大型ボイラ内壁を検査するロボットシステムの開発: 第3報-点検台車のための内部力補憤型磁気吸着クローラ機構の考案·具現化

摘要

In this paper, we report the internally balanced magnetic crawler mechanism (IBM crawler), which is a moving mechanism for sensing vehicle included in the inspection robot system which inspects the inner wall of a large boiler for power generation. The proposed IBM crawler has internally balanced magnetic units (IB magnets) whose internal force generated in magnets for attraction is compensated and the cam mechanism for operating IB magnets. With these mechanisms, the IBM crawler has the feature that the force necessary for moving each magnet is small and it can move smoothly. After designing the IB magnet used for the crawler belt and verifying the cam mechanism for attaching and detaching the magnet, the IBM crawler was realized. Verification of performance of the realized IBM crawler was conducted. As a result, it was confirmed that the peak of train resistance during the movement of the IBM crawler with the cam mechanism is less than in the case without the cam mechanism. In addition, it was confirmed that the IBM crawler succeeded in moving on the wall.%発電用ボイラ火炉内壁の減肉点検ロボットシステムの開発において，壁面を吸着昇降し壁面計測を行う点検台車の壁面吸着機構の問題点が明らかとなった.従来方式では，車輪の障害物の乗り上げ時や湾曲壁面では吸着力が低下して脱離する問題があり，また曲がり管の乗り越えも困難であった.これらの現象を回避し強力吸着を実現するには，磁性体に直接磁石が吸着する磁力クローラ方式が有効である.しかし一般的な磁力クローラでは吸着時の衝擊·振動や引きはがしに必要な離脱力に起因する走行抵抗の問題が生じる.