JP3076546B2 - Magnetic adsorption traveling device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a magnetic attraction traveling device which travels while being magnetically attracted to a surface of a plate formed of a magnetic material.

[0002]

2. Description of the Related Art Conventionally, as an example of a magnetic attraction traveling apparatus, for example, the apparatus shown in FIGS. 5 and 6 has been known. Referring to FIGS. 5 and 6, the known magnetic attraction traveling device includes a traveling device main body 2, and a base plate 4 is provided at a bottom portion of the traveling device main body 2. A pair of wheels 6 and 8 are arranged on the base plate 4 at intervals in the lateral direction (the left-right direction in FIG. 6), and a pair of casters (at a distance in the front-rear direction (the direction perpendicular to the paper surface in FIG. 6)). (Not shown). In this example, the support member 1 is associated with one (the other) wheel 6 (8).
0 (12) is provided, and the support member 10 (12) is attached to the base plate 4. Support member 10 (1
In 2), the rotating shaft 14 (16) includes a pair of bearings 18 (20).
The rotating shaft 1 rotatably supported via the
The wheel 6 (8) is attached to the wheel 4 (16) so as to rotate integrally therewith. A pulley 22 (24) is also mounted on the rotating shaft 14 (16), and the pulley 22 (24) is composed of a transmission belt 26 (28), a pulley 30 (32), and a speed reducer 3 (32).
4 (36), and is drivingly connected to the traveling motor 38 (40). When the traveling device moves forward (or reverses), the wheels 4, 6 are rotationally driven in a predetermined direction (or a direction opposite to the predetermined direction) by the traveling motors 38, 40,
When the traveling direction of the traveling device is changed, the wheels 4, 6 are rotationally driven in opposite directions by the traveling motors 38, 40.

In this traveling device, a pair of wheels 6, 8 have electromagnetic coils 42, 44 built therein. Slip rings 46, 48 are provided in association with the respective electromagnetic coils 42, 44, and current from a power supply 50 is supplied to the slip rings 46, 48.
It is supplied to the corresponding electromagnetic coils 42, 44 via 48 and the rotating shafts 14, 16.

[0004] Such a traveling device travels on the surface of a plate 52 formed of, for example, iron or the like. When the vehicle travels, a current is supplied from the power supply 50 to the electromagnetic coils 42 and 44 of the wheels 4 and 6, whereby the wheels 4 and 6 are magnetically attracted to the surface of the plate 52, and the traveling device has a large frictional force. You can drive with it. When a current is supplied to each of the electromagnetic coils 42, 44, the electromagnetic coils 42, 4
The magnetic flux generated at the wheel 4 and the wheels 4, 6 and the plate 52
, Which form a magnetic circuit in each wheel 4,6.

As another example of the magnetic attraction traveling device,
For example, the configuration shown in FIG. 7 is known. FIG.
With reference to this, in this magnetic attraction traveling device, a steering support mechanism 106 is provided on a lower surface of a base plate 104 of a traveling device main body 102, and a support member 107 is mounted via the steering support mechanism 106. Steering support mechanism 106
Is a supporting body 108 mounted on the base plate 104.
And a rotation support shaft 112 rotatably supported by the support body 108 via a bearing 110.
2 is provided with a mounting member 107. Rotation support shaft 11
A pulley 114 is mounted on 2, and the pulley 114 is drivingly connected to a steering motor 120 via an electric belt 116 and a pulley 118. Accordingly, the traveling direction of the traveling device can be changed by rotating the support rotation shaft 112 by the steering motor 120.

The support member 107 has a pair of bearings 122, 1
A rotation shaft 125 is rotatably supported via the rotation shaft 24, and wheels 126 and 128 are mounted on both ends of the rotation shaft 125. A pulley 130 is mounted on the rotating shaft 125,
The pulley 130 is drivingly connected to a traveling motor 134 via a transmission belt 132 and a pulley (not shown). When the traveling device moves forward (or reverse), the wheels 126 and 128 are rotationally driven by the traveling motor 134 in a predetermined direction (or a direction opposite to the predetermined direction). Further, an electromagnetic coil 136 is provided around the rotation shaft 125, and a current from a power supply (not shown) is supplied to the electromagnetic coil 136.
Supplied to Note that a pair of casters (not shown) are attached to the base plate 104 at an interval in the front-rear direction (the direction perpendicular to the paper surface in FIG. 6).

In this traveling device, the wheels 126, 12
8 travels on the surface of a plate 140 formed of, for example, iron or the like. When traveling, the electromagnetic coil 136
Is supplied with a current from a power supply (not shown), whereby the wheels 126 and 128 are magnetically attracted to the surface of the plate 140, and the traveling device can travel with a large frictional force. When a current is supplied to the electromagnetic coil 136,
The magnetic circuit for the magnetic flux generated in the electromagnetic coil 136 is
Rotating shaft 125, wheels 126, 128 and plate 14
0 through which a pair of wheels 126, 1
28 is formed.

[0008]

In the traveling apparatus shown in FIGS. 5 and 6, the steering operation is performed by giving a difference between the rotational speeds of the pair of wheels 6 and 8, so that the traveling traveling on the spot and the small turning can be performed. It has the characteristic that it can run. However, as is easily understood from FIGS. 5 and 6, since the electromagnetic coils 42 and 44 are built in the wheels 6 and 8, the configuration of the wheels 6 and 8 is complicated, and the wheels 6 and 8 are complicated.
8 has a high manufacturing cost. Further, in order to obtain a large frictional force, it is necessary to increase the size of the electromagnetic coil, and in connection with this, the wheels 6 and 8 become large. In addition, power supply 50
Slip rings 46, 48 are required to supply the current from the magnetic coils 42, 44 to the electromagnetic coils 42, 44, and this also increases the manufacturing cost of the device.

Further, in the traveling device shown in FIG. 7, since the electromagnetic coil 136 is disposed around the rotation shaft 125, there is a degree of freedom in the size of the electromagnetic coil 136 and the like, for example, a pair of wheels 126 and 128. The feature is that a large magnetic force, in other words, a large frictional force can be obtained by increasing the distance between the two. However, as understood from FIG. 7, a dedicated steering support mechanism 106 is required to change the traveling direction of the traveling device, which complicates the configuration of the traveling device and increases its manufacturing cost. Further, since the steering operation is performed by the steering support mechanism 106, it is difficult to make a turn and a small turn on the spot.

An object of the present invention is to provide a magnetic attraction traveling apparatus which has a simple structure related to an electromagnetic coil and can perform a turning traveling and a small traveling traveling on the spot.

[0011]

SUMMARY OF THE INVENTION The present invention relates to a traveling apparatus body, a rotating shaft rotatably supported by the traveling apparatus body, and a surface of a plate mounted on the rotating shaft and formed of a magnetic material. A wheel for traveling, and an electromagnetic coil disposed in relation to the rotating shaft, and a pair of wheels magnetically adsorb to the plate and travel by an action of a magnetic flux generated by the electromagnetic coil. In the magnetic attraction traveling device, the rotating shaft is divided into two, one wheel is provided on one of the divided shafts, and the other wheel is provided on the other divided shaft. A first drive source is provided in association with the split shaft;
A driving source for rotating the one wheel, and a second driving source is provided in relation to the other split shaft;
A drive source for rotating the other wheel, and a magnetic path forming structure for forming a magnetic path between the two split axes at a portion adjacent to the one split axis and the other split axis. Wherein the one divided shaft, the other divided shaft, the magnetic path forming structure, the pair of wheels and the plate form a magnetic circuit for magnetic flux generated by the magnetic coil. It is a magnetic attraction traveling device.

According to the present invention, the rotary shaft is divided into two, and the divided shafts are each provided with a wheel, and a drive source is provided for each wheel. Therefore, the vehicle can be easily rotated and driven on the spot, and can be easily driven. Further, since the electromagnetic coil is disposed in relation to the rotating shaft, a slip ring is not required, and the configuration relating to the electromagnetic coil can be simplified. Further, since a magnetic path forming structure is provided at a portion adjacent to the pair of split shafts, the magnetic path forming structure forms a magnetic path between the pair of split shafts, thereby forming the pair of split shafts and the magnetic path forming. A structure, a magnetic circuit including a pair of wheels and a plate is formed, and the magnetic force between the plate and the pair of wheels can be increased, in other words, the frictional force of the wheels can be increased.

Further, the present invention is characterized in that the magnetic path forming structure is a structure in which adjacent end faces of the one split shaft and the other split shaft are relatively rotated while being in contact with each other.

According to the present invention, since the adjacent end surfaces of the pair of support shafts rotate relative to each other while contacting each other, a magnetic path is formed by the contact portions of the pair of split shafts, and the magnetic flux generated by the electromagnetic coil is subjected to such contact. Flow through the site.

Further, according to the present invention, the magnetic path forming structure includes a sliding bearing, and a magnetic path is formed at a portion adjacent to the one divided shaft and the other divided shaft via the sliding bearing. Features.

According to the present invention, since the sliding bearing is interposed between the pair of split shafts, a magnetic path between the pair of split shafts is formed by the sliding bearing, and the magnetic flux generated by the electromagnetic coil is generated by the sliding bearing. Flow through bearings.

Further, according to the present invention, the magnetic path forming structure includes a magnetic fluid or a magnetic powder, and a portion where the one divided axis and the other divided axis are opposed to each other through the magnetic fluid or the magnetic powder. Is formed.

According to the present invention, since the magnetic fluid or the magnetic powder is interposed between the pair of split shafts, a magnetic path between the pair of split shafts is formed by the magnetic fluid or the magnetic powder, and the magnetic coil is formed by the electromagnetic coil. The generated magnetic flux flows through the magnetic fluid or the magnetic powder.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an electromagnetic attraction traveling device according to the present invention will be described below with reference to FIGS. FIG. 1 is a sectional view showing a traveling mechanism in a traveling apparatus according to a first embodiment of the present invention, and FIG. 2 is a sectional view for explaining a magnetic circuit in the traveling apparatus of FIG.

Referring to FIGS. 1 and 2, the traveling device shown includes a traveling device main body 202, and
2, a base plate 204 is provided at the bottom.
A traveling device main body 202 is provided on the lower surface of the base plate 204.
A pair of support members 206 and 208 are attached at intervals in the horizontal direction (left and right directions in FIGS. 1 and 2), and the rotating shaft 210 is rotatably supported by these support members 206 and 208. In this embodiment, the rotating shaft 210 is divided at its axial center, and one of the divided shafts 212 is supported by the support member 206, and the other divided shaft 214 is supported by the support member 208. ing.
The support member 206 has hanging parts 216 and 218 spaced apart in the horizontal direction.
The split shaft 212 is rotatably supported via bearings 220 and 222. The support member 208 has hanging parts 224 and 226 provided at intervals in the horizontal direction, and the split shaft 214 is rotatably supported by the hanging parts 224 and 226 via bearings 228 and 230. .

One of the divided shafts 212, specifically, the hanging part 2
A wheel 232 and a pulley 234 are mounted so as to rotate integrally with each other between the portions 16 and 218.
Also, the other split shaft 214, specifically, the hanging part 224,
226 and the pulley 2
38 are mounted so as to rotate integrally. Wheel 2
32 and 236 are formed from a magnetic material such as iron, for example. A drive source 238,2 associated with each wheel 232,236
The drive source 238, 240 can be constituted by an electric motor capable of rotating forward and reverse. Drive source 2
Outputs of the speed reducers 242 and 244 are connected to the output of the speed reducers 242 and 244, respectively.
6,248, and the pulleys 246,248 and the pulleys 234,23 mounted on the split shafts 212,214.
8, transmission belts 250 and 252 are wound around. Therefore, when the drive sources 238, 240 rotate forward (or reverse), the speed reducers 242, 244, the pulleys 246,
248, transmission belts 250, 252, pulleys 234, 2
38, and wheels 232,
236 is rotationally driven in a predetermined direction (or a direction opposite to the predetermined direction). Although not shown, the traveling device body 2
A caster (not shown) that is driven by the traveling of the traveling device is attached to each of the front and rear portions of 02.

The electromagnetic coil 254 associated with the rotating shaft 210
In this embodiment, an intermediate portion of the rotating shaft 210, specifically, one end (an end protruding from the bearing 222) extending inward of one split shaft 212 and the other split shaft 21 are provided.
An electromagnetic coil 254 is provided at one end (the end protruding from the bearing 228) extending inward of the fourth member 4 so as to surround them. One ends of the divided shafts 212 and 214 are located adjacent to each other, and the electromagnetic coil 254 is arranged to straddle these one ends. This electromagnetic coil 254 is electrically connected to a DC power supply 258 via a lead wire 256.

In the first embodiment, one split shaft 212
And one end surface of the other split shaft 214 are arranged so as to substantially contact with each other.
12 and 214 are configured to be relatively rotatable while in contact with each other.
It functions as a magnetic path forming structure for forming a magnetic path between the 14.

A pair of wheels 232 and 234 of the traveling device travel along a plate 256 laid as a traveling path. The plate 256 is formed of a magnetic material such as iron, for example, and the pair of wheels 232 and 234 of the traveling device travel on the surface of the plate 256 while rotating.

In such a traveling apparatus, when moving forward (or backward), the driving sources 238, 240 are rotated forward (or reverse) at substantially the same rotational speed. Thus, the rotational driving force from the driving sources 238, 240 is transmitted to the wheels 232, 236 as described above, and the wheels 232, 236 are rotated at substantially the same rotational speed in a predetermined direction (or in a direction opposite to the predetermined direction). ), So that the traveling device advances (or reverses) on the plate 256.

When the traveling direction of the traveling device is changed,
The drive sources 238, 240 are rotated at different rotational speeds. That is, as will be easily understood, when the traveling direction is gradually changed, the driving sources 238, 240 are driven to rotate in the same direction with a difference in rotational speed, and when the vehicle turns or makes small turns, the driving sources 238, 240 are driven. Are driven to rotate in opposite directions.

When the traveling device is traveling, a current from a power supply 258 is supplied to the electromagnetic coil 254 via the lead wire 256. Thus, as shown in FIG. 2, for example, one end (the right end in FIG. 2) of the electromagnetic coil 254 becomes an N pole, and the other end (the left end in FIG. 2) becomes an S pole. The magnetic flux generated by 254 flows as shown by a solid line with an arrow in FIG. 2, and the wheels 232 and 236 are magnetically attracted to the surface of the plate 256 by the action of the magnetic flux. Thereby, the wheels 232, 23
The frictional force between the plate 4 and the plate 256 increases, so that the traveling device can travel as desired even on a steep slope.

In this traveling device, a pair of split shafts 212,
Since the adjacent portions of 214 are configured to be relatively rotatable while in contact with each other, a magnetic path therebetween is formed through the portions where split shafts 212 and 214 are in contact, and the other split shaft 214, wheels 236, Plate 256, wheel 2
32 and one of the split shafts 212, a magnetic circuit is formed, and the magnetic flux generated by the electromagnetic coil 254 flows through the magnetic circuit, thus providing sufficient magnetic attraction between the wheels 232, 236 and the plate 256. Can be increased.

The traveling device according to the first embodiment has the following features. That is, the wheel 2 corresponds to each of the divided shafts 212 and 214 obtained by dividing the rotary shaft 210 into two.
32 and 234 and the driving sources 238 and 240 are provided, so that the traveling device can travel as desired by controlling the driving sources 238 and 240 without requiring a dedicated steering mechanism. In addition, it is possible to easily perform the turning traveling and the small turning traveling on the spot. Further, since the electromagnetic coil 254 is configured to be disposed in relation to the rotating shaft 254, the configuration relating to the electromagnetic coil 254 can be simplified, and a large magnetic attraction can be easily obtained. Further, since the pair of split shafts 212 and 214 can relatively rotate while making contact with each other, there is substantially no leakage of magnetic flux between the pair of split shafts 212 and 214, and a magnetic circuit including the pair of separated shafts is formed. be able to.

FIG. 3 is a sectional view showing a second embodiment of the traveling device according to the present invention. In this second embodiment,
The configuration for forming a magnetic path between a pair of split shafts, that is, the configuration of the magnetic path forming structure is different from the first embodiment. In FIG. 3, those substantially the same as those shown in FIGS. 1 and 2 are denoted by the same reference numerals, and description thereof will be omitted.

In FIG. 3, in the second embodiment, the magnetic path forming structure includes a slide bearing 262. The illustrated slide bearing 262 is formed of a short cylindrical member. The slide bearing 262 is interposed between one end surface of one of the divided shafts 212 and one end surface of the other divided shaft 214, and includes a pair of divided shafts. The adjacent portions of 212 and 214 can rotate relative to each other while being in contact with each other via the slide bearing 262. By interposing the sliding bearing 262 in this manner, compared to the first embodiment, the pair of split shafts 2
Smooth relative rotation of 12,214 is possible. In addition, as such a sliding bearing 262, a bearing based on a magnetic material such as iron can be used. Other configurations of the second embodiment are substantially the same as those of the first embodiment.

Also in the second embodiment, since the sliding bearing 262 forms a magnetic path between the separation shafts 212 and 214, when current is supplied to the electromagnetic coil 254, the other division shaft 214, the wheel 236, and the plate 256 , Wheels 232,
A magnetic circuit passing through the split shaft 212 and the slide bearing 262 is formed, and the magnetic flux generated by the electromagnetic coil 254 flows through the magnetic circuit, and the same operation and effect as in the first embodiment are achieved.

In the second embodiment, the short cylindrical sliding bearing 262 is interposed between the pair of separation shafts 212 and 214. Alternatively, the sliding bearing 262 may be configured as follows. . That is, the sliding bearing 262 may be formed of a hollow sleeve-shaped member, and the hollow sleeve-shaped member may rotatably support the adjacent portions of the separation shafts 212 and 214.

FIG. 4 is a sectional view showing a third embodiment of the traveling device according to the present invention. In this third embodiment,
A configuration for forming a magnetic path between a pair of split shafts, that is, a configuration of a magnetic path forming structure and a configuration related thereto are different from those of the first embodiment. In FIG. 4, the same reference numerals as in FIGS. 1 and 2 denote the same parts, and a description thereof will be omitted.

Referring to FIG. 4, in the third embodiment, the magnetic path forming structure includes a magnetic fluid 272. In this embodiment, seal members 274 and 276 are attached to both ends of an electromagnetic coil 254 disposed around the rotation shaft 210, and one end of one seal member 274 is connected to one end of one split shaft 212 (bearing). The end of the other seal member 274 is pressed against the one end (the end protruding from the bearing 228) of the other split shaft 214. Therefore, the sealing member 27
4,276 are an electromagnetic coil 254, a pair of divided shafts 21.
2,214, cooperate with to define a substantially sealed space;
The magnetic fluid 272 is sealed in this space. In addition,
In order to enhance the sealing performance of the seal members 274 and 276, the distal ends of the seal members 274 and 276 can be pressed against the split shafts 212 and 214 by an elastic ring. With this configuration, one of the divided shafts 2
12, a magnetic fluid 272 is interposed between one end of the other divided shaft 214 and one end of the other divided shaft 214.
4 can rotate relative to each other via the enclosed magnetic fluid 272. Thus, the magnetic fluid 27
By interposing the two, a smoother relative rotation of the pair of divided shafts 212 and 214 becomes possible while securing a magnetic path between the divided shafts 212 and 214. Other configurations of the third embodiment are substantially the same as those of the first embodiment.

Also in the third embodiment, since the magnetic fluid 272 forms a magnetic path between the separation shafts 212 and 214, when a current is supplied to the electromagnetic coil 254, the other division shaft 214, the wheel 236, and the plate 256 , Wheels 232,
A magnetic circuit passing through the split shaft 212 and the magnetic fluid 272 is formed, and the magnetic flux generated by the electromagnetic coil 254 flows through the magnetic circuit, thereby achieving the same operation and effect as in the first embodiment.

In the third embodiment, the magnetic fluid 272 is sealed between the pair of separation shafts 212 and 214. However, instead of the magnetic fluid 272, a magnetic powder such as an iron-based material is used. The formed powder may be hermetically sealed. With such a configuration, the same operation and effect as in the third embodiment can be achieved.

Such a traveling device can be used, for example, as a self-propelled traveling device by mounting a welding robot, or as a traveling device for carrying luggage by mounting a loading platform. It can be widely used as a traveling device for traveling.

Although the embodiments of the magnetic attraction traveling device according to the present invention have been described above, the present invention is not limited to these embodiments, and various modifications and corrections can be made without departing from the scope of the present invention. It is.

[0040]

According to the magnetic attraction traveling device of the first aspect of the present invention, the rotating shaft is divided into two, and wheels are mounted on each of the divided shafts. Therefore, the wheels are rotationally driven by the corresponding driving sources, so that the vehicle can easily perform a turning operation, a small turning operation, and the like on the spot. Further, since the electromagnetic coil is disposed in relation to the rotating shaft, a slip ring is not required, and the configuration relating to the electromagnetic coil can be simplified. Further, since a magnetic path forming structure is provided at a portion adjacent to the pair of split shafts, the magnetic path forming structure forms a magnetic path between the pair of split shafts, thereby forming the pair of split shafts and the magnetic path forming. A structure, a magnetic circuit including a pair of wheels and a plate is formed, and the magnetic force between the plate and the pair of wheels can be increased, in other words, the frictional force of the wheels can be increased.

According to the magnetic attraction traveling device according to the second aspect of the present invention, since the adjacent end surfaces of the pair of support shafts are relatively rotated while being in contact with each other, a magnetic path is formed by the contact portions of the pair of divided shafts. The magnetic flux generated by the electromagnetic coil flows through the contact portion.

According to the third aspect of the present invention, since the sliding bearing is interposed between the pair of split shafts, a magnetic path between the pair of split shafts is formed by the sliding bearing. The magnetic flux generated by the electromagnetic coil flows through the sliding bearing.

Further, according to the magnetic attraction traveling device of the fourth aspect of the present invention, since the magnetic fluid or the magnetic powder is interposed between the pair of divided shafts, the magnetic fluid or the magnetic powder allows the pair of divided shafts to be interposed. Is formed, and the magnetic flux generated by the electromagnetic coil flows through the magnetic fluid or the magnetic powder.

[Brief description of the drawings]

FIG. 1 is a sectional view showing a traveling mechanism of a traveling device according to a first embodiment of the present invention.

FIG. 2 is a cross-sectional view for explaining a magnetic circuit in the traveling device of FIG.

FIG. 3 is a cross-sectional view for explaining a magnetic circuit in a traveling device according to a second embodiment of the present invention.

FIG. 4 is a cross-sectional view for explaining a magnetic circuit in a third embodiment of the traveling device according to the present invention.

FIG. 5 is a cross-sectional view illustrating a traveling mechanism in an example of a conventional traveling device.

FIG. 6 is a cross-sectional view for explaining a magnetic circuit in the traveling device of FIG.

FIG. 7 is a cross-sectional view for explaining a magnetic circuit in another example of the conventional traveling device.

[Explanation of symbols]

 202 Traveling device main body 210 Rotating shaft 212, 214 Split shaft 232, 234 Wheel 238, 240 Drive source 254 Electromagnetic coil 256 Plate 258 Power supply 262 Sliding bearing 272 Magnetic fluid

Continuation of front page (58) Field surveyed (Int.Cl. ⁷ , DB name) B60B 19/00 B62D 57/02

Claims (4)

(57) [Claims] 1. A traveling device main body, a rotating shaft rotatably supported by the traveling device main body, and mounted on the rotating shaft,
A wheel for traveling on the surface of a plate formed of a magnetic material, and an electromagnetic coil disposed in relation to the rotating shaft, a pair of wheels is formed by the action of magnetic flux generated by the electromagnetic coil. In a magnetic attraction traveling device that travels while magnetically attracting to a plate, the rotating shaft is divided into two, one of the divided shafts is provided with one wheel, and the other is divided into the other divided shaft. The other wheel is provided, a first drive source is provided in association with the one split shaft,
The first drive source rotationally drives the one wheel, and a second drive source is provided in association with the other split shaft;
The second drive source rotationally drives the other wheel. Further, a magnetic field for forming a magnetic path between the two divided shafts is provided in a portion adjacent to the one divided shaft and the other divided shaft. A path forming structure is provided, wherein the one split shaft, the other split shaft, the magnetic path forming structure, the pair of wheels and the plate form a magnetic circuit for a magnetic flux generated by the magnetic coil. Characteristic magnetic adsorption traveling device. 2. The magnetic attraction according to claim 1, wherein the magnetic path forming structure is a structure in which adjacent end faces of the one divided shaft and the other divided shaft are relatively rotated while being in contact with each other. Traveling device. 3. The magnetic path forming structure includes a sliding bearing, and a portion adjacent to the one divided shaft and the other divided shaft has a magnetic path formed through the sliding bearing. The magnetic attraction traveling device according to claim 1. 4. The magnetic path forming structure includes a magnetic fluid or a magnetic powder, and a portion adjacent to the one divided axis and the other divided axis has a magnetic path formed through the magnetic fluid or the magnetic powder. The magnetic attraction traveling device according to claim 1, wherein: