1. An endless track traveling device of a robot for inspecting a generator, which is used in a robot for inspecting a generator, the robot for inspecting a generator being configured to be inserted into a space between a stator and a rotor of a generator and to travel on a traveling object to inspect the generator, the endless track traveling device comprising:

a first pulley and a second pulley, the first pulley and the second pulley being disposed such that respective axial centers are parallel;

a motor driving at least one of the first and second pulleys;

an endless track wound around an outer peripheral surface portion of the first pulley and an outer peripheral surface portion of the second pulley, and driven by the at least one pulley driven to rotate by the motor to move between the first pulley and the second pulley;

a plate-shaped member that is disposed in a space surrounded by the endless track, and that has a flat surface portion that contacts an inner peripheral surface portion of the endless track at one of two mutually facing portions of the endless track on the travel target side; and

a permanent magnet fixed to the planar portion of the plate-shaped member,

the planar portion of the plate-like member is configured to: in contact with an inner peripheral surface portion of the endless track at a position closer to the travel target side than an imaginary straight line connecting a vertex on the travel target side in the outer peripheral surface portion of the first pulley and a vertex on the travel target side in the outer peripheral surface portion of the second pulley,

the infinite track is configured as follows: at least a part of an outer peripheral surface portion facing away from the inner peripheral surface portion in contact with the flat surface portion of the plate-like member is in contact with the traveling object.

2. The endless track traveling device of a robot for inspecting a generator according to claim 1,

a coefficient of friction between an inner peripheral surface portion of the endless track and the flat surface portion of the plate-like member is set smaller than a coefficient of friction between an outer peripheral surface portion of the at least one pulley driven by the motor and the endless track.

3. The endless track traveling device of the generator inspection robot according to claim 1 or 2,

the endless track running device includes an inclined portion connected to an end of the planar portion of the plate-shaped member,

the inclined portion is formed to have a greater distance from the inner peripheral surface portion of the endless track as the portion closer to the pulley is.

4. The endless track traveling device of the generator inspection robot according to claim 1 or 2,

the endless track is formed such that the hardness of the inner peripheral surface portion is greater than the hardness of the outer peripheral surface portion.

5. An endless track traveling device of a robot for inspecting a generator, which is used in a robot for inspecting a generator, the robot for inspecting a generator being configured to be inserted into a space between a stator and a rotor of a generator and to travel on a traveling object to inspect the generator, the endless track traveling device comprising:

a first pulley and a second pulley, the first pulley and the second pulley being disposed such that respective axial centers are parallel;

a motor driving at least one of the first and second pulleys;

an endless track wound around an outer peripheral surface portion of the first pulley and an outer peripheral surface portion of the second pulley, and driven by the at least one pulley driven to rotate by the motor to move between the first pulley and the second pulley;

a first plate-like member that is disposed in a space surrounded by the endless track, and that has a flat surface portion that contacts an inner peripheral surface portion of the endless track at one of two mutually facing portions of the endless track that are present between the first pulley and the second pulley;

a second plate-like member that is disposed in a space surrounded by the endless track, and that has a flat surface portion that contacts an inner peripheral surface portion of the endless track at the other of two mutually facing portions of the endless track that are present between the first pulley and the second pulley; and

a permanent magnet fixed to the planar portion of the first plate-like member,

the planar portion of the first plate-like member is configured to: a second pulley that is disposed on the outer circumferential surface of the second pulley and that is disposed on the inner circumferential surface of the first pulley, and that is disposed on the outer circumferential surface of the second pulley, and that is disposed on the inner circumferential surface of the second pulley, and that is disposed on the outer circumferential surface of the first pulley and that is disposed on the inner circumferential surface of the second pulley,

the planar portion of the second plate-like member is configured to: a second pulley having an outer peripheral surface portion that is formed on the outer peripheral surface portion of the second pulley and that is disposed on the other side of the endless track, the second pulley being disposed on the other side of the endless track,

the infinite track is configured as follows: at least one of at least a part of an outer peripheral surface portion facing away from the inner peripheral surface portion at the one location of the infinite track in contact with the planar portion of the first plate-like member and at least a part of an outer peripheral surface portion facing away from the inner peripheral surface portion at the other location of the infinite track in contact with the planar portion of the second plate-like member is in contact with the traveling object.

6. The endless track traveling device of a robot for inspecting a generator according to claim 5,

the endless track traveling device includes a control board on which at least a control circuit for controlling the motor is mounted,

the control board is disposed between the first plate-like member and the second plate-like member.

7. A mobile body of a generator inspection robot used in a generator inspection robot configured to be inserted into a space between a stator and a rotor of a generator and to run on a running object to inspect the generator, the mobile body comprising:

a first endless track running device and a second endless track running device which are arranged side by side in a direction at right angles to a traveling direction;

an equipment installation unit which is disposed between the first endless track traveling device and the second endless track traveling device, and in which equipment for inspection is installed; and

a connection member that connects the first endless track traveling device and the second endless track traveling device with the equipment installation unit,

the first endless track traveling device and the second endless track traveling device are constituted by the endless track traveling device of the generator inspection robot according to any one of claims 1 to 6.

Background

As a known traveling apparatus capable of traveling a moving body such as an inspection robot using torque of a driving device such as a motor, there are a wheel traveling system for traveling the moving body by bringing wheels into contact with a road surface or the like and an endless track traveling system for traveling the moving body by bringing an endless track composed of a crawler or a chain into contact with a road surface or an apparatus to be inspected or the like.

In the case of a wheel drive system in which wheels are brought into contact with a road surface or the like to drive a moving body such as a robot stably over a height difference or the like on the road surface, there are, for example, a four-wheel independent drive system in which all four wheels provided in front and rear of the moving body are driven by independent power sources, and a front-rear wheel synchronous drive system in which front and rear wheels are synchronously driven by providing a timing belt to each of the front and rear wheels of the moving body and attaching the timing belt so as to straddle the front and rear timing belts (for example, see patent document 1).

In addition, a traveling apparatus has been proposed which uses a wheel traveling system for a moving body traveling in a narrow gap, and in which a plurality of wheels are arranged in series in front of and behind the moving body, the width of the moving body is set to a size of about one wheel width, and a device such as a control box including a control board is installed in a space existing between the front and rear wheels (for example, see patent document 2).

Further, in an endless track running system, a running device has been proposed in which a negative pressure is generated in a decompression chamber of a moving body to press a crawler belt made of a flexible member wound between front and rear pulleys against a wall surface to run (for example, see patent document 3). Further, a mechanism is proposed in which tread surfaces of track shoes arranged on the outer periphery of a track are not depressed and bent in an endless track running system (for example, see patent document 4).

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open No. 2004-232702

Patent document 2: japanese patent No. 5992893

Patent document 3: japanese patent laid-open publication No. 2016-084118

Patent document 4: japanese patent laid-open publication No. 2002-46667

Disclosure of Invention

Technical problem to be solved by the invention

In the case of the conventional running device disclosed in patent document 1, a device such as a control box is disposed between front and rear wheels to achieve thinning in order to run in a narrow gap, but during running, a bottom surface of a main body of the running device is brought into contact with a running surface due to a concave portion or a convex portion such as a hole existing in the running surface, and thus running is not possible, and large vibration may occur in the running device. In order to solve the above-described disadvantages, it is preferable to increase the diameter of the wheel, but if the diameter of the wheel is increased, the entire traveling apparatus becomes large, and it becomes difficult to make the diameter thin.

In the case of the endless track type traveling system using the crawler belt, in order to stably travel, a portion of the crawler belt to be in contact with the traveling surface needs to be pressed against the traveling surface by at least three pulleys, so that the number of components such as the pulleys increases, and the traveling apparatus inevitably becomes large.

The present invention has been made to solve the above-described problems occurring in the conventional traveling apparatuses, and an object of the present invention is to provide an endless track traveling apparatus which can be made small and can stably travel.

Further, an object of the present invention is to provide a movable body such as an inspection robot which can be made small and can be stably moved.

Technical scheme for solving technical problem

The endless track traveling device of the present invention includes:

a first pulley and a second pulley, the first pulley and the second pulley being disposed such that respective axial centers are parallel;

a motor driving at least one of the first and second pulleys; and

an endless track wound around an outer peripheral surface portion of the first pulley and an outer peripheral surface portion of the second pulley and driven by the at least one pulley driven to rotate by the motor to move between the first pulley and the second pulley,

the endless track traveling device is configured to travel on a traveling object based on the movement of the endless track by contacting an outer peripheral surface portion of the endless track with the traveling object,

wherein the content of the first and second substances,

the endless track running device includes a plate-shaped member that is disposed in a space surrounded by the endless track and has a flat surface portion that is in contact with an inner peripheral surface portion of the endless track at least one of two mutually facing portions of the endless track that are present between the first pulley and the second pulley,

the planar portion of the plate-like member is configured to: in contact with an inner peripheral surface portion of the endless track at a position closer to the travel target side than an imaginary straight line connecting a vertex on the travel target side in the outer peripheral surface portion of the first pulley and a vertex on the travel target side in the outer peripheral surface portion of the second pulley,

the infinite track is configured as follows: at least a part of an outer peripheral surface portion facing away from the inner peripheral surface portion in contact with the flat surface portion of the plate-like member is in contact with the traveling object.

Further, the endless track traveling device of the present invention includes:

a first pulley and a second pulley, the first pulley and the second pulley being disposed such that respective axial centers are parallel;

a motor driving at least one of the first and second pulleys; and

an endless track wound around an outer peripheral surface portion of the first pulley and an outer peripheral surface portion of the second pulley and driven by the at least one pulley driven to rotate by the motor to move between the first pulley and the second pulley,

the endless track traveling device is configured to travel on a traveling object based on the movement of the endless track by contacting an outer peripheral surface portion of the endless track with the traveling object,

wherein the content of the first and second substances,

the endless track traveling device includes:

a first plate-like member that is disposed in a space surrounded by the endless track, and that has a flat surface portion that contacts an inner peripheral surface portion of the endless track at one of two mutually facing portions of the endless track that are present between the first pulley and the second pulley; and

a second plate-like member that is disposed in a space surrounded by the endless track, and that has a flat surface portion that contacts an inner peripheral surface portion of the endless track at the other of two mutually facing portions of the endless track that are present between the first pulley and the second pulley,

the planar portion of the first plate-like member is configured to: a second pulley that is disposed on the outer circumferential surface of the second pulley and that is disposed on the inner circumferential surface of the first pulley, and that is disposed on the outer circumferential surface of the second pulley, and that is disposed on the inner circumferential surface of the second pulley, and that is disposed on the outer circumferential surface of the first pulley and that is disposed on the inner circumferential surface of the second pulley,

the planar portion of the second plate-like member is configured to: a second pulley having an outer peripheral surface portion that is formed on the outer peripheral surface portion of the second pulley and that is disposed on the other side of the endless track, the second pulley being disposed on the other side of the endless track,

the infinite track is configured as follows: at least one of at least a part of an outer peripheral surface portion facing away from the inner peripheral surface portion at the one location of the infinite track in contact with the planar portion of the first plate-like member and at least a part of an outer peripheral surface portion facing away from the inner peripheral surface portion at the other location of the infinite track in contact with the planar portion of the second plate-like member is in contact with the traveling object.

Further, a mobile body including the endless track traveling device of the present invention includes:

a first endless track running device and a second endless track running device which are arranged side by side in a direction at right angles to a traveling direction;

an equipment installation unit which is disposed between the first endless track traveling device and the second endless track traveling device, and in which equipment for inspection is installed; and

a connection member that connects the first endless track traveling device and the second endless track traveling device with the equipment installation unit,

the first endless track running device and the second endless track running device include:

a first pulley and a second pulley, the first pulley and the second pulley being disposed such that respective axial centers are parallel;

a motor driving at least one of the first and second pulleys; and

an endless track wound around an outer peripheral surface portion of the first pulley and an outer peripheral surface portion of the second pulley, the endless track being driven by the at least one pulley driven to rotate by the motor to move between the first pulley and the second pulley, the first endless track traveling device and the second endless track traveling device being configured to travel on a traveling object based on the movement of the endless track by coming into contact with the traveling object via the outer peripheral surface portion of the endless track,

wherein the content of the first and second substances,

the first endless track running device and the second endless track running device include a plate-shaped member that is disposed in a space surrounded by the endless track and has a flat surface portion that is in contact with an inner peripheral surface portion of the endless track existing at least one of two mutually facing portions of the endless track between the first pulley and the second pulley,

the planar portion of the plate-like member is configured to: in contact with an inner peripheral surface portion of the endless track at a position closer to the travel target side than an imaginary straight line connecting a vertex on the travel target side in the outer peripheral surface portion of the first pulley and a vertex on the travel target side in the outer peripheral surface portion of the second pulley,

the infinite track is configured as follows: at least a part of an outer peripheral surface portion facing away from the inner peripheral surface portion in contact with the flat surface portion of the plate-like member is in contact with the traveling object.

Further, a mobile body including the endless track traveling device of the present invention includes:

a first endless track running device and a second endless track running device which are arranged side by side in a direction at right angles to a traveling direction;

an equipment installation unit which is disposed between the first endless track traveling device and the second endless track traveling device, and in which equipment for inspection is installed; and

a connection member that connects the first endless track traveling device and the second endless track traveling device with the equipment installation unit,

the first endless track running device and the second endless track running device include:

a first pulley and a second pulley, the first pulley and the second pulley being disposed such that respective axial centers are parallel;

a motor driving at least one of the first and second pulleys; and

an endless track wound around an outer peripheral surface portion of the first pulley and an outer peripheral surface portion of the second pulley and driven by the at least one pulley driven to rotate by the motor to move between the first pulley and the second pulley,

the first endless track traveling device and the second endless track traveling device are configured to travel on a traveling object based on the movement of the endless track by contacting the traveling object with an outer peripheral surface portion of the endless track,

wherein the content of the first and second substances,

the first endless track running device and the second endless track running device include:

a first plate-like member that is disposed in a space surrounded by the endless track, and that has a flat surface portion that contacts an inner peripheral surface portion of the endless track at one of two mutually facing portions of the endless track that are present between the first pulley and the second pulley; and

a second plate-like member that is disposed in a space surrounded by the endless track, and that has a flat surface portion that contacts an inner peripheral surface portion of the endless track at the other of two mutually facing portions of the endless track that are present between the first pulley and the second pulley,

the planar portion of the first plate-like member is configured to: a second pulley that is disposed on the outer circumferential surface of the second pulley and that is disposed on the inner circumferential surface of the first pulley, and that is disposed on the outer circumferential surface of the second pulley, and that is disposed on the inner circumferential surface of the second pulley, and that is disposed on the outer circumferential surface of the first pulley and that is disposed on the inner circumferential surface of the second pulley,

the planar portion of the second plate-like member is configured to: a second pulley having an outer peripheral surface portion that is formed on the outer peripheral surface portion of the second pulley and that is disposed on the other side of the endless track, the second pulley being disposed on the other side of the endless track,

the infinite track is configured as follows: at least one of at least a part of an outer peripheral surface portion facing away from the inner peripheral surface portion at the one location of the infinite track in contact with the planar portion of the first plate-like member and at least a part of an outer peripheral surface portion facing away from the inner peripheral surface portion at the other location of the infinite track in contact with the planar portion of the second plate-like member is in contact with the traveling object.

Effects of the invention

The endless track running device according to the present invention includes a plate-shaped member that is disposed in a space surrounded by the endless track, and that has a flat surface portion that contacts an inner peripheral surface portion of the endless track at least one of two mutually facing portions of the endless track that are present between the first pulley and the second pulley, the flat surface portion of the plate-shaped member being configured to: an inner circumferential surface portion of the endless track that contacts an inner circumferential surface portion of the endless track at a position closer to the traveling target side than a virtual straight line connecting a vertex on the traveling target side in the outer circumferential surface portion of the first pulley and a vertex on the traveling target side in the outer circumferential surface portion of the second pulley, the endless track being configured to: at least a part of an outer peripheral surface portion facing away from the inner peripheral surface portion in contact with the flat surface portion of the plate-like member is in contact with the traveling object, and therefore, the plate-like member can be made small and thin, and can travel smoothly while suppressing vibration even when it encounters an obstacle such as a groove existing in the traveling object.

Further, an endless track traveling device according to the present invention includes: a first plate-like member that is disposed in a space surrounded by the endless track, and that has a flat surface portion that contacts an inner peripheral surface portion of the endless track at one of two mutually facing portions of the endless track that are present between the first pulley and the second pulley; and a second plate-like member that is disposed in a space surrounded by the endless track, and that has a flat surface portion that contacts an inner peripheral surface portion of the endless track at the other of two mutually facing portions of the endless track between the first pulley and the second pulley, the flat surface portion of the first plate-like member being configured to: and a second plate-like member having a flat surface portion that is in contact with an inner peripheral surface portion of the endless track at a position that is away from a space portion surrounded by the endless track in a direction away from a virtual straight line connecting a vertex of the endless track at the one position side in the outer peripheral surface portion of the first pulley and a vertex of the endless track at the one position side in the outer peripheral surface portion of the second pulley, the second plate-like member having a flat surface portion that is configured to: and an endless track that is configured to contact an inner peripheral surface portion of the endless track at the other portion thereof, at a position that is away from a virtual straight line connecting a vertex of the endless track at the other portion thereof and a vertex of the outer peripheral surface portion of the second pulley in a direction away from a space portion surrounded by the endless track, the position being apart from the virtual straight line, the endless track being configured to: at least one of at least a portion of an outer peripheral surface portion facing away from the inner peripheral surface portion at the one portion of the endless track in contact with the flat surface portion of the first plate-like member and at least a portion of an outer peripheral surface portion facing away from the inner peripheral surface portion at the other portion of the endless track in contact with the flat surface portion of the second plate-like member is in contact with the traveling object, so that at least one of two portions of the endless track facing each other between the first pulley and the second pulley can be brought into contact with the traveling object to travel, and the traveling device can travel with random strain using not only one of the two portions of the endless track but also both directions, can be made small and thin, and can travel smoothly with vibration suppressed even when encountering an obstacle formed by a groove or the like present in the traveling object.

Further, a moving body according to the present invention includes: a first endless track running device and a second endless track running device which are arranged side by side in a direction at right angles to a traveling direction; an equipment installation unit which is disposed between the first endless track traveling device and the second endless track traveling device, and in which equipment for inspection is installed; and a connection member that connects the first endless track traveling device and the second endless track traveling device with the equipment installation unit, the first endless track traveling device and the second endless track traveling device including: a first pulley and a second pulley, the first pulley and the second pulley being disposed such that respective axial centers are parallel; a motor driving at least one of the first and second pulleys; and an endless track wound around an outer peripheral surface portion of the first pulley and an outer peripheral surface portion of the second pulley, the endless track being driven by the at least one pulley driven to rotate by the motor to move between the first pulley and the second pulley, the first endless track traveling device and the second endless track traveling device being configured to travel on a traveling object based on movement of the endless track by contacting the traveling object with the outer peripheral surface portion of the endless track, wherein the first endless track traveling device and the second endless track traveling device include a plate-shaped member that is disposed in a space surrounded by the endless track and has a flat surface portion that contacts an inner peripheral surface portion of the endless track at least one of two mutually facing portions of the endless track between the first pulley and the second pulley The planar portion of the plate-like member is configured to: an inner circumferential surface portion of the endless track that contacts an inner circumferential surface portion of the endless track at a position closer to the traveling target side than a virtual straight line connecting a vertex on the traveling target side in the outer circumferential surface portion of the first pulley and a vertex on the traveling target side in the outer circumferential surface portion of the second pulley, the endless track being configured to: at least a part of an outer peripheral surface portion facing away from the inner peripheral surface portion in contact with the flat surface portion of the plate-like member is in contact with the traveling object, and therefore, the plate-like member can be made small and thin, and can be used as a robot for inspecting a generator while suppressing vibration and smoothly traveling even when it encounters an obstacle such as a groove existing in the traveling object.

Further, a moving body according to the present invention includes: a first endless track running device and a second endless track running device which are arranged side by side in a direction at right angles to a traveling direction; an equipment installation unit which is disposed between the first endless track traveling device and the second endless track traveling device, and in which equipment for inspection is installed; and a connection member that connects the first endless track traveling device and the second endless track traveling device with the equipment installation unit, the first endless track traveling device and the second endless track traveling device including: a first pulley and a second pulley, the first pulley and the second pulley being disposed such that respective axial centers are parallel; a motor driving at least one of the first and second pulleys; and an endless track wound around an outer peripheral surface portion of the first pulley and an outer peripheral surface portion of the second pulley, and driven by the at least one pulley driven to rotate by the motor to move between the first pulley and the second pulley, wherein the first endless track traveling device and the second endless track traveling device are configured to travel on a traveling object based on movement of the endless track by coming into contact with the traveling object via the outer peripheral surface portion of the endless track, and the first endless track traveling device and the second endless track traveling device include: a first plate-like member that is disposed in a space surrounded by the endless track, and that has a flat surface portion that contacts an inner peripheral surface portion of the endless track at one of two mutually facing portions of the endless track that are present between the first pulley and the second pulley; and a second plate-like member that is disposed in a space surrounded by the endless track, and that has a flat surface portion that contacts an inner peripheral surface portion of the endless track at the other of two mutually facing portions of the endless track between the first pulley and the second pulley, the flat surface portion of the first plate-like member being configured to: and a second plate-like member having a flat surface portion that is in contact with an inner peripheral surface portion of the endless track at a position that is away from a space portion surrounded by the endless track in a direction away from a virtual straight line connecting a vertex of the endless track at the one position side in the outer peripheral surface portion of the first pulley and a vertex of the endless track at the one position side in the outer peripheral surface portion of the second pulley, the second plate-like member having a flat surface portion that is configured to: and an endless track that is configured to contact an inner peripheral surface portion of the endless track at the other portion thereof, at a position that is away from a virtual straight line connecting a vertex of the endless track at the other portion thereof and a vertex of the outer peripheral surface portion of the second pulley in a direction away from a space portion surrounded by the endless track, the position being apart from the virtual straight line, the endless track being configured to: at least one of at least a part of an outer peripheral surface portion facing away from the inner peripheral surface portion at the one location of the infinite track in contact with the planar portion of the first plate-like member and at least a part of an outer peripheral surface portion facing away from the inner peripheral surface portion at the other location of the infinite track in contact with the planar portion of the second plate-like member is in contact with the traveling object, therefore, at least one of two mutually facing portions of the endless track between the first pulley and the second pulley can be brought into contact with the traveling object to travel, and the traveling object can be randomly strained by using both portions instead of one of the two portions of the endless track, and can be made small and thin, even if the robot encounters an obstacle such as a groove existing in a traveling object, the robot can smoothly travel while suppressing vibration, and can be used as a robot for inspecting a generator.

Drawings

Fig. 1 is a perspective view showing an overall configuration of a mobile body including an endless track traveling apparatus according to embodiment 1 of the present invention.

Fig. 2 is an exploded perspective view of an endless track running device according to embodiment 1 of the present invention.

Fig. 3 is an explanatory view showing a use state of a mobile body including an endless track traveling device according to embodiment 1 of the present invention.

Fig. 4 is a cross-sectional view of the endless track running device according to embodiment 1 of the present invention in a running state.

Fig. 5 is an explanatory diagram of an endless track running device according to embodiment 1 of the present invention.

Fig. 6 is a partial cross-sectional view of the endless track running device according to embodiment 1 of the present invention in a running state.

Fig. 7 is a cross-sectional view of the endless track running device according to embodiment 2 of the present invention in a running state.

Detailed Description

Embodiment mode 1

Fig. 1 is a perspective view showing an overall configuration of a mobile body including an endless track traveling apparatus according to embodiment 1 of the present invention. A mobile body 100 including the endless track traveling apparatus according to embodiment 1 shown in fig. 1 is configured as an inspection robot of a large-sized generator. In fig. 1, a mobile body 100 of an inspection robot configured as a generator includes: a sensor mounting unit 1 as an equipment mounting unit, the sensor mounting unit 1 mounting a sensor for inspection, a camera, and the like; a first endless track traveling device 2, the first endless track traveling device 2 being provided with a crawler belt 21 as an endless track; and a second endless track traveling device 3, wherein the endless track traveling device 3 mounts the crawler belt 31.

The first endless track traveling device 2, the second endless track traveling device 3, and the sensor mounting portion 1 are arranged side by side in a direction substantially orthogonal to the forward direction F and the backward direction B of the moving body 100 as shown in fig. 1. The first connecting members 411, 421, 431 are disposed between the side wall portion of the base portion 39 of the first endless track traveling device 2 and one side wall portion of the housing of the sensor mounting portion 1 to mechanically connect the first endless track traveling device 2 and the sensor mounting portion 1.

The second connecting members 412, 422, and 432 are disposed between the side wall portion of the base portion 39 of the second endless track traveling device 3 and the other side wall portion of the housing of the sensor mounting portion 1, and mechanically connect the second endless track traveling device 3 and the sensor mounting portion 1.

The first connecting members 411, 421, and 431 and the second connecting members 412, 422, and 432 are each configured to be bendable at substantially the center in the longitudinal direction.

The sensor mounting portion 1 is supported by the first endless track traveling device 2 via first connecting members 411, 421, and 431 and by the second endless track traveling device 3 via second connecting members 412, 422, and 432, and the bottom surface of the sensor mounting portion 1 faces the traveling surface R with a gap. The first endless track traveling device 2 and the second endless track traveling device 3 are configured to be line-symmetric with respect to the forward direction F and the backward direction B, and each of them is configured as an independent endless track traveling device according to embodiment 1 of the present invention.

The moving body 100 configured as described above travels straight in the forward direction F or the reverse direction B by rotating the endless track 21 in the first endless track traveling device 2 and the endless track 31 in the first endless track traveling device 3 at the same rotation speed and in the same direction.

Further, the crawler belt 21 of the first endless track traveling device 2 and the crawler belt 31 of the second endless track traveling device 3 are rotated in opposite directions to each other, and thereby, the vehicle travels in the same rotation direction and at different rotation speeds in a right turn or a left turn. For example, when traveling in the forward direction F, the crawler belt 21 of the first endless track traveling device 2 is made to travel in a right turn by making the rotation speed slower than the rotation speed of the crawler belt 31 of the second endless track traveling device 3, and the crawler belt 31 of the second endless track traveling device 3 is made to travel in a left turn by making the rotation speed slower than the rotation speed of the crawler belt 21 of the first endless track traveling device 2.

Hereinafter, an endless track traveling device according to embodiment 1 of the present invention will be described in detail. Fig. 2 is an exploded perspective view of an endless track running device according to embodiment 1 of the present invention, and corresponds to the second endless track running device 3 in fig. 1. As described above, the first endless track traveling device 2 and the second endless track traveling device 3 in fig. 1 are configured to be line-symmetric with respect to the forward direction F and the backward direction B, but since both have substantially the same configuration, the second endless track traveling device 3 will be described here.

In fig. 2, the second endless track travelling device 3 comprises a base part 39 and a cover part 35. The base 39 includes: a top portion 395, the top portion 395 being formed in a rectangular shape; and side portions 391, 392, 393, 394, the side portions 391, 392, 393, 394 extending downward in the figure from the four side edges of the top portion 395, respectively. The lid 35 is configured to abut against end surfaces of the side portions 391, 392, 393, 394 of the base 39 to cover the bottom of the base 39.

A rectangular through-hole 396 is formed in a top portion 395 of the base 39, and one of the facing portions (upper portion in fig. 2) of the crawler 31 is exposed to the outside from the base 39 through the through-hole 396. The cover 35 is formed with a rectangular through-hole 351 for exposing the other (lower portion in fig. 2) of the facing portions of the crawler 31 from the cover 35, a through-hole 352 for exposing a permanent magnet 37a described later, and a through-hole 353 for exposing a permanent magnet 37c described later.

The drive-side pulley shaft unit 34a includes: a drive-side pulley shaft 34a1, the drive-side pulley shaft 34a1 supporting a drive-side pulley 33a as a first pulley; a drive-side sheave shaft holder 34a2, the drive-side sheave shaft holder 34a2 holding the drive-side sheave shaft 34a1 to be rotatable; and a bevel gear 34a3, the bevel gear 34a3 being fixed to the drive side pulley shaft 34a 1. The drive-side pulley 33a has the drive-side pulley shaft 34a1 of the drive-side pulley shaft unit 34a inserted through a central through hole thereof, and is fixed to the drive-side pulley shaft 34a1 so as to rotate integrally with the drive-side pulley shaft 34a 1.

The driven-side pulley shaft unit 34b includes: a driven-side pulley shaft 34b1, the driven-side pulley shaft 34b1 supporting a driven-side pulley 33b as a second pulley; and a driven-side sheave shaft holder 34b2, the driven-side sheave shaft holder 34b2 holding the driven-side sheave shaft 34b 1. The driven pulley 33b has the driven pulley shaft 34b1 of the driven pulley shaft unit 34b inserted into a center through hole thereof, and is rotatably held by the driven pulley shaft holder 34b2 via the driven pulley shaft 34b 1.

The motor 36 fixed to the base 39 drives the bevel gear 34a4 via the speed reduction mechanism 361. The bevel gear 34a4 meshes with the bevel gear 34a3 described above, and drives and rotates the drive-side pulley 33a via the bevel gear 34a3 and the drive-side pulley shaft 34a 1. A control board 38 on which a control circuit for controlling the motor 36 and the like are mounted is fixed inside the base 39.

The rubber crawler belt 31 constituting an endless track is wound around the outer peripheral surface portion 33a1 of the driving-side pulley 33a and the outer peripheral surface portion 33b1 of the driven-side pulley 33b, and moves around the driving-side pulley 33a and the driven-side pulley 33b while rotating the driven-side pulley 33b by the rotation of the driving pulley 33 a.

Fig. 5 is an explanatory diagram of an endless track running device according to embodiment 1 of the present invention. In fig. 2 and 5, a plate-like member 32 is disposed in a space surrounded by a crawler 31 as an endless track. The plate-shaped member 32 includes a flat portion 32a, and the flat portion 32a contacts an inner peripheral surface portion of the crawler 31 existing at one of two mutually facing portions (lower portion in fig. 2 and 5) between the driving-side pulley 33a and the driven-side pulley 33b of the crawler 31.

The planar portion 32a of the plate-like member 32 is configured to: the inner peripheral surface portion of the crawler 31 is brought into contact with a virtual straight line X1 connecting a vertex a1 on the traveling object 5 side such as a traveling surface in the outer peripheral surface portion 31a1 of the driving-side pulley 33a and a vertex B1 on the traveling object 5 side in the outer peripheral surface portion 33B1 of the driven-side pulley 33B at a position closer to the traveling object 5 side. Therefore, the crawler 31 is pushed out from the inside to the outside by the plate-shaped member 32, exposed to the outside through the through hole 351 provided in the cover 35, and brought into contact with the traveling object 5.

The plate-like member 32 disposed inside the crawler belt 31 includes: a flat surface portion 32a, the flat surface portion 32a being in contact with an inner peripheral surface portion of the driving-side pulley 33 a; and a first inclined portion 32b1, the first inclined portion 32b1 being continuous with one end of the planar portion 32 a; and a second inclined portion 32b2, the second inclined portion 32b2 being connected to the other end of the planar portion 32 a. The first inclined portion 32b1 is formed to have a larger distance from the inner peripheral surface portion of the crawler belt 31 as the position closer to the driving-side pulley 33 a. The second inclined portion 32b2 is formed to have a larger distance from the inner peripheral surface portion of the crawler belt 31 as the position closer to the driven-side pulley 33 b.

In fig. 2, the permanent magnet 37a is fixed to the inside of the base 39 and is disposed so as to face the outside of the cover 35 via a through hole 352 provided in the cover 35. Similarly, the permanent magnet 37c is fixed to the inside of the base 39 and is disposed so as to face the outside of the lid 35 through a through hole 353 provided in the lid 35. The permanent magnet 37b is fixed to the flat surface portion 32a of the plate-like member 32 and is disposed inside the crawler belt 31.

Next, an operation in a case where the mobile body 100 including the first endless track traveling device 2 and the second endless track traveling device 3 configured as described above is configured as an inspection robot of a generator will be described. The mobile body 100 travels in a gap between a rotor and a stator core of the generator to perform an inspection of the generator. Fig. 3 is an explanatory view showing a use state of a mobile body including an endless track traveling device according to embodiment 1 of the present invention.

In fig. 2 and 3, the moving body 100 inserted into the space between the rotor 6 and the stator core 5 of the generator travels in the axial direction of the generator by the first endless track traveling device 2 and the second endless track traveling device 3, and the interior of the generator is inspected by various sensors and cameras mounted on the sensor mounting unit 1. Permanent magnets 37a, 37b, and 37b are attracted to the stator core 5, which is a traveling target made of a magnetic material, and the permanent magnets 37a, 37b, and 37c are provided inside the first endless track traveling device 2 and the second endless track traveling device 3, whereby the first endless track traveling device 2 and the second endless track traveling device 3 can travel while being attracted to the stator core 5, which is a traveling target, without falling down at any position in the circumferential direction of the generator.

At this time, the permanent magnets 37a, 37b, and 37b provided in the first endless track traveling device 2 and the second endless track traveling device 3 are attracted to the stator core 5 without contacting the stator core 5. The crawler belts 21 and 31 provided in the first endless track traveling device 2 and the second endless track traveling device 3 are attracted to the stator core 5 by the permanent magnets 37b, pressed against the stator core 5 via the plate-like member 32, and brought into contact with the stator core 5. By driving the motor 36 in the above-described state, the crawler belts 21 and 31 are folded and moved on the outer circumferential surfaces of the driving-side pulley 33a and the driven-side pulley 33b, and intrusion and traveling in the generator axial direction can be realized.

Stators for electrical generators are known comprising: a stator core 5, the stator core 5 being made of a magnetic steel plate; coils 51, the coils 51 being inserted into a plurality of slots formed at equal intervals in the stator core 5; and a resin member 52, the resin member 52 being used to press the coil 51.

The first endless track traveling device 2 and the second endless track traveling device 3 are pressed against the stator core 5 by the respective crawler belts 21 and 31 by the attraction force of the permanent magnets 37a, 37b, and 37b attracted to the stator core 5, are driven while being in contact with the stator core 5, and travel on the inner peripheral surface of the stator core 5 of the generator. The movable body 100, which is a robot for inspecting the generator, moves without deviating from the inner circumferential surface of the stator core 5 made of a magnetic steel plate, and moves while determining whether or not there is an abnormality of the generator using a sensor or the like mounted on the sensor mounting portion 1. At this time, the traveling direction of the mobile body 100 is adjusted by the speed difference between the crawler belt 21 of the first endless track traveling device 2 and the crawler belt 31 of the second endless track traveling device 3, and travels while performing the straight traveling correction.

The first endless track traveling device 2 and the second endless track traveling device 3 of the moving body 100 do not generate attraction forces of the permanent magnets 37a, 37b on the resin member 52 inserted into the slot of the stator core 5, and therefore can move without falling off the stator by traveling on the stator core 5 made of a magnetic steel plate. In order to facilitate the traveling of the first endless track traveling device 2 and the second endless track traveling device 3, a guide member or the like may be attached to a convex portion of the stator core 5 of the generator, and a mechanism for preventing the moving body 100 from falling off the stator core 5 may be provided.

As described above, the inspection of the generator is performed by running the mobile body 100 in the axial direction of the generator, but when the running in the axial direction of the generator is completed, the mobile body 100 is pulled out from the generator, and the mobile body 100 is run in the axial direction of the generator while changing the circumferential position of the generator. The inspection is performed by the mobile body 100 over the entire circumference of the generator in this manner.

Fig. 4 is a cross-sectional view showing a traveling state of the endless track traveling device according to embodiment 1 of the present invention, and shows a cross section of the second endless track traveling device 3 in the traveling direction. Fig. 6 is a partial cross-sectional view of the endless track running device according to embodiment 1 of the present invention in a running state. As shown in fig. 4 and 6, in the stator core 5 of the generator, which is made of magnetic steel plates, specifically, a plurality of magnetic protrusions 5a, 5b, 5c, 5d, 5e, 5f, and 5g are provided at equal intervals in the axial direction of the stator core 5, and a space for cooling is formed between the magnetic protrusions 5a, 5b, 5c, 5d, 5e, 5f, and 5 g. The magnetic protrusions 5a, 5b, 5c, 5d, 5e, 5f, and 5g are continuously arranged at predetermined intervals in the axial direction of the stator core, and there are also portions where the radial height of the stator core 5 is the same but the axial width is different.

In order to cause the mobile body 100 to travel in the generator configured as described above, it is necessary to cause the first endless track traveling device 2 and the second endless track traveling device 3 to travel without entering the space existing between the magnetic protrusions 5a, 5b, 5c, 5d, 5e, 5f, and 5 g. Therefore, in the endless track traveling device according to embodiment 1 of the present invention, as described above, the crawler 31 is pressed from the inner side to the outer side thereof to the traveling surface side by the flat surface portion 32a of the plate-like member 32. According to the above configuration, the inner peripheral surface portion of the crawler belt 31 is in contact with the flat surface portion 32a of the plate-like member 32 within the range of the length dimension of the flat surface portion 32a of the plate-like member 32.

Here, the length dimension of the flat surface portion 32a of the plate-like member 32 includes the size of at least three adjacent magnetic protrusions among the magnetic protrusions 5a, 5b, 5c, 5d, 5e, 5f, and 5g arranged in parallel in the axial direction on the inner peripheral surface of the stator core 5. As a result, crawler belt 31 comes into contact with the surface of stator core 5 in parallel at least at three points, and therefore, it is possible to achieve a small and stable traveling.

Further, it is also possible to arrange three or more pulleys inside the crawler 31 between the driving-side pulley 33a and the driven-side pulley 33b and hold the inside of the crawler 31 by the three or more pulleys, but in the above case, it is necessary to increase the diameter of the pulleys or to provide a larger number of pulleys in consideration of the fact that the size of the cooling space existing between the magnetic projections 5a, 5b, 5c, 5d, 5e, 5f, 5g is larger than the size of one pulley. As a result, the arrangement of the control board 38 becomes difficult, or the thickness of the endless track traveling device increases, the overall length increases, and the size increases.

When the thicknesses of the first and second endless track traveling devices 2 and 3 are increased, the mobile body 100 may not be inserted into a space between the rotor 6 and the stator core 5 of the generator, and when the lengths of the first and second endless track traveling devices 2 and 3 are increased, the mobile body 100 may interfere with a retaining ring of the generator at a portion where the mobile body 100 is inserted into the generator, and the mobile body 100 may not be inserted into the generator, and thus inspection of the generator may not be performed.

According to the mobile body of embodiment 1 of the present invention, as described above, the first endless track traveling device 2 and the second endless track traveling device 3 can be made small and thin, and the mobile body can stably travel without being trapped in the space of the traveling surface and thus being unable to detect an abnormality or the like by a sensor.

However, in order to prevent difficulty in traveling due to friction or engagement between the crawler 31 and the plate-like member 32, it is conceivable to increase the output torque of the motor 36, but the motor 36 must be increased in size in order to increase the output torque of the motor 36, and as a result, the endless track traveling apparatus becomes larger.

Therefore, in the endless track running device according to embodiment 1 of the present invention, in order to prevent the crawler 31 from being difficult to move due to friction between the crawler 31 and the plate-like member 32, a coating process for reducing a friction coefficient is performed on a surface of the plate-like member 32 where the flat surface portion 32a and the crawler 31 are in contact with each other. This suppresses the frictional resistance between the crawler belt 31 and the flat surface portion 32a of the plate-like member 32, facilitates the movement of the crawler belt 31, and makes it possible to reduce the endless track running device without increasing the size of the motor. Instead of applying the coating process to the flat surface portion 32a, a sheet made of a low-friction material may be attached to the surface of the flat surface portion 32a that contacts the crawler belt 31.

Further, although a plurality of teeth for torque transmission are provided on the outer peripheral surface portions 33a1 and 33b1 of the driving-side pulley 33a and the driven-side pulley 33b, respectively, and the crawler 31 is provided with the recesses 31a1 for engaging with these teeth, the recesses 31a1 of the crawler 31 may be caught by the end portions of the plate-like member 32, which may make it difficult to move the crawler 31.

Therefore, in the endless track running device according to embodiment 1 of the present invention, the first inclined portion 32b1 and the second inclined portion 32b2 that gradually get away from the crawler belt 31 are formed at both end portions of the plate-shaped member 32. According to the above configuration, the recess 31a1 of the crawler 31 does not catch on the end of the plate-like member 32, so that the crawler 31 can be easily moved, and the endless track running device can be made small without increasing the size of the motor. Further, at least the surface of the first inclined portion 32b1 and the second inclined portion 32b2 that faces the crawler 31 may be subjected to the coating treatment described above, or a sheet made of a low-friction material may be attached to at least the surface of the first inclined portion 32b1 and the second inclined portion 32b2 that faces the crawler 31.

Further, the friction coefficient needs to be increased in order to prevent surface slip of the crawler 31 in contact with the running surface. On the other hand, the surface of the crawler belt 31 close to the side where the teeth provided on the driving-side pulley 33a and the driven-side pulley 33b engage with each other is required to have high strength so as to stably engage with the teeth. Therefore, the endless track traveling device according to embodiment 1 of the present invention is configured to reduce the hardness of the rubber on the side of the crawler 31 that contacts the traveling surface to increase the friction coefficient, and to increase the hardness of the rubber on the side of the crawler 31 that engages with the teeth of the driving-side pulley 33a and the driven-side pulley 33b so as to enable the aforementioned stable engagement.

In the above description, the second endless track traveling device 3 shown in fig. 1 is mainly described, but the first endless track traveling device 2 is also formed similarly.

As described above, according to the endless track running device of embodiment 1 of the present invention, it is possible to make the motor thin and small without increasing the size of the motor. Therefore, the inspection robot as a moving body on which the endless track traveling device is mounted can stably travel even in the stator core slot for cooling the generator, and becomes a robot with a reduced thickness and a reduced size without increasing the motor size.

Embodiment mode 2

Fig. 7 is a cross-sectional view of the endless track running device according to embodiment 2 of the present invention in a running state. In fig. 7, the stator core 5 of the generator is located on the upper side of the figure, and the rotor 6 is located on the lower side of the figure. The endless track traveling device according to embodiment 2 of the present invention is provided with the first plate-like member 321 and the second plate-like member 322 having the same configurations as the plate-like members in the endless track traveling device according to embodiment 1 described above.

In fig. 7, the second endless track traveling device 3 travels in the axial direction of the generator by bringing the crawler belt 31 into contact with the surface of the rotor 6 of the generator. The first plate-like member 321 corresponds to the plate-like member 32 in the second endless track traveling device 3 according to embodiment 1, and is provided inside the crawler belt 31 on the side facing the stator core 5 of the generator. The second plate-like member 322 is provided inside the crawler belt 31 on the side opposite to the rotor 6 of the generator.

In fig. 7 and fig. 5 described above, the first plate-like member 321 includes a flat portion 321a, and the flat portion 321a contacts an inner peripheral surface portion of the crawler 31 at one of two portions (an upper portion in fig. 7) of the crawler 31 that face each other between the driving-side pulley 33a and the driven-side pulley 33 b.

The planar portion 321a of the first plate-like member 321 is configured to: the inner peripheral surface portion of the crawler 31 is brought into contact with a virtual straight line X1 connecting a vertex a1 on the traveling object 5 side such as a traveling surface in the outer peripheral surface portion 31a1 of the driving-side pulley 33a and a vertex B1 on the traveling object 5 side in the outer peripheral surface portion 33B1 of the driven-side pulley 33B at a position closer to the traveling object 5 side. Therefore, the crawler belt 31 is pushed out from the inside to the outside by the first plate-like member 321, exposed to the outside through the through-hole 351 provided in the cover portion 35, and brought into contact with the traveling object 5.

The plate-like member 321 disposed inside the crawler belt 31 includes: a flat portion 321a, the flat portion 321a being in contact with an inner peripheral surface portion of the driving-side pulley 33 a; a first inclined portion 321b1, the first inclined portion 321b1 being continuous with one end of the planar portion 321 a; and a second inclined portion 321b2, the second inclined portion 321b2 being connected to the other end of the planar portion 321 a. The first inclined portion 321b1 is formed to have a larger distance from the inner peripheral surface portion of the crawler belt 31 as the position closer to the driving-side pulley 33 a. The second inclined portion 321b2 is formed to have a greater distance from the inner peripheral surface portion of the crawler belt 31 as the position closer to the driven-side pulley 33 b.

The second plate-like member 322 includes a flat portion 322a, and the flat portion 322a contacts an inner peripheral surface portion of the crawler 31 existing at the other of two mutually facing portions (a lower portion in fig. 7, an upper portion in fig. 5) between the driving-side pulley 33a and the driven-side pulley 33b of the crawler 31.

The planar portion 322a of the second plate-like member 322 is configured to: the inner peripheral surface portion of the crawler 31 is brought into contact with a virtual straight line X2 connecting a vertex a2 on the traveling object 6 side such as a traveling surface in the outer peripheral surface portion 33a1 of the driving-side pulley 33a and a vertex B2 on the traveling object 6 side in the outer peripheral surface portion 33B1 of the driven-side pulley 33B at a position closer to the traveling object 6 side. Therefore, the crawler 31 is pushed out from the inside to the outside by the second plate-like member 322, exposed to the outside through the through-hole 396 provided in the base 39, and brought into contact with the traveling object 5.

The second plate-like member 322 disposed inside the crawler belt 31 includes: a flat portion 322a, the flat portion 322a being in contact with an inner peripheral surface portion of the driving-side pulley 33 a; a first inclined portion 322b1, the first inclined portion 322b1 being connected to one end of the planar portion 322 a; and a second inclined portion 322b2, the second inclined portion 322b2 being connected to the other end of the planar portion 322 a. The first inclined portion 322b1 is formed to have a larger distance from the inner peripheral surface portion of the crawler belt 31 as the position closer to the driving-side pulley 33 a. The second inclined portion 322b2 is formed to have a greater distance from the inner peripheral surface portion of the crawler belt 31 as the position closer to the driven-side pulley 33 b.

The endless track traveling device according to embodiment 2 of the present invention configured as described above is used as a pair of endless track traveling devices of the moving body 100 of the inspection robot configured as a generator, for example, as shown in fig. 1 described above.

According to the mobile unit of embodiment 2 of the present invention, even when the mobile unit falls from the inner circumferential surface of the stator core 5 of the generator onto the outer circumferential surface of the rotor 6 for some reason when traveling on the inner circumferential surface of the stator core 5 as in the case of embodiment 1, the crawler 31 can travel on the surface of the rotor 6 by projecting the crawler 31 from the through-hole 396 of the base 39 toward the rotor 6 because the second plate-like member 322 is provided on the side of the crawler 31 facing the rotor 6.

Therefore, by using the endless track traveling apparatus according to embodiment 2 as a traveling apparatus configured as a movable body of a robot for inspecting a generator, it is possible to travel on the surface of the rotor even when a trouble such as dropping off from the stator core occurs, and it is possible to obtain a thin and small movable body.

Further, in the endless track traveling device according to embodiment 2 of the present invention, since the crawler belt protrudes to any side of the one surface and the other surface which are in a front-back relationship with each other, it is possible to obtain a moving body which is not only a moving body of a robot for inspecting a generator but also a moving body which can travel by appropriately switching between the front surface and the back surface of the endless track traveling device in a narrow place.

Further, the second endless track traveling device 3 according to embodiment 2 of the present invention shown in fig. 6 is configured such that the crawler belt projects on both of one surface and the other surface which are in a front-back relationship with each other, but a switching device for switching the installation positions of the first plate-like member 321 and the second plate-like member 322 may be provided so that the first plate-like member 321 and the second plate-like member 322 are integrally fixed and the crawler belt 31 projects only on one surface side as necessary. Alternatively, a switching device may be provided for switching the installation positions of the first plate-like member 321 and the second plate-like member 322.

In the endless track traveling device according to embodiment 2 of the present invention, the first plate-like member 321 and the second plate-like member 322 have the same configuration as the plate-like member 32 in the endless track traveling device according to embodiment 1, and the crawler 31 has the same configuration as the crawler 31 in the endless track traveling device according to embodiment 1.

The present invention is not limited to the endless track traveling devices according to embodiments 1 and 2 described above, and the configurations according to embodiments 1 and 2 may be combined, partially modified, or partially omitted as appropriate without departing from the spirit of the present invention.

Industrial applicability:

the present invention is applicable to the field of various robots as moving bodies, for example, a robot for inspecting a generator, a moving body traveling in a narrow section, and the like.

(symbol description)

100 moving body; 1a sensor mounting part; 2a first endless track travelling device; 3a second endless track travelling device; 21. 31 caterpillar tracks; 411. 421, 431 a first connecting member; 412. 422, 432 second connecting member; 39 a base portion; 391. 392, 393, 394 side portions; 395 top part; 33a drive side pulley; 33b driven-side pulley; 32 plate-like members; 321a first plate-like member; 322a second plate-like member; 32a, 321a, 322a planar portions; 32b1, 321b1, 322b1 first inclined portion; 32b2, 321b2, 322b2 second inclined portion; 37a, 37b, 37c permanent magnets; 34a drive side pulley shaft unit; 34a1 drive side pulley axle; 34a2 drive side pulley shaft holder; 34a3, 34a4 bevel gears; 34b driven-side pulley shaft unit; 34b1 driven side pulley axle; 34b2 driven side pulley shaft holding body; 35 a cover part; 396. 351, 352, 353 extend through the holes.