this reason, even if the one-to-two wheels at the corners drop off from the running surface, if the remaining two-to-four wheels or more wheels have adsorption power, the dropped one-to-two wheels And the gravity of the vehicle body node accompanying this can be kept, and the possibility that the fall of the whole vehicle body can be prevented beforehand can be increased.

  The wheels can be classified into front end wheels, rear end wheels, and intermediate wheels. At this time, although there are at least one pair of intermediate wheels, a support shaft for connecting the vehicle body nodes enters in the vicinity of the intermediate wheel, so that there are two or more vehicle body nodes arranged at positions where the intermediate wheels are provided. That is, the magnetic body moving vehicle 10 is configured such that the body node and the wheel satisfy the relationship of the following formula 2. Note that the number of wheel pairs is 3 or more.

  Number of vehicle nodes = 2 x (number of wheel pairs-1) (Equation 2)

  For example, when 3 to 6 wheels 100a to 100f are provided as in the present embodiment, the vehicle body section is 2 × (3-1) = 4 nodes, and when 5 to 10 wheels are provided, the body section is 2 X (5-1) = 8 clauses.

(1-2. Wheel action)
In order to make the magnetic vehicle 10 according to this embodiment movable by being attracted to the magnetic structure 5 even at corners and protrusions without impairing mobility on a normal smooth surface, A plurality of magnets 112 are housed in the wheels 100a to 100f. That is, the wheels 100a to 100f according to the present embodiment hold a plurality of magnets 112 to be attracted to the magnetic body structure 5 with a predetermined interval by the flexible magnet holder 120. .

  When such a wheel 100a-100f is a corner | angular part, such as an uneven | corrugated surface where the road surface of the magnetic body structure 5 which contacts is a corner | corner and a corner, and also the rib board is attached to the flat surface, The shape can be appropriately deformed along the shape. For example, when the road surface is an uneven surface, the magnet holding portions 120 of the wheels 100a to 100f bend due to the unevenness of the road surface. Due to the bending of the magnet holding part 120, the position and angle of each magnet 112 held by the magnet 112 also changes along the shape of the road surface from the state before the magnet holding part 120 is deformed. As a result, the magnet 112 has a large contact area with the road surface, and can increase the attracting force to the road surface, and travels by continuously attracting magnetic force to the road surface regardless of the road surface shape of the magnetic structure 5. It becomes possible.

  In addition, the wheels 100 a to 100 f according to the present embodiment are provided with friction portions 130 that generate friction between the wheels 100 a to 100 f and the road surface in contact with the magnetic body structure 5. Thereby, the slip of the wheel 100 with respect to the magnetic body structure 5 can be reduced, and the tangential force of the wheel 100 can be sufficiently ensured to transmit the rotational torque efficiently. Therefore, it is possible to prevent the wheel 100 from sliding off the magnetic structure 5.

<2. Second Embodiment>
Next, a second embodiment of the present invention will be described. In addition, since this embodiment is the same as that of said 1st Embodiment except the structure of a wheel, detailed description is abbreviate | omitted.

  As shown in FIG. 3, the wheel 200 includes a magnet group 210 including a plurality of magnets 212, a magnet holding part 220, and a friction part 130. The magnet 212 constituting the magnet group 210 is the same magnet as in the first embodiment, but the magnetic pole direction (the direction connecting the N pole and the S pole) is the radial direction of the wheel 200, and the circumferential direction and It arrange | positions so that a polarity may be reversed between the magnets 212 adjacent in the width direction.

  The operation of the magnet group 210 will be further described with reference to FIG. FIG. 4 is a schematic cross-sectional view in the width direction of the wheel 200. As shown in the drawing, magnetic field lines from the N pole to the S pole are formed between the magnets 212 adjacent to each other by the arrangement of the magnets 212 as described above. When the magnetic field lines pass through the inside of the magnetic structure, an attractive force acts between the magnet 212 and the magnetic structure. Therefore, the number of the magnets 212 arranged in the width direction is desirably an even number so that the magnetic field lines are closed. In the example of FIG. 3, there are four magnets 212 arranged in the width direction. However, the embodiment of the present invention is not limited to this example, and the number of magnets 212 arranged in the width direction is, for example, two and six. It may be 8 or 8 pieces.

  By forming magnetic lines of force from each of the plurality of magnets 212 arranged in the width direction, for example, even when the wheel 200 is tilted with respect to the magnetic structure 5 as shown in FIG. Magnetic field lines from some magnets (magnet 212a and magnet 212b) away from the surface of 5 do not contribute to the attraction force, while the remaining magnets (magnet 212c and magnet 212d) still close to the surface of the magnetic structure 5 The attraction force can be maintained by the magnetic lines of force.

  Here, the magnetic lines of force are also formed on the side of the central portion 126 of the magnet holding unit 220 in the same manner as that formed on the side facing the magnetic structure 5. Therefore, in the present embodiment, a cylindrical magnetic member 221 that transmits the magnetic force of each magnet 212 to each other is provided on the central portion 126 side as a part of the magnet holding unit 220, and the magnetic lines of force pass through the magnetic member 221. By doing so, the attractive magnetic force between the magnet 212 and the magnetic body structure 5 is strengthened.

  In order to realize the flexibility of the magnet holding unit 220 as a whole, it is desirable that the magnetically permeable member 221 has flexibility. Accordingly, the magnetically permeable member 221 can be formed of a magnetic metal film such as iron. At this time, in order to provide flexibility while ensuring a magnetic cross-sectional area, it is effective to arrange a plurality of films in an overlapping manner.

  In addition, about the magnet 212 adjacent to the circumferential direction of the wheel 200, since the direction of each magnetic force line is opening radially, if the magnetic mobile vehicle 10 runs on a flat surface, reverse the polarity. The effect by is small compared to the width direction. However, when the magnetic vehicle 10 travels on an uneven surface, for example, when the wheel 200 rides on a convex portion extending at right angles to the traveling direction and bends, the direction of the lines of magnetic force of the magnet 212 adjacent to the circumferential direction is also shown in FIG. If the polarities of adjacent magnets are reversed, the same effect as in the width direction can be obtained. Therefore, it is desirable to arrange the magnets 212 adjacent in the circumferential direction so that their polarities are reversed. If it arrange | positions so that the polarity of the adjacent magnet 212 may become reverse about both the width direction and the circumferential direction, the arrangement | positioning of the polarity of the magnet 212 becomes what is called a staggered arrangement | positioning.

  Next, the configuration of the magnet holding unit 220 will be described in more detail with reference to FIG. As illustrated, the magnet holding unit 220 includes an elastic body 223, a rigid sphere 225, and a sliding portion 227 in addition to the magnetically permeable member 221. In FIG. 5, some components are omitted for explanation.

  The elastic body 223 includes an elastic body 223a interposed between the magnets 212 arranged in the circumferential direction and an elastic body 223b interposed between the magnets 212 arranged in the width direction. The elastic body 223 holds each magnet 212 so that the relative position does not change between the circumferential direction and the width direction, similarly to the wall portion 124 in the first embodiment. The elastic bodies 223a and 223b are formed, for example, at substantially the same height as the height of the magnet 212 (the length in the radial direction of the wheel 200), and smooth the contact surface of the wheel 200 in contact with the magnetic body structure 5. Good.

  Here, the elastic body 223 is formed of a nonmagnetic material so as not to affect the attractive force between the magnet 212 and the magnetic structure 5. The elastic body 223 is preferably formed of a material having high flexibility and small volume change due to temperature or the like in order to hold the magnet 212. The elastic body 223 is made of, for example, rubber, silicon, silicon gel, or the like.

  In the illustrated example, the magnet 212 and the elastic body 223b have a common rectangular cross-sectional shape and are arranged in the width direction to form a rectangular parallelepiped block. The blocks are arranged in the circumferential direction via the elastic body 223a. At this time, the elastic body 223a preferably has a wedge-shaped cross-sectional shape in order to contact and hold the magnets 212 and the elastic body 223b on both sides without any gap. As another example, the magnet 212 and the elastic body 223b may have a wedge-shaped cross-sectional shape, and the elastic body 223a may have a rectangular cross-sectional shape.

  The rigid sphere 225 is embedded in the elastic body 223, maintains the interval between the magnets 212, and allows the elastic body 223 to hold the relative positions of the magnets 212 in the circumferential direction and the width direction. For example, as shown in FIG. 6, in this embodiment, the magnet 212 is arrange | positioned so that polarity may be reversed between adjacent magnets 212. FIG. Therefore, an attractive force acts between the adjacent magnets 212. In this case, if only the elastic body 223 is interposed between the magnets 212, there is a possibility that the circumferential or width interval between the magnets 212 may change without resisting the attractive force of the magnets 212. Therefore, in this embodiment, the elastic body 223 is reinforced by embedding a rigid sphere 225 that does not deform against the attractive force between the magnets 212. The hard sphere 225 is also formed of a non-magnetic material so as not to affect the attractive force between the magnet 212 and the magnetic material structure 5. The rigid sphere 225 is made of, for example, resin, ceramic, nonmagnetic metal, or the like.

  In the illustrated example, the hard spheres 225 are arranged one by one between the adjacent magnets 212 in the circumferential direction and the width direction. Each magnet 212 can swing around the position of contact with the rigid sphere 225, and thus can move in the radial direction of the wheel 200. That is, by providing the rigid sphere 225, it is possible to maintain the flexibility of the magnet holding unit 220 as a whole while reinforcing the elastic body 223. The hard sphere 225 is preferably in contact with the vicinity of the center of the surface of the magnet 212 so that the magnet 212 can swing in either direction, for example.

  Note that the rigid sphere 225 interposed between the magnets 212 adjacent in the circumferential direction may be provided so as to be slightly closer to the center portion 126 than the center of the surface of the magnet 212. This is because the distance between the magnetic poles of each magnet 212 is larger on the side facing the magnetic body structure 5 than the center 126 side of the magnet holding part 220, and the attractive force between the magnets 212 adjacent in the circumferential direction is increased. This is because the central portion 126 side becomes stronger than the side facing the magnetic structure 5.

  Further, in the present embodiment, a sliding portion 227 is provided between the magnetism member 221 and the magnet 212 provided on the center portion 126 side of the magnet holding portion 220. The sliding portion 227 facilitates a minute movement with respect to the magnetically permeable member 221 when the magnet 212 swings around the rigid sphere 225. The sliding portion 227 has a low frictional resistance with the magnet 212, for example, a low sliding resistance resin such as Teflon (registered trademark) or MC nylon (registered trademark), a smooth surface metal with a small surface roughness, Alternatively, it can be formed of a film such as stainless steel.

  In the wheel 200 according to the present embodiment described above and the magnetic mobile vehicle 10 using the wheel 200, it is possible to further increase the attracting force of the magnetic structure 5 to the road surface, and the wheel 200 is inclined in the width direction. Even if this is the case, a certain amount of adsorption power is secured. Therefore, even when the road surface shape is more uneven, it is possible to travel while attracting magnetic force continuously to the road surface.

  The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to such examples. It is obvious that a person having ordinary knowledge in the technical field to which the present invention pertains can come up with various changes or modifications within the scope of the technical idea described in the claims. Of course, it is understood that these also belong to the technical scope of the present invention.

  For example, in the above embodiment, the magnetic vehicle 10 has a vehicle body including four vehicle body sections 12a to 12d connected by three support shafts, but the present invention is not limited to such an example. For example, there may be four or more body nodes of the magnetic vehicle 10, and therefore there may be three or more support shafts. It is also possible to provide three or more wheels 100.

  Moreover, in the said embodiment, although the recessed part 122 of the magnet holding | maintenance part 120 was formed so that it might open to the outer peripheral part 132 in which the friction part 130 is provided, this invention is not limited to this example. For example, the magnet holding part which consists only of the wall part 124 for hold | maintaining each magnet 112 may be sufficient, and the magnet holding part hold | maintained in the state embedded without exposing each magnet 112 may be sufficient.

DESCRIPTION OF SYMBOLS 5 Magnetic body structure 10 Magnetic body moving vehicle 12a-12d Vehicle body node 100 (100a-100f), 200 Wheel 110 Magnet group 112,212 Magnet 120,220 Magnet holding part 122 Recessed part 124 Wall part 126 Center part 130 Friction part 132 Outer periphery Part 134a, 134b Side part 221 Magnetic conduction member 223 Elastic body 225 Hard sphere 227 Sliding part

Claims (10)

A wheel for a magnetic mobile vehicle provided in a magnetic mobile vehicle that travels while adsorbing to a structure made of a magnetic material,
A magnet group consisting of a plurality of magnets;
A magnet holding portion that is formed of an annular flexible member provided with a wheel that transmits the rotation of the axle at the center, and holds the magnets constituting the magnet group in a state arranged at least along the circumferential direction;
A friction part made of a friction member that covers a contact surface of the magnet holding part that holds the magnet group with the structure and generates friction with the structure;
A wheel for a magnetic vehicle, characterized by comprising:   2. The wheel for a magnetic vehicle according to claim 1, wherein a plurality of the magnets constituting the magnet group are arranged in a width direction parallel to an axle of the wheel. The magnets constituting the magnet group are arranged such that the polarities of at least the magnets adjacent in the width direction are reversed with the radial direction of the wheel as the magnetic pole direction,
The magnet holding unit includes a nonmagnetic elastic body interposed between the magnets, and a nonmagnetic hard sphere embedded in the nonmagnetic elastic body and maintaining the interval between the magnets. A wheel for a magnetic vehicle according to claim 2.   The said magnet holding part is equipped with the cyclic | annular flexible magnetically permeable member which transmits the magnetic force of each said magnet mutually to the said center part side, The wheel for magnetic body moving vehicles of Claim 3 characterized by the above-mentioned.   The said magnet holding part is provided with the sliding part which accept | permits the movement with respect to the said flexible magnetism member of each said magnet between each said magnet and the said flexible magnetism member. Item 5. A wheel for a magnetic vehicle according to item 4.   6. The wheel for a magnetic vehicle according to claim 3, wherein the magnets constituting the magnet group are arranged in an even number in the width direction.   The wheel for a magnetic mobile vehicle according to claim 1, wherein at least eight magnets constituting the magnet group are arranged at equal intervals in the circumferential direction.   The magnetic body according to any one of claims 1 to 7, wherein the magnet holding portion includes a plurality of recesses in which the magnets are respectively housed on a contact surface side with the structure. Wheel for moving vehicles.   The wheel for a magnetic vehicle according to any one of claims 1 to 8, wherein the friction part is made of any one of rubber, silicon, or silicon gel. Four or more body nodes arranged side by side in the traveling direction of the vehicle,
Three or more support shafts that support the vehicle body section so that it can be bent with respect to the adjacent vehicle body section;
At least three pairs or more of wheels provided on an axle perpendicular to a traveling direction of the vehicle, the body shaft being bent at the support shaft;
A wheel drive unit for driving each wheel;
With
Each wheel is
A magnet group consisting of a plurality of magnets;
A magnet holding portion that is formed of an annular flexible member provided with a wheel that transmits the rotation of the axle at the center, and holds the magnets constituting the magnet group in a state arranged at least along the circumferential direction;
A friction part made of a friction member that covers a contact surface of the magnet holding part that holds the magnet group with the structure and generates friction with the structure;
A magnetic moving vehicle characterized by comprising:

Images