PROBLEM TO BE SOLVED: To make it possible to move a movable body in a space or the like in a pipe having a complex shape and achieve a reduction in size and weight of a whole device.SOLUTION: A movable body comprises a body 18 provided with equipment which becomes a power source, a housing 19 which is located as to surround the body 18 and supports the body 18; and attitude maintenance means which maintains the body 18 in a prescribed attitude. The body 18 comprises a rotor unit 21 which generates propulsive power F which acts in a direction along a central axis C and turning force M around the central axis C. The housing 19 has a shape which can be rolled on a prescribed contact surface. The attitude maintenance means is so provided that the central axis C can always maintain the body 18 in a reference attitude which is inclined forward from a vertical direction by adjustment of a weight balance of the whole including the body 18 and the housing 19, enables of translation motion of the whole in a vertical direction and a cross direction in a state where the reference attitude is maintained when propulsive power F is generated, and enables slewing motion of the whole in a state where the reference attitude is maintained when the turning force M is generated.SELECTED DRAWING: Figure 2
【課題】遠隔操作により、複雑な形状の配管内の空間等を移動可能にするとともに、装置全体の小型化や軽量化を図ること。【解決手段】本発明の移動体は、動力源となる機器が設けられた本体18と、本体18を囲むように配置され、本体18を支持する筐体19と、本体18を所定姿勢に維持する姿勢維持手段とを備えている。本体18は、中心軸Cに沿う方向に作用する推進力Fと中心軸C周りの回転力Mを発生させるロータユニット21を備えている。筐体19は、所定の接触面上を転動可能な形状をなす。姿勢維持手段は、本体18及び筐体19を含む全体の重量バランスの調整により、中心軸Cが鉛直方向から前方に傾いた基準姿勢に本体18を常に維持可能に設けられ、推進力Fが発生したときに、基準姿勢を維持した状態で全体の上下方向及び前後方向への並進運動を可能にし、回転力Mが発生したときに、基準姿勢を維持した状態で全体の旋回運動を可能にする。【選択図】 図2
MOVABLE BODY, AND REMOTE INSPECTION SYSTEM USING THE SAME, AND REMOTE INSPECTION METHOD IN PIPE
移動体、並びに、これを用いた遠隔検査システム及び配管内の遠隔検査方法
2018-06-28
Patent
Electronic Resource
Japanese
IPC: | B64C AEROPLANES , Flugzeuge / B61B RAILWAY SYSTEMS , Eisenbahnanlagen / B62D MOTOR VEHICLES , Motorfahrzeuge / G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |