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41. 发明专利

JPH07281739A IN-PIPE TRAVELING ROBOT 失效
公开(公告)号：JPH07281739A
公开(公告)日：1995-10-27
申请号：JP7358294
申请日：1994-04-12
申请人： OSAKA GAS CO LTD
发明人： KAWAGUCHI KEIJI , KIKUTA TAKASHI
IPC分类号： B61B13/10 , B25J5/00 , G05B19/02 , G05D1/02
摘要： PURPOSE:To provide the in-pipe traveling robot with which stability can be improved by correcting the meander of the robot and traveling speed can be controlled suitably corresponding to a traveling route environment. CONSTITUTION:This robot is provided with a first inclinometer 10 for detecting the inclination of a front truck 1 in the gravity direction, second inclinometer 20 for detecting the inclination of a rear truck 2 in the gravity direction, and rear wheel steering device 22 for changing the direction of the rear truck 2 corresponding to the front truck 1 based on the compared result of those two detected inclinations so as to eliminate the difference of inclinations.

42. 发明专利

JPH07228246A IN-PIPE RUNNING DEVICE 失效
公开(公告)号：JPH07228246A
公开(公告)日：1995-08-29
申请号：JP2082694
申请日：1994-02-18
申请人： OSAKA GAS CO LTD
发明人： KIKUTA TAKASHI , KAWAGUCHI KEIJI , YOSHIDA OTOO
IPC分类号： B61B13/10 , H02N2/00
摘要： PURPOSE:To perform running in a pipe through steering by a method wherein a drive means comprises an ultrasonic motor for drive consisting of a rotor for drive arranged on one of an axle and a steering shaft and an ultrasonic stator for drive arranged on the other. CONSTITUTION:An ultrasonic motor 18 for drive consisting of a rotor 16 for drive arranged on an axle 12b and an ultrasonic stator 17 for drive arranged on a steering shaft 10 is located between the portion on the lower end side of the steering shaft 10 and the axle 12b to constitute a driving means for each running wheel 12. Control of an ultrasonic motor 15 for steering and the ultrasonic motor 18 for drive is carried out by a running control device 8. In this case, the rotor 16 for drive is supported on the steering shaft 10 by employing structure wherein an annular bearing 19 is arranged on the peripheral part of the disc-form rotor 16 for drive and the rotor 16 for drive is supported on the steering shaft 10.

43. 发明专利

JPH04293689A MAGNETIC ATTRACTION WHEEL AND VEHICLE WITH MAGNETIC ATTRACTION WHEEL 失效
公开(公告)号：JPH04293689A
公开(公告)日：1992-10-19
申请号：JP6013991
申请日：1991-03-25
申请人： OSAKA GAS CO LTD
发明人： KIKUTA TAKASHI , KAWAGUCHI KEIJI
IPC分类号： B60B19/00 , B61B13/10 , B62D57/024
摘要： PURPOSE:To change and adjust the magnetic attracting force in response to the gradient of the traveling road surface. CONSTITUTION:A magnetic force adjusting means 5 changing/adjusting the magnetic force is provided on a magnetic attraction wheel with wheel body sections attracted to the traveling road surface by the magnetic force. A permanent magnet 2 and an electromagnet 4 are concurrently used to generate the magnetic attracting force, and the magnetic force of the electromagnet 4 is changed and adjusted over a range from the polarity negating the magnetic force of the permanent magnet 2 to the polarity augmenting it. The magnetic force is changed and adjusted based on the detection information of an attitude sensor 6 detecting the inclination of a vehicle body 21 against the vertical direction.

44. 发明专利

JPH04293688A MAGNETIC ATTRACTION WHEEL 失效
公开(公告)号：JPH04293688A
公开(公告)日：1992-10-19
申请号：JP6013891
申请日：1991-03-25
申请人： OSAKA GAS CO LTD
发明人： KIKUTA TAKASHI , KAWAGUCHI KEIJI
IPC分类号： B60B19/00 , B61B13/10 , B62D57/024
摘要： PURPOSE:To increase the magnetic attracting force to the traveling road surface without widening the width of wheel body sections or using a special high- magnetic force magnet. CONSTITUTION:In a magnetic attraction wheel with a pair of wheel body sections 1 attracted to the traveling road surface, a pair of wheel body sections 1 are connected by an axle section 2, and at least part of the axle section 2 is made of a magnet so that a pair of the wheel body sections 1 have different magnetic poles.

45. 发明专利

JP2001287502A MAGNET WHEEL 失效
公开(公告)号：JP2001287502A
公开(公告)日：2001-10-16
申请号：JP2000106647
申请日：2000-04-07
申请人： OSAKA GAS CO LTD
发明人： KAWAGUCHI KEIJI , IWANAGA TETSUYA , TSUNEWAKI HIROSHI
IPC分类号： B60B19/00 , B60B19/12
摘要： PROBLEM TO BE SOLVED: To increase attracting force by using plural magnets, to prevent an increase in the size and weight, and to prevent a change in the attracting force by a pipe diameter. SOLUTION: Almost disk-shaped wheel body parts 11 are formed of a ferromagnetic substance material, and are arranged on the axial directional both ends of a wheel shaft part 12 so as to make a pair. The wheel shaft part 12 is formed of a ferromagnetic substance material being wholly a magnet or including a magnet in at least a part. Almost disk-shaped magnets 13 are respectively arranged outside the wheel body parts 11 to be magnetized so that polarity of magnetic pole surfaces sandwiching the wheel body parts 11 becomes the same as polarity of a magnetic pole surface of an end part of the wheel shaft part 12. A taper having an inclination changing in plural stages is arranged on an outer peripheral surface of the wheel body parts 11 to cope with a wide range curved surface as a traveling road surface.

46. 发明专利

JPH10324105A WALKING UNIT AND ROBOT 失效
公开(公告)号：JPH10324105A
公开(公告)日：1998-12-08
申请号：JP13829797
申请日：1997-05-28
申请人： OSAKA GAS CO LTD
发明人： KAWAGUCHI KEIJI
IPC分类号： B60B19/00 , B62D57/024
摘要： PROBLEM TO BE SOLVED: To provide a walking unit for a robot that produces a suspension function of some extent when it is between the main body of a robot and magnetically attractive wheels and is hard to change a car height when the robot runs on a ceiling. SOLUTION: This unit is provided with a pair of oscillating support members 3 capable of oscillating around a main body shaft 2 supported by a running main body, a pair of magnetically attractive wheels 4 mounted on the free ends of the oscillating support members 3, a first damping mechanism 6 for applying a closing force to reduce an opening angle between the oscillating support members 3, the magnetically attractive wheels 4 being disposed to produce a magnetically repulsive force therebetween.

47. 发明专利

JPH10236104A DOUBLE WHEEL 失效
公开(公告)号：JPH10236104A
公开(公告)日：1998-09-08
申请号：JP3896997
申请日：1997-02-24
申请人： OSAKA GAS CO LTD
发明人： YOSHIDA OTOO , IWAO KEIZO , MURATA KIYOSHI , KIKUTA TAKASHI , KAWAGUCHI KEIJI
IPC分类号： B60B19/00
摘要： PROBLEM TO BE SOLVED: To provide a double wheel in which an outer hollow wheel member is hardly disengaged from an inner wheel member. SOLUTION: This double wheel comprises an outer hollow wheel member 2b which can freely runs while coming into contact with a running surface, an inner rotating and driving wheel member 2a which is housed in the hollow part of the outer hollow wheel member 2b so as to be relatively movable along the radial direction of the outer hollow wheel member 2b and a driving force transfer surface part 2c capable of transferring a driving force to the inner wheel member 2a to the outer hollow wheel member 2b, which is provided in the inner peripheral part of the outer hollow wheel member 2b. The outer peripheral surface of the inner wheel member 2a is provided with a groove part 5 for preventing the disengagement which can prevent the relative movement of the outer hollow wheel member 2b and the inner wheel member 2a along the direction of the thickness thereof. The driving force transfer surface part 2c is circumferentially provided with a protruding part 6 for preventing the disengagement which can be freely fitted to the groove for preventing the disengagement.

48. 发明专利

JPH1053130A PIPE TRAVELING MACHINE CONTROLLER 失效
公开(公告)号：JPH1053130A
公开(公告)日：1998-02-24
申请号：JP21069096
申请日：1996-08-09
申请人： OSAKA GAS CO LTD
发明人： KAWAGUCHI KEIJI , KIKUTA TAKASHI , IWAO KEIZO , YOSHIDA OTOO
IPC分类号： B61B13/10
摘要： PROBLEM TO BE SOLVED: To provide a pipe traveling machine controller to enable the stable travel of a pipe traveling machine at various traveling speed. SOLUTION: A pipe traveling machine controller comprises a steering motor control part 40 to control the steering motor 16a of a pipe traveling machine; and a computing means 30 to output a control value for the steering motor control part by inputting the inclination angle measuring value, the steering angle measuring value, and the traveling speed measuring value of the pipe running machine. The steering motor control part outputs a control signal to the steering motor by utilizing the control value.

49. 发明专利

JPH1053128A CONTROLLER FOR IN-PIPE TRAVELING MACHINE 失效
公开(公告)号：JPH1053128A
公开(公告)日：1998-02-24
申请号：JP21068896
申请日：1996-08-09
申请人： OSAKA GAS CO LTD
发明人： KAWAGUCHI KEIJI , KIKUTA TAKASHI , IWAO KEIZO , YOSHIDA OTOO
IPC分类号： B61B13/10
摘要： PROBLEM TO BE SOLVED: To enable an in-pipe traveling machine to travel stably by constituting a first computing part in such a way as to output the value obtained by multiplying an inclination measurement signal by the nonlinear function value using a nonlinear function with the previously prepared inclination measured value as a parameter. SOLUTION: A first computing part 20a obtains an inclination θi serving as deviation between a detection signal θi- sen from an inclination sensor 18f and a target inclination θi- ref, and multiplies this inclination θi by a nonlinear function f (θi) and the sensitivity adjustment value k1 and outputs the obtained value to a speed computing part 20c. The speed computing part 20c outputs the output value k1f(θi) θi of the first computing part 20a and the output value k2 s, obtained by multiplying a detection signal θs from a front wheel steering angle sensor 18a by the sensitivity adjustment value k2, as the speed target value ωo to a steering motor speed control part 40, and a front wheel steering motor 16a is controlled so as to be equal to angular velocity ωof a front wheel steering rotation speed sensor 18c. An in-pipe traveling machine can thereby travel stably.

50. 发明专利

JPH09286360A GROUNDED STATE DETERMINATION DEVICE AND MAGNETIC ATTRACTION TYPE MOVING DEVICE 失效
公开(公告)号：JPH09286360A
公开(公告)日：1997-11-04
申请号：JP9791396
申请日：1996-04-19
申请人： OSAKA GAS CO LTD
发明人： KAWAGUCHI KEIJI , KIKUTA TAKASHI , IWAO KEIZO , YOSHIDA OTOO
IPC分类号： B61B13/12 , B62D57/024
摘要： PROBLEM TO BE SOLVED: To determine grounded state appropriately by using a determination means which determines whether a magnetic attraction running body is in a normally attracted state by comparing detected values of a Hall element with a leakage magnetic flux value in a normal attraction state. SOLUTION: There are provided storage means 22 for storing normal attraction state leakage magnetic flux values detected with Hall elements 20, 21, and a determination means 23 for determining whether wheels 5 are in a normally attracted state by comparing values detected by means of the Hall elements 20, 21 with a leakage magnetic flux value in a normally attracted state. That is to say, while the leakage magnetic flux generally tends to exhibit a minimum value in the normal state, if a wheel member 7 on one side lifts, the output of the Hall element on that side increases. Therefore, whether the wheel member 7 (or a wheel 5) is not in the normally attracted state may be detected by detecting the increase in the leakage magnetic flux.

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