PROBLEM TO BE SOLVED: To stabilize an attitude of a traveling body at removal thereof.SOLUTION: A traveling body 1 comprises: front magnetic attraction wheels 3a, 3b and rear magnetic attraction wheels 3c, 3d of a vehicle body 2; and removal means 4a, 4b, 4c, 4d respectively corresponding thereto. When the traveling body 1 is removed from a magnetic surface 6, a control part reduces attraction forces between the magnetic surface 6 and, at first, the respective magnetic attraction wheels 3c, 3d, by inserting non-magnetic members 9c, 9d into therebetween, using the attached removal means 4c, 4d, so as to remove the respective magnetic attraction wheels 3c, 3d in this state, and then reduces attraction forces between the magnetic surface 6 and the respective magnetic attraction wheels 3a, 3b, by inserting non-magnetic members 9a, 9b into therebetween, using the attached removal means 4a, 4b, so as to remove the respective magnetic attraction wheels 3a, 3b in this state. Attitude change due to reaction at removal is suppressed by reducing the number of finally removed magnetic attraction wheels 3a, 3b.SELECTED DRAWING: Figure 4
【課題】 走行体の離脱時の姿勢を安定させる。【解決手段】 走行体1は、車体2の前側の磁気吸着車輪3a,3bと、後側の磁気吸着車輪3c,3dと、それぞれ対応する離脱手段4a,4b,4c,4dを備えた構成とする。磁性体の面6から走行体1を離脱させるときは、制御部により、先ず、磁気吸着車輪3c,3dについて、付設の離脱手段4c,4dを用いて、非磁性部材9c,9dを磁性体の面6との間に介在させて吸着力を低減させ、この状態で、各磁気吸着車輪3c,3dを離脱させる。次に、磁気吸着車輪3a,3bについて、付設の離脱手段4a,4bを用いて、非磁性部材9a,9bを磁性体の面6との間に介在させて吸着力を低減させ、この状態で、各磁気吸着車輪3c,3dを離脱させる。最終的に離脱させる磁気吸着車輪3a,3bの数を減らすことで、離脱時の反動による姿勢変化を抑制する。【選択図】図4
TRAVELING BODY AND METHOD FOR REMOVING TRAVELING BODY
走行体および走行体の離脱方法
2018-03-15
Patent
Electronic Resource
Japanese
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