JP6176560B2

JP6176560B2 - Magnetic adsorption mechanism, telescopic unit, and omnidirectional movement mechanism

Info

Publication number: JP6176560B2
Application number: JP2013030859A
Authority: JP
Inventors: 中村　太郎; 太郎中村; 曜義小川; 大澤　達也; 達也大澤; 陽祐鈴木
Original assignee: Chuo University
Current assignee: Chuo University
Priority date: 2013-02-20
Filing date: 2013-02-20
Publication date: 2017-08-09
Anticipated expiration: 2033-02-20
Also published as: JP2014159058A

Description

本発明は、磁性体から成る走行面上を所望の方向に移動する全方向移動機構と、当該全方向移動機構に好適な磁気吸着機構、及び、伸縮ユニットに関するものである。 The present invention relates to an omnidirectional movement mechanism that moves in a desired direction on a traveling surface made of a magnetic material, a magnetic adsorption mechanism that is suitable for the omnidirectional movement mechanism, and a telescopic unit.

従来、電磁石から成る車輪を有し、構造物の壁面に車輪を吸着させながら回転させて移動する全方向移動ロボットが知られている（例えば、特許文献１参照）。 Conventionally, there has been known an omnidirectional mobile robot that has a wheel made of an electromagnet and moves while rotating the wheel while adsorbing the wheel to a wall of a structure (for example, see Patent Document 1).

実開平５―１９０８７号公報Japanese Utility Model Publication No. 5-19087

しかしながら、従来の全方向移動ロボットは、車輪を用いて移動する構成なので、壁面との接触面積が少なく、そのため、ロボットの重量が重い場合には、壁面から脱落してしまうといった問題点があった。 However, since conventional omnidirectional mobile robots are configured to move using wheels, they have a small contact area with the wall surface, and therefore, when the robot is heavy, there is a problem of falling off the wall surface. .

本発明は、従来の問題点に鑑みてなされたもので、天井や床などの磁性体から成る走行面上を所望の方向に安定して移動することができる全方向移動機構と、全方向移動機構に好適な磁気吸着機構及び伸縮ユニットを提供することを目的とする。 The present invention has been made in view of conventional problems, and an omnidirectional movement mechanism capable of stably moving in a desired direction on a traveling surface made of a magnetic material such as a ceiling or a floor, and an omnidirectional movement. It is an object of the present invention to provide a magnetic attraction mechanism and a telescopic unit suitable for the mechanism.

上記課題を解決するための構成として、磁性体から成る被吸着体の表面に吸着する磁気吸着機構であって、板状の台座と、磁性体から成り、台座における被吸着体と対向する側に取り付けられた脚部と、台座上において、当該台座の板面に垂直な方向を回転軸として回転可能に取り付けられ、台座の板面と平行な方向に磁極を有する永久磁石と、永久磁石の周囲において磁極とそれぞれ対向する位置に取り付けられ、当該磁極が対向する状態において、脚部を磁化して被吸着体に吸着させる第１のヨークと、永久磁石の周囲において磁極とそれぞれ対向すると共に、永久磁石の回転軸方向から見て、第１のヨークに対して位置ずれした位置に配置され、当該磁極が対向する状態において磁化され、被吸着体に吸着する第２のヨークとを備え、永久磁石の磁極の向きに応じて磁気回路が切り替え可能であり、脚部の被吸着体に接する吸着部の摩擦係数が、第２のヨークの被吸着体に接する吸着部の摩擦係数よりも小さい構成とした。
本構成によれば、磁気吸着機構を被吸着体との間の摩擦係数の小さな脚部にて吸着させたり、摩擦係数の大きな第２のヨークにて吸着させたりすることができるので、磁気吸着機構を被吸着体に吸着させた状態で移動させることができるとともに、吸着体に強固に固定することも可能な磁気吸着機構を得ることができる。
また、前記第２のヨークの前記吸着部側の周囲に、前記吸着部の摩擦係数よりも大きな摩擦係数を有する摩擦板が取り付けられている構成とした。
本構成によれば、磁気吸着機構を被吸着体に更に強固に固定することができる。 A structure for solving the above problems is a magnetic adsorption mechanism that adsorbs to the surface of an adsorbed body made of a magnetic material, which is composed of a plate-shaped pedestal and a magnetic material, on the side of the pedestal facing the object to be adsorbed. A fixed leg , a permanent magnet on the pedestal that is rotatably mounted with a direction perpendicular to the plate surface of the pedestal as a rotation axis, and has a magnetic pole in a direction parallel to the plate surface of the pedestal, and the periphery of the permanent magnet In the state where the magnetic poles are opposed to each other, the first yoke that magnetizes the legs and attracts them to the object to be adsorbed , and the magnetic poles around the permanent magnets and permanent viewed from the rotational axis direction of the magnet, are arranged in misaligned position with respect to the first yoke, the magnetic poles are magnetized in a state facing, and a second yoke which adsorbs onto the adsorbent, The magnetic circuit according to the orientation of the magnetic poles of the permanent magnet are possible switching, the friction coefficient of the suction unit in contact with the adsorbent of the leg portion is smaller than the friction coefficient of the suction unit in contact with the adsorbent of the second yoke The configuration.
According to this configuration, the magnetic adsorption mechanism can be adsorbed by the leg portion having a small friction coefficient with the object to be adsorbed, or can be adsorbed by the second yoke having a large friction coefficient. It is possible to obtain a magnetic adsorption mechanism that can be moved while the mechanism is adsorbed on the adsorbent and can be firmly fixed to the adsorbent.
Further, a friction plate having a friction coefficient larger than the friction coefficient of the suction portion is attached around the suction portion side of the second yoke.
According to this configuration, the magnetic adsorption mechanism can be more firmly fixed to the object to be adsorbed.

また、他の構成として、上記いずれかの磁気吸着機構を備え、磁性体から成る被吸着面に吸着しながら伸縮運動する伸縮ユニットであって、基台と、基台に移動可能に取り付けられた移動台と、移動台を基台側に移動させて基台と移動台との距離を伸縮させる伸縮機構とを備え、基台が、磁気吸着機構の台座を脚部と反対側から支持し、伸縮機構が、回動手段と、当該回動手段の回転軸に取り付けられた原動節と、当該原動節と移動台との間に設けられ、原動節の回転に従って移動台を基台側に移動させる伸縮用従属節とを有するカム機構とを備えた構成とした。
本構成によれば、摩擦力の小さな状態で被吸着体に吸着している状態の伸縮ユニットを伸縮させることができるので、伸縮ユニットを容易に伸縮させることができる。
また、原動節に、永久磁石に取り付けられて永久磁石を回転させる磁石回転用従属節が取り付けられている構成とした。
本構成によれば、１つの回動手段で伸縮ユニットの伸縮と永久磁石の回転を同時に行うことができる。 Further, as another configuration, comprising any of the above magnetic attraction mechanism, a telescopic unit which expands and contracts while attracted to the attaching object face made of a magnetic material, a base, movably attached to the base A movable table and an expansion / contraction mechanism that expands and contracts the distance between the movable table and the movable table by moving the movable table to the base side, and the base supports the pedestal of the magnetic adsorption mechanism from the opposite side of the leg, The telescopic mechanism is provided between the rotating means, the driving node attached to the rotating shaft of the rotating means, and the driving node and the moving table, and moves the moving table to the base side according to the rotation of the driving node. And a cam mechanism having a telescopic subordinate node.
According to this structure, since the expansion / contraction unit in the state adsorbed to the adsorbent with a small frictional force can be expanded and contracted, the expansion / contraction unit can be easily expanded and contracted.
Moreover, it was set as the structure by which the subordinate node for magnet rotation which is attached to a permanent magnet and rotates a permanent magnet was attached to the drive node.
According to this structure, the expansion / contraction of the expansion / contraction unit and the rotation of the permanent magnet can be performed simultaneously by one rotating means.

また、他の構成として、上記いずれかの伸縮ユニットを環状に連結して成る移動装置と、各伸縮ユニットの伸縮の位相を制御する位相制御装置とを備えた全方向移動機構であって、位相制御装置が、伸縮ユニットの各吸着位置に、全方位移動機構の移動方向に進行する進行波を発生させるように、伸縮ユニットの位相を制御する構成とした。
本構成によれば、伸縮中の伸縮ユニットは摩擦の少ない状態で被吸着面に吸着し、それ以外の伸縮ユニットは被吸着面に強固に吸着しているので、全方向移動機構を、天井や床などの磁性体から成る走行面上において所望の方向に安定して移動させることができる。
また、伸縮ユニットの連結部に、連結された２つの伸縮ユニット間の角度を調整する角度調整用の回動手段が取り付けられている構成とした。
本構成によれば、伸縮ユニット間の連結角を確実に同じにすることができるので、全方向移動機構を精度よく移動させることができる。
なお、前記発明の概要は、本発明の必要な全ての特徴を列挙したものではなく、これらの特徴群のサブコンビネーションもまた、発明となり得る。 Further, as another configuration, there is provided an omnidirectional movement mechanism including a moving device formed by annularly connecting any one of the expansion units and a phase control device for controlling a phase of expansion / contraction of each expansion unit. The control device is configured to control the phase of the expansion / contraction unit so as to generate a traveling wave traveling in the moving direction of the omnidirectional movement mechanism at each suction position of the expansion / contraction unit.
According to this configuration, the telescopic unit during expansion and contraction is attracted to the attracted surface with little friction, and the other telescopic units are firmly adsorbed to the attracted surface. It can be stably moved in a desired direction on a running surface made of a magnetic material such as a floor.
Moreover, it was set as the structure by which the rotation means for angle adjustment which adjusts the angle between two connected expansion-contraction units was attached to the connection part of the expansion-contraction unit.
According to this structure, since the connection angle between expansion-contraction units can be made the same reliably, an omnidirectional movement mechanism can be moved accurately.
The summary of the invention does not list all necessary features of the present invention, and sub-combinations of these feature groups can also be the invention.

磁気吸着機構を示す斜視図である。It is a perspective view which shows a magnetic adsorption mechanism. 移動時における磁気吸着機構を示す図である。It is a figure which shows the magnetic adsorption | suction mechanism at the time of a movement. 固定時における磁気吸着機構を示す図である。It is a figure which shows the magnetic adsorption | suction mechanism at the time of fixation. 摩擦板を備えた磁気吸着機構を示す図である。It is a figure which shows the magnetic attraction | suction mechanism provided with the friction board. 全方向移動機構の概要を示す図である。It is a figure which shows the outline | summary of an omnidirectional movement mechanism. 伸長時の伸縮ユニットを示す図である。It is a figure which shows the expansion-contraction unit at the time of expansion | extension. 収縮時の伸縮ユニットを示す図である。It is a figure which shows the expansion-contraction unit at the time of contraction. 駆動用モータの回転角度に対する永久磁石の回転角度及び伸縮ユニットの長さの関係を示すグラフである。It is a graph which shows the relationship between the rotation angle of a permanent magnet with respect to the rotation angle of a drive motor, and the length of an expansion-contraction unit. 伸縮ユニットを伸縮させたときの全方向移動機構の部分拡大図である。It is the elements on larger scale of the omnidirectional movement mechanism when an expansion-contraction unit is expanded-contracted. 全方向移動機構の動作を説明するための図である。It is a figure for demonstrating operation | movement of an omnidirectional movement mechanism.

実施形態１．
図１（ａ），（ｂ）は、磁気吸着機構１の全体構成を示す斜視図で、（ａ）図は永久磁石１３側から見た図、（ｂ）図は車輪１２側から見た図である。
磁気吸着機構１は、長方形板状の台座１１と、台座１１の一方の板面に取り付けられた脚部としての車輪１２と、他方の板面に取り付けられた永久磁石１３と、永久磁石１３の外周側に配設される第１のヨークとしての一対の走行用ヨーク１４，１４と、第２のヨークとしての一対の停止用ヨーク１５，１５と、台座１１及び取付板１７間に亘って延長するガイドシャフト１８，１８に沿って、第２のヨーク１５，１５を台座１１の板面に垂直な方向にスライド可能に保持するヨーク保持手段１６と、台座１１の板面と平行な板面を有し、台座１１と共にガイドシャフト１８，１８の端部を固定する取付板１７とを備える。
上記構成からなる磁気吸着機構１は、車輪１２側にて、鉄板などの磁性体から成る被吸着体Ｆの表面に磁力により吸着する。なお、被吸着体Ｆについては、平らな床面や傾斜した床面は勿論のこと、表面が鉄板などの磁性体であれば、天井や壁などであってもよい。 Embodiment 1. FIG.
FIGS. 1A and 1B are perspective views showing the overall configuration of the magnetic attraction mechanism 1, wherein FIG. 1A is a view seen from the permanent magnet 13 side, and FIG. 1B is a view seen from the wheel 12 side. It is.
The magnetic attraction mechanism 1 includes a rectangular plate-like pedestal 11, wheels 12 as legs attached to one plate surface of the pedestal 11, permanent magnets 13 attached to the other plate surface, and permanent magnets 13. A pair of traveling yokes 14, 14 as a first yoke disposed on the outer peripheral side, a pair of stop yokes 15, 15 as a second yoke, and the base 11 and the mounting plate 17 are extended. A yoke holding means 16 for holding the second yoke 15, 15 slidably in a direction perpendicular to the plate surface of the pedestal 11 along the guide shafts 18, 18 and a plate surface parallel to the plate surface of the pedestal 11. And a mounting plate 17 that fixes the ends of the guide shafts 18 and 18 together with the base 11.
The magnetic attraction mechanism 1 having the above configuration is adsorbed by the magnetic force on the surface of the object to be adsorbed F made of a magnetic material such as an iron plate on the wheel 12 side. In addition, about the to-be-adsorbed body F, a ceiling, a wall, etc. may be sufficient as long as the surface is magnetic bodies, such as a flat floor surface and an inclined floor surface, and an iron plate.

車輪１２と走行用ヨーク１４と停止用ヨーク１５とは磁性体から構成され、台座１１とヨーク保持手段１６と取付板１７とは非磁性体から構成され、車輪１２もしくは停止用ヨーク１５が永久磁石１３により磁化されて被吸着体Ｆの表面に吸着する。
永久磁石１３は、台座１１の板面に垂直な方向に延長する柱状体で、柱状体の軸方向を回転軸とし、軸受１３Ｊを介して、台座１１に対して回転可能に取り付けられる。この永久磁石１３の磁化方向は、図１（ａ）の矢印に示すように、当該永久磁石１３の回転軸に対して垂直な方向である。 The wheel 12, the traveling yoke 14 and the stop yoke 15 are made of a magnetic material, the pedestal 11, the yoke holding means 16 and the mounting plate 17 are made of a non-magnetic material, and the wheel 12 or the stop yoke 15 is a permanent magnet. It is magnetized by 13 and adsorbed on the surface of the adherend F.
The permanent magnet 13 is a columnar body extending in a direction perpendicular to the plate surface of the pedestal 11, and is rotatably attached to the pedestal 11 via a bearing 13J with the axial direction of the columnar body as a rotation axis. The magnetization direction of the permanent magnet 13 is a direction perpendicular to the rotation axis of the permanent magnet 13 as indicated by an arrow in FIG.

一対の走行用ヨーク１４，１４は、それぞれが、台座１１の板面に垂直な方向に延長する垂直片１４Ａと、垂直片１４Ａの台座１１側の端部から永久磁石１３側とは反対方向に突出して台座１１上に固定される下部水平片１４Ｂと、垂直片１４Ａの取付板１７側の端部から永久磁石１３とは反対方向に突出して取付板１７に固定される上部水平片１４Ｃとを備えた、台座１１の板面に垂直な断面で見た形状がコの字状の部材で、永久磁石１３の外周側にそれぞれ配置される。
具体的には、走行用ヨーク１４の垂直片１４Ａは、図１（ａ）及び図２に示すように、磁気吸着機構１が車輪１２にて被吸着体Ｆの表面に吸着している場合（移動可能状態）は、垂直片１４Ａが、永久磁石１３の磁極面側（図１（ａ）のＮ極側とＳ極側）に対向し、図３に示すように、磁気吸着機構１が停止用ヨーク１５にて被吸着体Ｆの表面に吸着している場合（固定状態）には、垂直片１４Ａが永久磁石１３の磁極面ではない面（非磁極面）に対向する。 Each of the pair of traveling yokes 14 and 14 includes a vertical piece 14A extending in a direction perpendicular to the plate surface of the pedestal 11, and an end of the vertical piece 14A on the pedestal 11 side in a direction opposite to the permanent magnet 13 side. A lower horizontal piece 14B that protrudes and is fixed on the pedestal 11 and an upper horizontal piece 14C that protrudes in the direction opposite to the permanent magnet 13 from the end of the vertical piece 14A on the attachment plate 17 side and is fixed to the attachment plate 17 The shape of the provided cross section perpendicular to the plate surface of the pedestal 11 is a U-shaped member, and is disposed on the outer peripheral side of the permanent magnet 13.
Specifically, in the vertical piece 14A of the traveling yoke 14, as shown in FIGS. 1A and 2, the magnetic attracting mechanism 1 is attracted to the surface of the attracted object F by the wheel 12 ( In the movable state), the vertical piece 14A faces the magnetic pole surface side (N pole side and S pole side in FIG. 1A) of the permanent magnet 13, and the magnetic attraction mechanism 1 stops as shown in FIG. When the yoke 15 is attracted to the surface of the object F to be attracted (fixed state), the vertical piece 14 </ b> A faces a surface (non-magnetic pole surface) that is not the magnetic pole surface of the permanent magnet 13.

垂直片１４Ａと下部水平片１４Ｂとは、後述するように、永久磁石１３とともに磁気回路を構成する磁気ヨークとして機能し、上部水平片１４Ｃは、コの字状の一辺を構成することで、磁気吸着機構１を補強する機能を有する。 As will be described later, the vertical piece 14A and the lower horizontal piece 14B function as a magnetic yoke that constitutes a magnetic circuit together with the permanent magnet 13, and the upper horizontal piece 14C constitutes one side of a U-shape, It has a function of reinforcing the suction mechanism 1.

一対の停止用ヨーク１５，１５は、それぞれが、台座１１の板面に垂直な方向に延長する板状の部材で、永久磁石１３の回転軸方向から見たとき、永久磁石１３の外周側において、永久磁石１３の回転軸を中心として走行用ヨーク１４の垂直片１４Ａと９０°位置ずれ（回転）した位置に配置される。具体的には、図１（ａ）及び図２に示すように、磁気吸着機構１が車輪１２にて被吸着体Ｆの表面に吸着している場合には、停止用ヨーク１５の板面は、永久磁石１３の非磁極面に対向し、図３に示すように、停止用ヨーク１５，１５にて被吸着体Ｆの表面に吸着している場合には、永久磁石１３の磁極面側に対向する。 Each of the pair of stop yokes 15 and 15 is a plate-like member that extends in a direction perpendicular to the plate surface of the pedestal 11, and when viewed from the rotation axis direction of the permanent magnet 13, The travel piece 14 is disposed at a position that is 90 ° displaced (rotated) with respect to the vertical piece 14A of the traveling yoke 14 around the rotation axis of the permanent magnet 13. Specifically, as shown in FIGS. 1A and 2, when the magnetic attraction mechanism 1 is attracted to the surface of the object F by the wheel 12, the plate surface of the stop yoke 15 is When facing the non-magnetic surface of the permanent magnet 13 and adsorbing to the surface of the object F to be adsorbed by the stop yokes 15 and 15 as shown in FIG. opposite.

ヨーク保持手段１６は、停止用ヨーク１５，１５を保持するヨーク保持部１６Ａと、当該ヨーク保持部１６Ａを基点として対称となるように台座１１及び取付板１７と平行に延在し、先端部に架設板１６Ｆを介挿可能な凹部が形成された複数の架設板保持部１６Ｂ乃至１６Ｅと、架設板保持部１６Ｂ，１６Ｃ間、及び架設板保持部１６Ｄ，１６Ｅ間にそれぞれ架設される架設板１６Ｆとを有する。ヨーク保持部１６Ａは、長方形状の停止用ヨーク１５，１５の外形と対応するように停止用ヨーク１５の上部及び両側部を取り囲むように形成された凹部であって、停止用ヨーク１５，１５は、当該凹部内において脱落不能に係止される。架設板保持部１６Ｂ，１６Ｃ及び架設板保持部１６Ｄ，１６Ｅは、走行用ヨーク１４，１４の奥行方向の寸法と対応するように、互いに離間して延在する。架設板１６Ｆは、互いに離間する架設板保持部１６Ｂ，１６Ｃ間、及び架設板保持部１６Ｃ，１６Ｄ間に亘って脱落不能に架設される平板状である。また、架設板１６Ｆの略中央部には、ガイドシャフト１８，１８が挿通可能な貫通孔が開設されている。また、架設板１６Ｆの上面及び下面には貫通孔の周囲を取り囲むように、リニアブッシュ１６Ｈが配設されており、ヨーク保持手段１６の上下方向への移動動作に伴う衝撃が緩和される。 The yoke holding means 16 extends parallel to the pedestal 11 and the mounting plate 17 so as to be symmetrical with respect to the yoke holding portion 16A for holding the stop yokes 15 and 15 and the yoke holding portion 16A as a base point. A plurality of installation plate holding portions 16B to 16E formed with recesses capable of inserting the installation plate 16F, and the installation plates 16F installed between the installation plate holding portions 16B and 16C and between the installation plate holding portions 16D and 16E. And have. The yoke holding portion 16A is a recess formed so as to surround the upper and both sides of the stop yoke 15 so as to correspond to the outer shape of the rectangular stop yokes 15, 15. The stop yokes 15, 15 are In this recess, it is locked so as not to fall off. The construction plate holding portions 16B and 16C and the construction plate holding portions 16D and 16E extend so as to be spaced apart from each other so as to correspond to the dimensions of the traveling yokes 14 and 14 in the depth direction. The erection plate 16F has a flat plate shape that is detachably installed between the erection plate holding portions 16B and 16C and between the erection plate holding portions 16C and 16D. In addition, a through hole through which the guide shafts 18 and 18 can be inserted is formed at a substantially central portion of the installation plate 16F. Further, a linear bush 16H is disposed on the upper surface and the lower surface of the installation plate 16F so as to surround the periphery of the through hole, so that the impact caused by the movement operation of the yoke holding means 16 in the vertical direction is reduced.

上記構成から明らかなとおり、ヨーク保持手段１６は、架設板１６Ｆに開設された貫通孔を介してガイドシャフト１８，１８に対して上下方向に摺動可能に設けられており、ヨーク保持手段１６が、ガイドシャフト１８，１８に沿って摺動動作することにより、停止用ヨーク１５，１５が、台座１１の板面に垂直な方向に移動可能となる。 As is clear from the above configuration, the yoke holding means 16 is provided so as to be slidable in the vertical direction with respect to the guide shafts 18 and 18 through a through hole provided in the installation plate 16F. The stop yokes 15 and 15 can move in a direction perpendicular to the plate surface of the pedestal 11 by sliding along the guide shafts 18 and 18.

次に、磁気吸着機構１の動作について説明する。
図２（ａ）に示すように、永久磁石１３を、磁化方向が走行用ヨーク１４，１４側を向くように回転させると、図２（ｂ）の矢印Ｘ１で示すように、永久磁石１３と走行用ヨーク１４，１４と車輪１２及び被吸着体Ｆとにより磁気回路が形成される。その結果、車輪１２が被吸着体Ｆの表面に吸着する。磁気吸着機構１は、磁力により被吸着体Ｆの表面に吸着するが、車輪１２は被吸着体Ｆに接しているだけなので、吸着力は小さい。すなわち、この状態（移動可能状態）では、磁気吸着機構１は、被吸着体Ｆに対して摩擦力が小さい状態で吸着しているので、磁気吸着機構１を被吸着体Ｆに吸着させた状態で磁気吸着機構１を容易に移動させることができる。
またこのとき、停止用ヨーク１５，１５は、図２（ｂ），（ｃ）に示すように、永久磁石１３からの漏れ磁束により被吸着体Ｆ側とは反対側に引き寄せられ、停止用ヨーク１５，１５の被吸着体Ｆ側の面である吸着面１５Ｋは、被吸着体Ｆの表面から離れた位置にあり、停止用ヨーク１５，１５が磁気吸着機構１の移動を妨げることはない。 Next, the operation of the magnetic adsorption mechanism 1 will be described.
As shown in FIG. 2 (a), when the permanent magnet 13 is rotated so that the magnetization direction is directed to the traveling yokes 14 and 14, the permanent magnet 13 and the permanent magnet 13 as shown by the arrow X1 in FIG. A magnetic circuit is formed by the traveling yokes 14, 14, the wheels 12, and the adherend F. As a result, the wheel 12 is adsorbed on the surface of the adherend F. The magnetic adsorption mechanism 1 is adsorbed on the surface of the object to be adsorbed F by magnetic force, but since the wheel 12 is only in contact with the object to be adsorbed F, the adsorbing force is small. That is, in this state (movable state), the magnetic adsorption mechanism 1 is adsorbed with a small frictional force with respect to the object F to be adsorbed, so that the magnetic adsorption mechanism 1 is adsorbed to the object F to be adsorbed. Thus, the magnetic adsorption mechanism 1 can be easily moved.
At this time, as shown in FIGS. 2B and 2C, the stop yokes 15 and 15 are attracted to the side opposite to the attracted member F side by the leakage magnetic flux from the permanent magnet 13, and the stop yoke The adsorption surface 15K, which is the surface of the adsorbent F, 15 and 15 is located away from the surface of the adsorbent F, and the stop yokes 15 and 15 do not hinder the movement of the magnetic adsorption mechanism 1.

一方、図３（ａ）に示すように、永久磁石１３を磁化方向が停止用ヨーク１５，１５側を向くように回転させると、図３（ｃ）の矢印Ｘ２で示すように、永久磁石１３と停止用ヨーク１５，１５と被吸着体Ｆとにより磁気回路を形成しようとするため、停止用ヨーク１５，１５には、被吸着体Ｆの表面に引き寄せようとする方向の磁力が作用する。
この磁力により、停止用ヨーク１５，１５を保持するヨーク保持手段１６には、台座１１側に移動させる力が作用するので、ヨーク保持手段１６は、ガイドシャフト１８，１８に沿って台座１１側に移動し、その結果、図３（ｂ），（ｃ）に示すように、停止用ヨーク１５，１５の吸着面１５Ｋが被吸着体Ｆの表面に吸着する。これにより、磁気吸着機構１は、車輪１２の接触面よりもはるかに大きな面積を有する停止用ヨーク１５，１５の吸着面１５Ｋにより被吸着体Ｆの表面に吸着するので、磁気吸着機構１は停止用ヨーク１５，１５により被吸着体Ｆの表面に固定される。すなわち、磁気吸着機構１は固定状態となる。 On the other hand, as shown in FIG. 3A, when the permanent magnet 13 is rotated so that the magnetization direction faces the stop yokes 15 and 15, the permanent magnet 13 is shown by an arrow X2 in FIG. Since the magnetic circuit is formed by the stop yokes 15 and 15 and the object to be attracted F, the stop yokes 15 and 15 are subjected to a magnetic force in a direction to be attracted to the surface of the object to be attracted F.
Due to this magnetic force, the yoke holding means 16 that holds the stop yokes 15, 15 acts on the pedestal 11, so that the yoke holding means 16 moves along the guide shafts 18, 18 toward the pedestal 11. As a result, as shown in FIGS. 3B and 3C, the adsorption surface 15 </ b> K of the stop yokes 15, 15 is adsorbed on the surface of the object F to be adsorbed. As a result, the magnetic adsorption mechanism 1 is adsorbed on the surface of the object F to be adsorbed by the adsorption surfaces 15K of the stop yokes 15 and 15 having a much larger area than the contact surface of the wheel 12, so that the magnetic adsorption mechanism 1 is stopped. The yokes 15 and 15 are fixed to the surface of the adherend F. That is, the magnetic adsorption mechanism 1 is in a fixed state.

次に、図２（ａ）に示すように、永久磁石１３を磁化方向が走行用ヨーク１４，１４側を向くように再度回転させると、永久磁石１３からの磁束は走行用ヨーク１４，１４を通って被吸着体Ｆに流れるので、停止用ヨーク１５，１５には、被吸着体Ｆの表面に引き寄せようとする方向の磁力は作用せず、その代わり、永久磁石１３から、停止用ヨーク１５，１５を被吸着体Ｆ方向と反対の方向に引き寄せようとする磁力が作用する。
この磁力により、ヨーク保持手段１６には、取付板１７側に移動させる力が作用するので、ヨーク保持手段１６は、ガイドシャフト１８，１８に沿って取付板１７側に移動し、その結果、停止用ヨーク１５，１５の吸着面１５Ｋは、被吸着体Ｆの表面から離れ、代わって、車輪１２が被吸着体Ｆの表面に吸着する。
なお、永久磁石１３の回転は手動で行ってもよいし、別途磁石回転用の回動手段としてのモータを設け、永久磁石１３を回転軸の周りに回転させるようにしてもよい。 Next, as shown in FIG. 2A, when the permanent magnet 13 is rotated again so that the magnetization direction faces the traveling yokes 14 and 14, the magnetic flux from the permanent magnet 13 causes the traveling yokes 14 and 14 to move. Since the magnetic flux in the direction to be attracted to the surface of the object to be attracted F does not act on the surface of the object to be attracted F. , 15 acts to attract the object 15 in the direction opposite to the direction of the adherend F.
Due to this magnetic force, a force to move to the mounting plate 17 side acts on the yoke holding means 16, so that the yoke holding means 16 moves to the mounting plate 17 side along the guide shafts 18, 18 and stops as a result. The suction surfaces 15K of the yokes 15 and 15 are separated from the surface of the object to be adsorbed F, and instead, the wheel 12 is adsorbed on the surface of the object to be adsorbed F.
The permanent magnet 13 may be rotated manually, or a motor as a rotating means for rotating the magnet may be provided separately to rotate the permanent magnet 13 around the rotation axis.

このように、本発明に係る磁気吸着機構１は、永久磁石１３を回転させることによって、その磁化方向を走行用ヨーク１４，１４側と、停止用ヨーク１５，１５側とに切換える構成を有するので、被吸着体Ｆが天井面や床面であっても、磁気吸着機構１を被吸着体Ｆに吸着させた状態で被吸着体Ｆ面上を移動させたり、被吸着体Ｆ面上に強固に固定したりすることができる。なお、上記実施形態においては、走行用ヨーク１４，１４及び停止用ヨーク１５，１５を永久磁石１３の回転軸方向から見たときに、当該回転軸を中心として永久磁石１３の外周側において、互いに９０°位置ずれした位置に配置したが、位置ずれの角度はこれに限られるものではなく、永久磁石１３の回転によって磁化方向（磁気回路）を切替可能な角度であればいかなる角度であってもよい。 As described above, the magnetic attraction mechanism 1 according to the present invention has a configuration in which the magnetization direction is switched between the traveling yokes 14 and 14 side and the stopping yokes 15 and 15 side by rotating the permanent magnet 13. Even if the object to be adsorbed F is a ceiling surface or a floor surface, the magnetic adsorption mechanism 1 is moved on the surface of the object to be adsorbed F while being adsorbed to the object to be adsorbed F, or firmly on the surface of the object to be adsorbed F. It can be fixed to. In the above embodiment, when the traveling yokes 14 and 14 and the stopping yokes 15 and 15 are viewed from the direction of the rotation axis of the permanent magnet 13, the outer periphery of the permanent magnet 13 is centered on the rotation axis. Although it is arranged at a position shifted by 90 °, the angle of the position shift is not limited to this, and any angle can be used as long as the magnetization direction (magnetic circuit) can be switched by the rotation of the permanent magnet 13. Good.

また、本実施形態１では、停止用ヨーク１５，１５の吸着面１５Ｋにより磁気吸着機構１を被吸着体Ｆの表面に固定したが、図４（ａ），（ｂ）に示すように、停止用ヨーク１５，１５の周りに、停止用ヨーク１５，１５の吸着面１５Ｋの摩擦係数よりも大きな摩擦係数を有する摩擦板１９を取り付けることにより、磁気吸着機構１を被吸着体Ｆ面上に更に強固に固定することができる。図４に示すように、摩擦板１９は、架設板保持部１６Ｂ，１６Ｄ間、及び架設板保持部１６Ｃ，１６Ｅ間に亘って個別に取り付けられる非磁性体からなる断面略Ｌ字状の板材である。摩擦板１９における被吸着体Ｆと対向する摩擦面１９Ａには、ゴムシートなどの摩擦係数の大きな部材が貼着されている。また、摩擦面１９Ａ上には、前述の停止用ヨーク１５，１５の吸着面１５Ｋが望む開口部１９Ｂが開設されており、被吸着体Ｆに対する吸着が阻害されることはない。
摩擦板１９を上記のように取り付けたことにより、摩擦板１９が停止用ヨーク１５，１５の移動と連動して動き、固定状態では被吸着体Ｆの表面に当接し、移動可能状態では被吸着体Ｆの表面から離れた位置に位置するので、磁気吸着機構１を更に強固に被吸着体Ｆの表面上に固定することができるとともに、移動可能状態では磁気吸着機構１の移動を妨げることがないので、磁気吸着機構１をスムースに移動させることができる。
また、本実施形態１では、脚部として車輪１２を用いたが、これに限るものではなく、ブロック状の部材を用いてもよい。この場合には、ブロック状の部材の被吸着体Ｆに接する側の形状を球面にするなどして、被吸着体Ｆとの間の摩擦係数を小さくしてやる必要があることはいうまでもない。また、ブロック状の部材の被吸着体Ｆに接する側に潤滑処理を施してもよい。 In the first embodiment, the magnetic attracting mechanism 1 is fixed to the surface of the attracted body F by the attracting surfaces 15K of the stop yokes 15 and 15. However, as shown in FIGS. By attaching a friction plate 19 having a friction coefficient larger than the friction coefficient of the adsorption surface 15K of the stop yokes 15 and 15 around the yokes 15 and 15, the magnetic adsorption mechanism 1 is further placed on the surface of the object to be adsorbed F. It can be firmly fixed. As shown in FIG. 4, the friction plate 19 is a plate material having a substantially L-shaped cross section made of a non-magnetic material that is individually attached between the installation plate holding portions 16B and 16D and between the installation plate holding portions 16C and 16E. is there. A member having a large friction coefficient such as a rubber sheet is attached to the friction surface 19 </ b> A of the friction plate 19 facing the adsorbent F. Further, on the friction surface 19A, an opening 19B desired by the suction surface 15K of the aforementioned stop yokes 15 and 15 is opened, and the suction to the attracted object F is not hindered.
By attaching the friction plate 19 as described above, the friction plate 19 moves in conjunction with the movement of the stop yokes 15, 15, abuts against the surface of the adsorbent F in the fixed state, and is adsorbed in the movable state. Since the magnetic attracting mechanism 1 can be more firmly fixed on the surface of the object to be attracted F, the movement of the magnetic attracting mechanism 1 is hindered in the movable state. Therefore, the magnetic adsorption mechanism 1 can be moved smoothly.
In the first embodiment, the wheels 12 are used as the leg portions, but the present invention is not limited to this, and a block-shaped member may be used. In this case, it is needless to say that the friction coefficient between the block-shaped member and the object to be adsorbed F needs to be reduced by making the shape of the block member in contact with the object to be adsorbed F spherical. Moreover, you may give a lubrication process to the side which contacts the to-be-adsorbed body F of a block-shaped member.

実施の形態２．
図５は、本発明の全方向移動機構２を示す図で、図６（ａ），（ｂ）は、伸縮ユニット３を示す平面図と側面図である。
全方向移動機構２は、複数（ここでは、８個）の伸縮ユニット３を環状に連結した全方位移動体と、回動手段としての各伸縮ユニット３の駆動用モータＭ１の駆動位相を制御するとともに、角度調整用の回動手段としての角度調整用モータＭ２の回転角度を制御して互いに隣接する伸縮ユニット３，３間の連結角度を調整する位相制御装置Ｓとを備え、磁性体から成る天井や壁などの被吸着体Ｆの表面に吸着しながら任意の方向に移動する。
伸縮ユニット３は、基台３１と、基台３１に移動可能に取り付けられた移動台３２と、スライド機構３３とカム機構３４とを有し、伸縮ユニット３の長さを伸縮させる伸縮手段３５と、磁気吸着機構１と、連結板３６と、角度調整用モータＭ２とを備え、磁性体から成る被吸着体Ｆの表面に吸着した状態で基台３１と移動台３２との距離を伸縮する。磁気吸着機構１は、図４に記載の摩擦板１９を備えた磁気吸着機構である。なお、本例では、後述するように、伸縮手段３５により磁気吸着機構１の永久磁石１３を回転させる構成としている。
以下、図６（ａ）の紙面の右側（基台３１側）を前方、左側（移動台３２側）を後方、とし、上下方向を左右方向とし、図６（ｂ）の紙面左右方向を前後方向とし、上下方向を上方、下方として説明する。 Embodiment 2. FIG.
FIG. 5 is a view showing the omnidirectional movement mechanism 2 of the present invention, and FIGS. 6A and 6B are a plan view and a side view showing the telescopic unit 3.
The omnidirectional movement mechanism 2 controls the driving phase of the omnidirectional mobile body in which a plurality (eight in this case) of expansion / contraction units 3 are connected in a ring shape and the driving motor M1 of each expansion / contraction unit 3 as a rotating means. And a phase control device S that controls the rotation angle of the angle adjusting motor M2 as a rotation means for adjusting the angle to adjust the connection angle between the extension units 3 and 3 adjacent to each other, and is made of a magnetic material. It moves in an arbitrary direction while adsorbing on the surface of the object to be adsorbed F such as a ceiling or wall.
The expansion / contraction unit 3 includes a base 31, a moving base 32 movably attached to the base 31, a slide mechanism 33 and a cam mechanism 34, and an expansion / contraction means 35 that expands / contracts the length of the expansion / contraction unit 3. The magnetic attraction mechanism 1, the connecting plate 36, and the angle adjusting motor M2 are provided to extend and contract the distance between the base 31 and the movable base 32 while being attracted to the surface of the attracted body F made of a magnetic material. The magnetic adsorption mechanism 1 is a magnetic adsorption mechanism provided with the friction plate 19 shown in FIG. In this example, the permanent magnet 13 of the magnetic attraction mechanism 1 is rotated by the expansion / contraction means 35 as will be described later.
Hereinafter, the right side (base 31 side) of FIG. 6A is the front, the left side (moving base 32 side) is the rear, the vertical direction is the horizontal direction, and the horizontal direction of FIG. It is assumed that the vertical direction is the upper direction and the lower direction.

基台３１及び移動台３２は、下面に補助車輪３１Ｒ，３２Ｒが取り付けられた直方体状の部材で、所定の距離を隔てて互いに対向するように配置されている。
また、連結板３６は基台３１に、板面が基台３１の上面と平行になるように取付られ、角度調整用モータＭ２は移動台３２に、出力軸が基台３１の上面に垂直な方向になるように取り付けられる。磁気吸着機構１は基台３１に取り付けられる。本例では、磁気吸着機構１を、基台３１の移動台３２と対向する側に取り付けた。 The base 31 and the movable base 32 are rectangular parallelepiped members having auxiliary wheels 31R and 32R attached to the lower surface, and are arranged to face each other with a predetermined distance therebetween.
The connecting plate 36 is attached to the base 31 so that the plate surface is parallel to the upper surface of the base 31, the angle adjusting motor M 2 is perpendicular to the upper surface of the base 31, and the angle adjustment motor M 2 is perpendicular to the upper surface of the base 31. It is attached so that it becomes the direction. The magnetic adsorption mechanism 1 is attached to the base 31. In this example, the magnetic adsorption mechanism 1 is attached to the side of the base 31 that faces the moving base 32.

スライド機構３３は、基台３１の左右の側面にそれぞれ取り付けられ、移動台３２方向に延長するガイドレール３３Ａと、移動台３２の左右の側面にそれぞれ取り付けられ、ガイドレール３３Ａに沿ってスライドするガイド部材３３Ｂとを備える。
カム機構３４は、基台３１の移動台３２と対向する側の左側に取り付けられる駆動用モータＭ１と、駆動用モータＭ１の出力軸に取り付けられて回転する原動節３４Ａと、移動台３２の左側に取り付けられる伸縮用従属節３４Ｂと、磁気吸着機構１の永久磁石１３の上端部に取り付けられる磁石回転用従属節３４Ｃとを備える。駆動用モータＭ１は、回転軸が上下方向、すなわち、磁気吸着機構１の永久磁石１３の回転軸と平行な方向になるように基台３１に取り付けられる。 The slide mechanism 33 is attached to the left and right side surfaces of the base 31, respectively, and guide rails 33A that extend in the direction of the moving table 32, and guides that are respectively attached to the left and right side surfaces of the moving table 32 and slide along the guide rails 33A. And a member 33B.
The cam mechanism 34 includes a drive motor M1 attached to the left side of the base 31 facing the moving table 32, a driving node 34A attached to the output shaft of the driving motor M1 and rotating, and a left side of the moving table 32. And a subordinate joint 34B for expansion and contraction attached to the magnet, and a subordinate joint 34C for rotating the magnet attached to the upper end of the permanent magnet 13 of the magnetic attraction mechanism 1. The drive motor M1 is attached to the base 31 such that the rotation axis is in the vertical direction, that is, the direction parallel to the rotation axis of the permanent magnet 13 of the magnetic attraction mechanism 1.

図６（ａ）に示すように、原動節３４Ａは、駆動用モータＭ１の出力軸が連結される回転中心部から左後方に延びる移動台側腕部３４１と、右後方に延びる磁石側腕部３４２とを有する略ハート形の板状の部材で、移動台側腕部３４１の先端側と磁石側腕部３４２には、それぞれ、伸縮用従属節３４Ｂの外縁部に当接する移動台側軸受３４３と、磁石回転用従属節３４Ｂの案内孔３４５の周縁部に当接する磁石側軸受３４４が取り付けられている。 As shown in FIG. 6 (a), the drive node 34A includes a moving base side arm portion 341 that extends leftward and rearward from the rotation center portion to which the output shaft of the drive motor M1 is coupled, and a magnet side arm portion that extends rearward to the right. 342 is a substantially heart-shaped plate-like member, and the distal end side of the movable base side arm portion 341 and the magnet side arm portion 342 are respectively movable base side bearings 343 that are in contact with the outer edge portions of the expansion and contraction dependent nodes 34B. A magnet-side bearing 344 that is in contact with the peripheral edge portion of the guide hole 345 of the magnet rotation subordinate node 34B is attached.

伸縮用従属節３４Ｂは長方形板状の部材で、基台３１側には、円弧部３４５Ｒと直線部３４５Ｋとから成り幅が移動台側軸受３４３の外径にほぼ等しい案内孔３４５が形成されている。本例では重量を軽くするため、基台３１側に案内孔３４５と同形状の切り欠き部を設けている。
円弧部３４５Ｒの円弧の中心は、原動節３４Ａの回転中心である駆動用モータＭ１の出力軸の位置と対応し、円弧の角度は、原動節３４Ａが磁石回転用従属節３４Ｃを９０°回転させるに要する回転角に等しくなるように設定されている。直線部３４５Ｋは、円弧部３４５Ｒの右側の端部（終端部）から右前方に延長して、当該伸縮用従属節３４Ｂの内部で終端する。 The expansion / contraction subsidiary node 34B is a rectangular plate-like member, and a guide hole 345 is formed on the base 31 side. The guide hole 345 includes an arc portion 345R and a straight portion 345K and has a width substantially equal to the outer diameter of the movable table side bearing 343. Yes. In this example, in order to reduce the weight, a notch having the same shape as the guide hole 345 is provided on the base 31 side.
The center of the arc of the arc portion 345R corresponds to the position of the output shaft of the drive motor M1, which is the rotation center of the driving node 34A, and the angle of the arc is that the driving node 34A rotates the subordinate node 34C for magnet rotation by 90 °. It is set to be equal to the rotation angle required for. The straight line part 345K extends rightward and forward from the right end part (termination part) of the arc part 345R, and terminates inside the expansion / contraction dependent node 34B.

磁石回転用従属節３４Ｃは、当接腕部３４６と非当接腕部３４７とを有する板状の部材で、当接腕部３４６は、永久磁石１３の回転中心部から左後方に延びる腕部で、先端側に、原動節３４Ａの磁石側軸受３４４と当接する円弧部３４６Ｒが形成されている。一方、非当接腕部３４７は、当接腕部３４６と隔てられ、回転中心部から左方に延びる腕部で、磁石回転用従属節３４Ｃが回転した場合でも磁石側軸受３４４には当接しない形状を有する。
本例では、原動節３４Ａ、伸縮用従属節３４Ｂ、及び磁石回転用従属節３４Ｃはそれぞれ移動台側軸受３４３及び磁石側軸受３４４を介して当接しているため摩擦がほとんどない。したがって、伸縮用従属節３４Ｂと磁石回転用従属節３４Ｃとをスムースに回転させることができる。 The magnet rotation dependent node 34C is a plate-like member having a contact arm portion 346 and a non-contact arm portion 347, and the contact arm portion 346 is an arm portion that extends leftward and rearward from the rotation center portion of the permanent magnet 13. Thus, an arc portion 346R that contacts the magnet side bearing 344 of the driving node 34A is formed on the tip side. On the other hand, the non-contact arm portion 347 is an arm portion that is separated from the contact arm portion 346 and extends to the left from the rotation center portion, and is in contact with the magnet-side bearing 344 even when the magnet rotation dependent node 34C rotates. It has a shape that does not.
In this example, the driving node 34A, the expansion / contraction dependency node 34B, and the magnet rotation dependency node 34C are in contact with each other via the movable base side bearing 343 and the magnet side bearing 344, so that there is almost no friction. Therefore, the expansion / contraction dependent node 34B and the magnet rotation dependent node 34C can be smoothly rotated.

次に、伸縮ユニット３の動作について説明する。
図６（ａ），（ｂ）に示すように、磁気吸着機構１が固定状態、すなわち、永久磁石１３の磁化方向が停止用ヨーク１５，１５側を向いており、かつ、伸縮ユニット３の長さが最大である状態を、以下伸長状態という。
伸長初期状態では、原動節３４Ａの移動台側軸受３４３が伸縮用従属節３４Ｂの案内孔３４５の円弧部３４５Ｒの左側の端部（始端端部）に位置し、磁石側軸受３４４が磁石回転用従属節３４Ｃの当接腕部３４６の円弧部３４６Ｒの前方側の端部（始端部）に位置している。
駆動用モータＭ１を駆動して、原動節３４Ａを反時計回りに回転させると、移動台側軸受３４３は円弧部３４５Ｒに沿って移動する。円弧部３４５Ｒの円弧の中心は原動節３４Ａの回転中心と一致しているので、移動台側軸受３４３は伸縮用従属節３４Ｂに対して力を及ぼさない。したがって、移動台側軸受３４３が円弧部３４５Ｒの始端から終端まで移動する間は、伸縮用従属節３４Ｂは初期位置にある。すなわち、伸縮ユニット３は伸縮運動を行わない。
このとき、磁石回転用従属節３４Ｃの当接腕部３４６の円弧部３４６Ｒには、磁石側軸受３４４から、当該磁石回転用従属節３４Ｃを回転させる方向に力が作用するので、磁石回転用従属節３４Ｃは時計回りに回転する。移動台側軸受３４３が円弧部３４５Ｒの終端まで移動すると、磁石回転用従属節３４Ｃは、時計回りに９０°回転して永久磁石１３の磁化方向が走行用ヨーク１４側を向くので、磁気吸着機構１は固定状態から移動可能状態に移行する。 Next, the operation of the telescopic unit 3 will be described.
As shown in FIGS. 6A and 6B, the magnetic attraction mechanism 1 is in a fixed state, that is, the magnetization direction of the permanent magnet 13 faces the stop yokes 15 and 15, and the length of the telescopic unit 3 is long. Hereinafter, the state where the length is the maximum is referred to as an extended state.
In the initial extension state, the moving base side bearing 343 of the driving node 34A is positioned at the left end (starting end) of the arc portion 345R of the guide hole 345 of the expansion and contraction dependent node 34B, and the magnet side bearing 344 is for magnet rotation. The abutment arm portion 346 of the subordinate node 34C is positioned at the front end portion (start end portion) of the arc portion 346R.
When the driving motor M1 is driven to rotate the driving node 34A counterclockwise, the movable base side bearing 343 moves along the arc portion 345R. Since the center of the arc of the arc portion 345R coincides with the rotation center of the drive node 34A, the movable base side bearing 343 does not exert a force on the expansion and contraction dependent node 34B. Therefore, while the movable table side bearing 343 moves from the start end to the end of the arc portion 345R, the expansion / contraction dependent node 34B is in the initial position. That is, the expansion / contraction unit 3 does not perform expansion / contraction motion.
At this time, a force acts on the arc portion 346R of the contact arm portion 346 of the magnet rotation subordinate node 34C from the magnet side bearing 344 in the direction of rotating the magnet rotation subordinate node 34C. The node 34C rotates clockwise. When the moving table side bearing 343 moves to the end of the arc portion 345R, the magnet rotation slave node 34C rotates 90 ° clockwise, and the magnetization direction of the permanent magnet 13 faces the traveling yoke 14 side. 1 shifts from a fixed state to a movable state.

原動節３４Ａを更に回転させると、移動台側軸受３４３は円弧部３４５Ｒから直線部３４５Ｋに入る。直線部３４５Ｋは、移動台側軸受３４３の軌道である円の内側にあるので、移動台側軸受３４３は伸縮用従属節３４Ｂを右前方に押すような力が作用する。その結果、伸縮用従属節３４Ｂに連結された移動台３２は、ガイドレール３３Ａに沿って前方に移動する。一方、磁石側軸受３４４は、磁石回転用従属節３４Ｃの当接腕部３４６には当接しないので、磁石回転用従属節３４Ｃは回転しない。
すなわち、移動台側軸受３４３が直線部３４５Ｋに入ると、伸縮ユニット３は移動可能な状態で収縮運動を開始する。図７（ａ），（ｂ）に示すように、移動台側軸受３４３が直線部３４５Ｋの終端部近傍まで移動した段階で、伸縮ユニット３の収縮が完了する。この状態を収縮状態という。 When the prime mover 34A is further rotated, the movable base side bearing 343 enters the linear portion 345K from the arc portion 345R. Since the straight portion 345K is located inside the circle that is the track of the movable table side bearing 343, the movable table side bearing 343 exerts a force that pushes the expansion and contraction dependent node 34B rightward and forward. As a result, the movable table 32 connected to the expansion / contraction dependent node 34B moves forward along the guide rail 33A. On the other hand, since the magnet-side bearing 344 does not contact the contact arm portion 346 of the magnet rotation dependent node 34C, the magnet rotation dependent node 34C does not rotate.
That is, when the movable table side bearing 343 enters the linear portion 345K, the expansion / contraction unit 3 starts contracting motion in a movable state. As shown in FIGS. 7A and 7B, the contraction of the telescopic unit 3 is completed when the movable table side bearing 343 has moved to the vicinity of the end of the linear portion 345K. This state is called a contracted state.

次に、駆動用モータＭ１を逆回転させて、原動節３４Ａを時計回りに回転させると、移動台側軸受３４３は直線部３４５Ｋから円弧部３４５Ｒ方向に移動する。伸縮ユニット３が収縮しているときには、図７（ａ）に示すように、直線部３４５Ｋは、移動台側軸受３４３の軌道である円の内側にあるので、移動台側軸受３４３は伸縮用従属節３４Ｂを左後方に押すような力が作用する。その結果、移動台３２は、ガイドレール３３Ａに沿って後方に移動する。すなわち、移動台側軸受３４３が直線部３４５Ｋから円弧部３４５Ｒ方向に移動を開始すると、伸縮ユニット３は伸長運動を開始する。移動台側軸受３４３が直線部３４５Ｋの円弧部３４５Ｒ側の端部まで達すると移動台３２は後方に戻り、伸縮ユニット３は収縮状態から伸長状態に戻る。
このとき、磁石側軸受３４４は、磁石回転用従属節３４Ｃの非当接腕部３４７側を通るので磁石回転用従属節３４Ｃには当接しない。したがって、磁気吸着機構１は移動可能状態のままなので、伸縮ユニット３は移動可能な状態で伸長運動する。 Next, when the driving motor M1 is rotated in the reverse direction to rotate the driving node 34A in the clockwise direction, the movable base side bearing 343 moves from the linear portion 345K toward the arc portion 345R. When the telescopic unit 3 is contracted, as shown in FIG. 7A, the linear portion 345K is inside the circle that is the track of the mobile base side bearing 343, and therefore the mobile base side bearing 343 is subordinate for expansion and contraction. A force acts to push the node 34B backward to the left. As a result, the movable table 32 moves rearward along the guide rail 33A. That is, when the movable table side bearing 343 starts moving in the direction of the arc portion 345R from the straight portion 345K, the telescopic unit 3 starts to extend. When the movable table side bearing 343 reaches the end of the linear portion 345K on the arc portion 345R side, the movable table 32 returns to the rear, and the expansion / contraction unit 3 returns from the contracted state to the extended state.
At this time, since the magnet-side bearing 344 passes through the non-contact arm portion 347 side of the magnet rotation dependent node 34C, it does not contact the magnet rotation dependent node 34C. Therefore, since the magnetic attraction mechanism 1 remains movable, the expansion / contraction unit 3 extends and moves.

原動節３４Ａを更に回転させると、移動台側軸受３４３は円弧部３４５Ｒに入る。円弧部３４５Ｒでは、収縮時と同様に、移動台側軸受３４３は伸縮用従属節３４Ｂに対して力を及ぼさないので、伸縮ユニット３は伸長したままである。
一方、移動台側軸受３４３が、再び、円弧部３４５Ｒに沿って移動し始めると、磁石側軸受３４４は、磁石回転用従属節３４Ｃの当接腕部３４６の円弧部３４６Ｒに当接して磁石回転用従属節３４Ｃを反時計回りに回転させる。そして、移動台側軸受３４３が円弧部３４５Ｒの始端まで移動すると、磁石回転用従属節３４Ｃは反時計回りに９０°回転し、その結果、永久磁石１３の磁化方向が停止用ヨーク１５，１５側を向くので、磁気吸着機構１は移動可能状態から固定状態に移行する。すなわち、伸縮ユニット３は伸長状態に戻る。
以上のような動作を繰り返すことで、伸縮ユニット３を、磁性体から成る被吸着体Ｆが設けられた天井や床に吸着しながら伸縮運動させることができる。なお、上記実施形態においては、原動節３４Ａを回動手段の一例としての駆動用モータＭ１により回転させる構成としたが、回動手段としてはこれに限られるものではなく、例えばエアシリンダやソレノイド等のリニアアクチュエータと、当該リニアアクチュエータの直動動作を回転動作に変換するクランクシャフトとにより回動手段を構成し、クランクシャフトと原動節３４Ａとを接続することにより原動節３４Ａを回転させる構成としてもよい。また、当該回動手段の構成は、駆動用モータＭ１のみならず、角度調整用モータＭ２についてもこれに替えて適用できる。 When the prime mover 34A is further rotated, the movable base side bearing 343 enters the arc portion 345R. In the arc portion 345R, as in the contraction, the movable base side bearing 343 does not exert a force on the expansion / contraction dependent node 34B, and therefore the expansion / contraction unit 3 remains expanded.
On the other hand, when the movable table side bearing 343 starts to move again along the arc portion 345R, the magnet side bearing 344 comes into contact with the arc portion 346R of the abutting arm portion 346 of the magnet rotation dependent node 34C and rotates the magnet. Rotate the subordinate clause 34C counterclockwise. Then, when the movable table side bearing 343 moves to the starting end of the arc portion 345R, the magnet rotation dependent node 34C rotates 90 ° counterclockwise, and as a result, the magnetization direction of the permanent magnet 13 changes to the stop yokes 15 and 15 side. Therefore, the magnetic adsorption mechanism 1 shifts from the movable state to the fixed state. That is, the expansion / contraction unit 3 returns to the extended state.
By repeating the operation as described above, the expansion / contraction unit 3 can be expanded and contracted while being attracted to the ceiling or floor provided with the attracted member F made of a magnetic material. In the above embodiment, the driving node 34A is rotated by the driving motor M1 as an example of the rotating means. However, the rotating means is not limited to this, and for example, an air cylinder, a solenoid, or the like. The linear actuator and the crankshaft that converts the linear motion of the linear actuator into a rotational motion constitute a rotating means, and the prime mover 34A can be rotated by connecting the crankshaft and the prime mover 34A. Good. Further, the structure of the rotating means can be applied to not only the driving motor M1 but also the angle adjusting motor M2.

図８は、原動節３４Ａの回転角度[deg.]と永久磁石１３の回転角度[deg.]及び伸縮ユニット３の長さ（ユニット長[mm]）との関係を示す図である。同図から明らかなように、永久磁石１３が回転した後に伸縮ユニット３の収縮が始まっていることがわかる。これによって、一つのアクチュエータで永久磁石の回転とユニットの伸縮運動を行い、かつ、必ず永久磁石を吸着面との摩擦力が弱まる方向に回転した状態でユニットの伸縮運動が行えることがわかる。 FIG. 8 is a diagram showing the relationship between the rotation angle [deg.] Of the drive node 34A, the rotation angle [deg.] Of the permanent magnet 13, and the length of the telescopic unit 3 (unit length [mm]). As can be seen from the figure, the expansion and contraction unit 3 starts to contract after the permanent magnet 13 rotates. Accordingly, it can be seen that the single magnet can perform the rotation of the permanent magnet and the expansion / contraction movement of the unit, and the expansion / contraction movement of the unit can be performed with the permanent magnet always rotated in the direction in which the frictional force with the attracting surface is weakened.

伸縮ユニット３を連結する際には、一方の伸縮ユニット３の移動台３２に取り付けられた角度調整用モータＭ２の出力軸を、他方の伸縮ユニット３の基台３１に取り付けられた連結板３６に取り付ければよい。図９に示すように、伸縮ユニット３を８個の環状に連結すると、互いに隣接する伸縮ユニット３，３同士のなす角度（以下、連結角という）は４５°となる。
図９は、１個の伸縮ユニット３Ａを収縮させたときの部分拡大図で、伸縮ユニット３Ａを縮小させると、伸縮ユニット３Ａと、伸縮ユニット３Ａに隣接する伸縮ユニット３Ｂ，３Ｃとの距離が長くなる。つまり、伸縮ユニット３Ａを収縮させると、伸縮ユニット３Ａと伸縮ユニット３Ｂ，３Ｃとの連結角は４５°よりも小さくなる。
角度調整用モータＭ２に代えて、移動台３２にも連結板３６を取り付け、連結板３６同士をピン等で連結角を可変できるように連結しても、伸縮ユニット３Ａの収縮により、伸縮ユニット３Ａと伸縮ユニット３Ｂ，３Ｃとの連結角はともに小さくなる。
ところで、伸縮ユニット３は前後で重量が違うなどの要因により、壁面などを走行する場合には、伸縮ユニット３Ａと伸縮ユニット３Ｂとの連結角と、伸縮ユニット３Ａと伸縮ユニット３Ｃとの連結角とが異なってしまう場合がある。そこで、本例のように、角度調整用モータＭ２を用いて連結角を調整できる構成とすれば、伸縮ユニット３Ａと伸縮ユニット３Ｂとの連結角と、伸縮ユニット３Ａと伸縮ユニット３Ｃとの連結角とを確実に同じにすることができる。 When connecting the expansion / contraction unit 3, the output shaft of the angle adjustment motor M <b> 2 attached to the moving base 32 of one extension unit 3 is connected to the connection plate 36 attached to the base 31 of the other extension unit 3. It only has to be attached. As shown in FIG. 9, when the expansion / contraction units 3 are connected in an annular shape, the angle between the adjacent expansion units 3 and 3 (hereinafter referred to as a connection angle) is 45 °.
FIG. 9 is a partially enlarged view when one expansion / contraction unit 3A is contracted. When the expansion / contraction unit 3A is contracted, the distance between the expansion / contraction unit 3A and the expansion / contraction units 3B and 3C adjacent to the expansion / contraction unit 3A increases. Become. That is, when the expansion / contraction unit 3A is contracted, the connection angle between the expansion / contraction unit 3A and the expansion / contraction units 3B and 3C becomes smaller than 45 °.
Even if the connecting plate 36 is attached to the movable base 32 instead of the angle adjusting motor M2, and the connecting plates 36 are connected so that the connecting angle can be varied with pins or the like, the expansion unit 3A contracts due to the contraction of the expansion unit 3A. And the connection angle between the telescopic units 3B and 3C are both small.
By the way, when the expansion / contraction unit 3 travels on a wall surface due to factors such as different weights before and after, the connection angle between the expansion / contraction unit 3A and the expansion / contraction unit 3B and the connection angle between the expansion / contraction unit 3A and the expansion / contraction unit 3C May be different. Then, if it is set as the structure which can adjust a connection angle using the motor M2 for angle adjustment like this example, the connection angle of the expansion-contraction unit 3A and expansion-contraction unit 3B, and the connection angle of expansion-contraction unit 3A and expansion-contraction unit 3C Can be ensured to be the same.

次に、全方向移動機構２の動作について説明する。
図１０（ａ）に示すように、全方向移動機構２を８角形にモデル化する。このとき、８角形の辺が伸縮ユニット３となる。このモデル化した８角形の各辺の長さを伸縮させる制御を行うことで、全方向移動機構２を任意の方向に移動させる。
具体的には、図１０（ａ）の直線Ｋで示すような波動伝搬線と呼ばれる仮想的な波（進行波）を伝搬させ、図１０（ｂ）〜（ｄ）に示すように、波動伝搬線と重なった伸縮ユニット３が収縮状態になるように、各伸縮ユニット３の駆動用モータＭ１の駆動位相を順次制御することで、全方向移動機構２を、同図の矢印で示す方向に１波長分（λ）だけ移動させる。
すなわち、位相制御装置Ｓにより、各伸縮ユニット３の駆動用モータＭ１の駆動位相を制御するとともに、角度調整用モータＭ２の回転角度を制御して、互いに隣接する伸縮ユニット３，３間の連結角度を調整するような位相制御を波動伝搬線の進行に応じて行えば、全方向移動機構２を波動伝搬線に直交する方向に移動させることができる。
波動伝搬線は、どの方向にも伝搬可能であるので、全方向移動機構２を任意の方向に移動させることができる。 Next, the operation of the omnidirectional movement mechanism 2 will be described.
As shown in FIG. 10A, the omnidirectional moving mechanism 2 is modeled as an octagon. At this time, the sides of the octagon form the expansion / contraction unit 3. The omnidirectional moving mechanism 2 is moved in an arbitrary direction by performing control to expand and contract the length of each side of the modeled octagon.
Specifically, a virtual wave (traveling wave) called a wave propagation line as shown by a straight line K in FIG. 10A is propagated, and as shown in FIGS. By sequentially controlling the drive phase of the drive motor M1 of each expansion / contraction unit 3 so that the expansion / contraction units 3 overlapping the line are in a contracted state, the omnidirectional movement mechanism 2 is set to 1 in the direction indicated by the arrow in FIG. Move by wavelength (λ).
That is, the phase control device S controls the drive phase of the drive motor M1 of each expansion / contraction unit 3 and also controls the rotation angle of the angle adjustment motor M2 to connect the expansion units 3 and 3 adjacent to each other. If the phase control for adjusting the angle is performed according to the progress of the wave propagation line, the omnidirectional moving mechanism 2 can be moved in a direction orthogonal to the wave propagation line.
Since the wave propagation line can propagate in any direction, the omnidirectional moving mechanism 2 can be moved in any direction.

なお、実施形態２では、駆動用モータＭ１とカム機構３４とを用いて伸縮ユニット３を伸縮させるとともに永久磁石１３を回転させたが、伸縮ユニット３の伸縮と永久磁石１３の回転を別個に行ってもよい。例えば、リニアアクチュエータなどの直線移動機構を用いて移動台３２を基台３１側にスライドさせ、永久磁石回転用のモータを用いて永久磁石１３を回転させるなど、他の移動・回転機構を用いてもよい。なお、この場合も、伸縮ユニット３の伸縮時には永久磁石１３の磁化方向を走行用ヨーク１４側に回転させ、伸縮ユニット３の伸縮動作が完了したときには、永久磁石１３の磁化方向を停止用ヨーク１５側に回転させるように移動・回転機構を制御することはいうまでもない。
また、実施形態２では、全方向移動機構２を８個の伸縮ユニット３から構成したが、伸縮ユニット３を９個以上、もしくは、５個〜７個としてもよい。なお、伸縮ユニット３が少ない場合には、摩擦の少ない状態で被吸着面に吸着している伸縮中の伸縮ユニット３の割合が多くなり、全方向移動機構２全体の吸着力が小さくなるので、伸縮ユニット３の個数としては５個以上とすることが好ましい。 In the second embodiment, the expansion motor 3 and the cam mechanism 34 are used to expand and contract the expansion / contraction unit 3 and rotate the permanent magnet 13. However, the expansion / contraction of the expansion / contraction unit 3 and the rotation of the permanent magnet 13 are performed separately. May be. For example, using another moving / rotating mechanism such as sliding the moving table 32 to the base 31 side using a linear moving mechanism such as a linear actuator and rotating the permanent magnet 13 using a motor for rotating the permanent magnet. Also good. In this case as well, when the telescopic unit 3 is expanded and contracted, the magnetization direction of the permanent magnet 13 is rotated to the traveling yoke 14 side, and when the expansion and contraction operation of the expansion unit 3 is completed, the magnetization direction of the permanent magnet 13 is changed to the stop yoke 15. Needless to say, the moving / rotating mechanism is controlled to rotate sideways.
In the second embodiment, the omnidirectional moving mechanism 2 is composed of the eight expansion / contraction units 3. However, the expansion / contraction unit 3 may be nine or more, or five to seven. In addition, when there are few expansion / contraction units 3, since the ratio of the expansion / contraction unit 3 in the expansion / contraction adsorbing | sucking to a to-be-adsorbed surface in a state with little friction increases, the adsorption power of the omnidirectional movement mechanism 2 whole becomes small, The number of the expansion / contraction units 3 is preferably 5 or more.

以上、本発明を実施の形態を用いて説明したが、本発明の技術的範囲は前記実施の形態に記載の範囲には限定されない。前記実施の形態に、多様な変更又は改良を加えることが可能であることが当業者にも明らかである。そのような変更又は改良を加えた形態も本発明の技術的範囲に含まれ得ることが、特許請求の範囲から明らかである。 As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the embodiment. It is apparent from the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

１磁気吸着機構、２全方向移動機構、３伸縮ユニット、１１台座、
１２車輪、１３永久磁石、１４走行用ヨーク、１５停止用ヨーク、
１６ヨーク保持手段、１７取付板、１８ガイドシャフト、３１基台、
３２移動台、３３スライド機構、３３Ａガイドレール、３３Ｂガイド部材、
３４カム機構、３４Ａ原動節、３４Ｂ伸縮用従属節、３４Ｃ磁石回転用従属節、
３５伸縮手段、３６連結板、
Ｆ被吸着体、Ｍ１駆動用モータ、Ｍ２角度調整用モータ、Ｓ位相制御装置。
1 magnetic adsorption mechanism, 2 omnidirectional movement mechanism, 3 telescopic unit, 11 pedestal,
12 wheels, 13 permanent magnets, 14 travel yoke, 15 stop yoke,
16 Yoke holding means, 17 mounting plate, 18 guide shaft, 31 base,
32 moving table, 33 slide mechanism, 33A guide rail, 33B guide member,
34 cam mechanism, 34A prime mover, 34B subordinate for extension, 34C subordinate for magnet rotation,
35 telescopic means, 36 connecting plate,
F object to be adsorbed, M1 driving motor, M2 angle adjusting motor, S phase control device.

Claims

A magnetic adsorption mechanism that adsorbs to the surface of an adsorbent made of a magnetic material,
A plate-shaped pedestal;
A leg portion made of a magnetic body and attached to a side of the pedestal facing the attracted body;
On the pedestal , a permanent magnet that is rotatably attached with a direction perpendicular to the plate surface of the pedestal as a rotation axis, and has a magnetic pole in a direction parallel to the plate surface of the pedestal ,
A first yoke that is attached to a position facing each of the magnetic poles around the permanent magnet, and magnetizes the leg portion to be attracted to the object to be attracted in a state where the magnetic poles face each other ;
The permanent magnets are respectively opposed to the magnetic poles around the permanent magnets, and are disposed at positions shifted from the first yoke when viewed from the rotation axis direction of the permanent magnets , and are magnetized in a state where the magnetic poles are opposed to each other. A second yoke that adsorbs to the object to be adsorbed ,
The magnetic circuit can be switched according to the direction of the magnetic pole of the permanent magnet,
A magnetic attraction mechanism, wherein a coefficient of friction of an adsorbing part of the leg portion in contact with the adsorbed body is smaller than a coefficient of friction of an adsorbing part of the second yoke in contact with the adsorbed body.

Around the suction portion side of the second yoke,
The magnetic attraction mechanism according to claim 1, wherein a friction plate having a friction coefficient larger than that of the attraction portion is attached.

An expansion / contraction unit comprising the magnetic attraction mechanism according to claim 1 or 2, and extending and contracting while adsorbing to an attracted surface made of a magnetic material,
The base,
A movable base movably attached to the base;
An extension mechanism that moves the moving table to the base side to expand and contract the distance between the base and the moving table;
With
The base supports the pedestal of the magnetic adsorption mechanism from the side opposite to the leg,
The telescopic mechanism is provided between a rotating means, a driving node attached to a rotating shaft of the rotating means, and between the driving node and the moving table, and the moving table is moved according to the rotation of the driving node. A telescopic unit comprising: a cam mechanism having a telescopic subordinate to be moved to the base side.

The telescopic unit according to claim 3, wherein a magnet rotation subordinate node that is attached to the permanent magnet and rotates the permanent magnet is attached to the driving node.

A moving device formed by connecting the expansion and contraction units according to claim 3 or 4 in an annular shape;
A phase control device that controls the phase of expansion and contraction of each expansion unit;
An omnidirectional movement mechanism comprising:
The omnidirectional movement characterized in that the phase control device controls the phase of the expansion / contraction unit so as to generate a traveling wave traveling in the movement direction of the omnidirectional movement mechanism at each suction position of the expansion / contraction unit. mechanism.

6. The omnidirectional movement mechanism according to claim 5, wherein a rotation means for adjusting an angle for adjusting an angle between two connected expansion / contraction units is attached to the connection portion of the expansion / contraction unit.