JP2003327177A - Suction moving apparatus - Google Patents

Suction moving apparatus

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Publication number
JP2003327177A
JP2003327177A JP2002135771A JP2002135771A JP2003327177A JP 2003327177 A JP2003327177 A JP 2003327177A JP 2002135771 A JP2002135771 A JP 2002135771A JP 2002135771 A JP2002135771 A JP 2002135771A JP 2003327177 A JP2003327177 A JP 2003327177A
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JP
Japan
Prior art keywords
region
object surface
pressure
negative pressure
seal member
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP2002135771A
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Japanese (ja)
Other versions
JP4195233B2 (en
Inventor
Fukashi Uragami
不可止 浦上
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Individual
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Individual
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Priority to JP2002135771A priority Critical patent/JP4195233B2/en
Publication of JP2003327177A publication Critical patent/JP2003327177A/en
Application granted granted Critical
Publication of JP4195233B2 publication Critical patent/JP4195233B2/en
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Expired - Fee Related legal-status Critical Current

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Abstract

<P>PROBLEM TO BE SOLVED: To provide a suction moving apparatus having an annular negative pressure region to reduce the area of the negative pressure region in the apparatus. <P>SOLUTION: The suction moving apparatus includes: a main casing having at least outer and inner cylindrical partitions 21 and 22; an annular outer seat member 31 fitted to the opening of the outer cylindrical partition with one part brought into contact with an object surface; a plate-like inner seal member 32 fitted to the opening of the inner cylindrical partition with center part brought into contact with the object surface; and a movement means for maintaining the distance between the main casing and the object surface to be arbitrary distance. The main casing and the outer and inner seal members 31 and 32 cooperate with the object surface for forming the annular negative pressure region 11. Additionally, the nozzle port of a rotary nozzle unit 7 for jetting fluid such as high-pressure water and compressed air is provided inside the annular negative pressure region. <P>COPYRIGHT: (C)2004,JPO

Description

【発明の詳細な説明】Detailed Description of the Invention

【０００１】[0001]

【産業上の利用分野】本発明は、装置の内部の圧力が装
置を包囲する流体の圧力より低い、すなわち装置の内部
に負圧が生成されることによって物体表面に吸着し、か
つ該物体表面に沿って移動する、吸着移動装置に関す
る。本発明は、また、物体表面に吸着しかつ該物体表面
に沿って移動しながら、高圧水の吹き付け、圧縮空気の
吹き付け、研掃材の吹き付け、プラズマ化された亜鉛や
アルミニウム等の溶射材料の吹き付けあるいは吸引清掃
作業などの作業を行う、吸着移動装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device in which the pressure inside a device is lower than the pressure of a fluid surrounding the device, that is, a negative pressure is generated inside the device to adsorb to an object surface and The present invention relates to a suction transfer device that moves along a path. The present invention also relates to spraying of high-pressure water, spraying of compressed air, spraying of a cleaning agent, plasma sprayed material such as zinc or aluminum, which is adsorbed on the surface of the object and moving along the surface of the object. The present invention relates to a suction transfer device that performs work such as spraying or suction cleaning work.

【０００２】[0002]

【従来の技術】内部に負圧が生成されることによって物
体表面に吸着し且つ該物体表面に沿って移動する装置と
しては、以下に記載の装置を一例として挙げることがで
きる。船舶、ビルディング等の壁面、天井面あるいは床
面などの物体表面に吸着して移動することができる装置
として、例えば特公昭６０−２６７５２号公報（米国特
許第４，０９５，３７８号明細書及び図面）に開示され
た装置を挙げることができる。かかる装置は、メインケ
ーシングと、該メインケーシングに装着された移動手段
としての車輪と、該メインケーシングに連結されその自
由端部が物体表面に接触せしめられるシール部材と、該
メインケーシング、該物体表面及び該シール部材によっ
て規定された負圧領域の内部の流体を外部に排出するた
めの負圧生成手段とを備えている。かかる装置において
は、負圧生成手段が付勢されると負圧領域の内部の流体
が外部に排出され、負圧領域内外の流体圧力差に起因し
てメインケーシングに作用する流体圧力は車輪を介して
物体表面に伝達され、かかる流体圧力によって装置が物
体表面に吸着される。また、かかる吸着状態において電
動モ−タの如き駆動手段によって車輪を回転駆動せしめ
ると、上記車輪の作用によって装置は物体表面に沿って
移動する。また、かかる装置には、負圧領域の内部の物
体表面に向け研掃材を噴射する研掃材噴射手段の如き作
業装置が装着されており、物体表面上における種々の作
業をリモートコントロールにて安全にかつ効率的に行う
ことができる。2. Description of the Related Art As a device that is attracted to a surface of an object and moves along the surface of the object when a negative pressure is generated therein, the device described below can be given as an example. As a device capable of adsorbing to an object surface such as a wall surface, a ceiling surface or a floor surface of a ship or a building, for example, Japanese Patent Publication No. 60-26752 (US Pat. No. 4,095,378 and drawings) ). Such an apparatus comprises a main casing, a wheel as a moving means mounted on the main casing, a seal member connected to the main casing and having a free end thereof brought into contact with the object surface, the main casing, the object surface. And a negative pressure generating means for discharging the fluid inside the negative pressure region defined by the seal member to the outside. In such a device, when the negative pressure generating means is energized, the fluid inside the negative pressure region is discharged to the outside, and the fluid pressure acting on the main casing due to the fluid pressure difference inside and outside the negative pressure region causes Is transmitted to the surface of the object, and the fluid pressure causes the device to be adsorbed to the surface of the object. Further, when the wheels are driven to rotate by a driving means such as an electric motor in such a suction state, the device moves along the surface of the object by the action of the wheels. Further, such a device is equipped with a working device such as a polishing / cleaning material spraying means for spraying the polishing / cleaning material toward the object surface inside the negative pressure region, and various operations on the object surface can be remotely controlled. It can be done safely and efficiently.

【０００３】[0003]

【発明が解決しようとする課題】而して、上述した従来
の装置には次の通りの解決すべき問題が存在する。第１
の問題として、吸着移動装置の吸着力は、同一真空度の
時、負圧領域の面積に比例するので、該負圧領域の面積
が大きい場合においては吸着力が非常に大きくなり、物
体表面が薄い鋼板の場合には該鋼板が吸着力の作用で撓
んでしまい傷を付けることになる。また、物体表面がモ
ルタルなどの材料で覆われている場合においては、吸着
力の作用でモルタルなどの材料が剥がれてしまうことに
なる。このような場合においては、吸着移動装置の負圧
領域の面積を小さくする必要がある。次に、物体表面が
繊維や多孔質の材料で覆われている場合においては、第
１の問題への対応と同様に吸着力の作用で該材料が剥が
れないように対策を取ったうえで、該物体表面の多孔部
分に入り込んだ汚れなどの物質を吸引清掃したい場合が
あるが、第２の問題として、吸引清掃するために用いる
真空ポンプの吸引風量が限られている場合においては、
該多孔部分の空隙の体積が大きいと該空隙を通って吸引
される外気の速度が減少し、よって吸引清掃能力が減少
する。このような場合においては、シール部材が外気を
遮断する部分の長さを出来るだけ短くする必要がある。
なお、吸着移動装置のシール部材はメインケーシングに
装着されており、その自由端部が物体表面に接触せしめ
られることにより外気の流入を極力阻止し、よって該シ
ール部材と該メインケーシング及び物体表面とが協働し
て負圧領域を規定するものである。The above-mentioned conventional device has the following problems to be solved. First
The problem is that the suction force of the suction transfer device is proportional to the area of the negative pressure region at the same degree of vacuum, and therefore the suction force becomes very large when the negative pressure region is large, and the object surface is In the case of a thin steel plate, the steel plate is bent by the action of the suction force and is damaged. Further, when the surface of the object is covered with a material such as mortar, the material such as mortar is peeled off due to the action of the suction force. In such a case, it is necessary to reduce the area of the negative pressure region of the suction moving device. Next, when the surface of the object is covered with a fiber or a porous material, a measure is taken to prevent the material from being peeled off by the action of the adsorption force as in the case of the first problem. There is a case where it is desired to suction and clean a substance such as dirt that has entered the porous portion of the object surface, but the second problem is that when the suction air volume of the vacuum pump used for suction cleaning is limited,
If the volume of the voids in the porous portion is large, the velocity of the outside air sucked through the voids is reduced, and thus the suction cleaning ability is reduced. In such a case, it is necessary to shorten the length of the portion where the seal member blocks the outside air as much as possible.
The seal member of the suction moving device is mounted on the main casing, and its free end is brought into contact with the surface of the object to prevent the inflow of outside air as much as possible, and thus the seal member and the main casing and the surface of the object are Cooperate with each other to define the negative pressure region.

【０００４】従って、本発明の技術的解決課題は次のと
うりである。第１の技術的解決課題は、装置の負圧領域
の面積を小さくするために環状の負圧領域を備えた吸着
移動装置を提供することである。第２の技術的解決課題
は、環状の負圧領域の外周部に配置する外側シール部材
は物体表面に密着することにより外気を遮断する自由端
部を備え、一方、内周部に配置する内側シール部材は物
体表面に密着する自由端部を備えるものの、該内側シー
ル部材の形状が環状の負圧領域の内側に在る空間を全て
覆う形状を成していることにより外気を遮断する、とい
った外側シール部材と内側シール部材とを備えた吸着移
動装置を提供することである。第３の技術的解決課題
は、該環状の負圧領域の内側に在る空間の圧力、すなわ
ち、該内側シール部材を物体表面に押し付ける圧力につ
いて、装置を包囲する流体の圧力と比較して同じかある
いは低い圧力であり、且つ該環状の負圧領域の圧力より
高い圧力に維持せしめることにより、該内側シール部材
と物体表面との接触圧力を低減せしめ、よって、該内側
シール部材と物体表面との接触圧力が低減されるので物
体表面に沿ってスムーズに移動することができる吸着移
動装置を提供することである。第４の技術的解決課題
は、環状に形成された負圧領域の中に、高圧水または圧
縮空気などの流体を噴出する回転ノズルユニットのノズ
ル口を備えた吸着移動装置を提供することである。以上
に、内部に負圧が生成されることによって物体表面に吸
着し且つ該物体表面に沿って移動する装置において、従
来技術の問題点を指摘し、本発明が解決しようとする課
題を述べた。Therefore, the technical problem to be solved by the present invention is as follows. A first technical problem to be solved is to provide an adsorption transfer device having an annular negative pressure region in order to reduce the area of the negative pressure region of the device. A second technical problem to be solved is that the outer seal member arranged on the outer peripheral portion of the annular negative pressure region has a free end portion for blocking outside air by closely contacting with the surface of the object, while the inner seal member arranged on the inner peripheral portion is arranged. Although the seal member has a free end portion that comes into close contact with the surface of the object, the inner seal member has a shape that covers the entire space inside the negative pressure region of the ring, so that the outside air is blocked. An object of the present invention is to provide a suction movement device including an outer seal member and an inner seal member. The third technical problem is the same with respect to the pressure of the space inside the annular negative pressure region, that is, the pressure for pressing the inner seal member against the object surface, as compared with the pressure of the fluid surrounding the device. Alternatively, the contact pressure between the inner seal member and the surface of the object is reduced by maintaining the pressure at a low pressure and higher than the pressure in the annular negative pressure region, and thus the inner seal member and the surface of the object are reduced. It is an object of the present invention to provide an adsorption movement device that can move smoothly along the surface of an object because the contact pressure of the object is reduced. A fourth technical problem to be solved is to provide an adsorption movement device provided with a nozzle port of a rotary nozzle unit for ejecting a fluid such as high-pressure water or compressed air into a negative pressure region formed in an annular shape. . In the above, in the device that is attracted to the surface of an object and moves along the surface of the object due to the generation of negative pressure inside, the problems of the prior art are pointed out, and the problems to be solved by the present invention are described. .

【０００５】[0005]

【課題を解決するための手段】上記の技術的解決課題を
達成するために、本発明によれば、特許請求の範囲の請
求項１に記載されているように、外側の筒状パーティシ
ョンと内側の筒状パーティションとを少なくとも備えた
メインケーシングと；該外側の筒状パーティションの開
口部に装着されその一部分が物体表面に接触せしめられ
る環状の外側シール部材と；該内側の筒状パーティショ
ンの開口部に装着されその中央部分が物体表面に接触せ
しめられる皿状の内側シール部材と；該メインケーシン
グと該物体表面との距離を任意の距離に維持するための
移動手段;とを具備する装置において、少なくとも該メ
インケーシングと該外側シール部材と該内側シール部材
とが該物体表面と協働して環状の第１領域を規定してお
り、該第１領域の圧力が装置の包囲流体の圧力より低い
圧力に維持されていることを特徴とする、吸着移動装置
が提供される。また、その他の技術的解決課題を達成す
るために、特許請求の範囲の請求項２乃至請求項５に記
載された特徴を備えた吸着移動装置が提供される。In order to achieve the above technical solution, according to the present invention, an outer cylindrical partition and an inner cylindrical partition are provided, as described in claim 1. A main casing having at least a tubular partition; and an annular outer seal member that is attached to the opening of the outer tubular partition and a part of which is brought into contact with the object surface; the opening of the inner tubular partition A dish-shaped inner seal member mounted on the object and having its central portion brought into contact with the object surface; moving means for maintaining the distance between the main casing and the object surface at an arbitrary distance; At least the main casing, the outer seal member, and the inner seal member cooperate with the object surface to define an annular first region, and a pressure of the first region is defined. An adsorption transfer device is provided wherein the force is maintained below the pressure of the surrounding fluid in the device. Further, in order to achieve other technical problems, there is provided a suction transfer device having the features described in claims 2 to 5.

【０００６】[0006]

【作用】第１の作用として、本発明の装置において、該
第１領域の圧力が装置の包囲流体の圧力より低い圧力に
維持されている場合においては、該第１領域の負圧の作
用により装置は物体表面へ吸着する。この場合、負圧領
域の形状は環状であるので、円状の場合と比較して負圧
領域の面積は小さい。すなわち、負圧領域の形状が環状
である場合と円状である場合を比較すると、環状形状の
外周の直径と円状形状の外周の直径を同一とすれば、環
状である場合のほうが面積が小さい。よって、吸着力の
作用でモルタルなどの材料が物体表面から剥がれてしま
うことが極力阻止される。第２の作用として、本発明の
装置において、環状の負圧領域の外周部に配置する外側
シール部材は物体表面に密着することにより外気を遮断
する自由端部を備え、一方、内周部に配置する内側シー
ル部材は物体表面に密着する自由端部を備えるものの、
該内側シール部材の形状が環状の負圧領域の内側に在る
空間を全て覆う形状を成していることにより外気を遮断
する機能を有している。該内側の筒状パーティションと
該内側シール部材とが協働して規定した第２領域の圧力
は装置の包囲流体の圧力と同圧かもしくはやや低い圧力
に維持されている。以上のように、該第２領域より該第
１領域へ外気が流入しないので、よって、吸引清掃する
ために用いる真空ポンプの吸引風量が限られており、か
つ物体表面の多孔部分の空隙の体積が大きい場合におい
ても、該空隙を通って吸引される外気の速度の減少は極
力阻止され、よって吸引清掃能力の減少は極力阻止され
る。第３の作用として、該環状の負圧領域の内側に在る
空間の圧力、すなわち、該内側シール部材を物体表面に
押し付ける圧力について、装置を包囲する流体の圧力と
比較して同じかあるいは低い圧力であり、且つ該環状の
負圧領域の圧力より高い圧力に維持せしめることによ
り、該内側シール部材と物体表面との接触圧力を低減せ
しめ、よって、該内側シール部材と物体表面との接触圧
力が低減されるので装置は物体表面に沿ってスムーズに
移動することができる。第４の作用として、環状に形成
された負圧領域の中に回転ノズルユニットのノズル口を
備えているので、該負圧領域の中で物体表面に向け高圧
水または圧縮空気などの流体を噴出することができる。As a first action, in the device of the present invention, when the pressure in the first region is maintained at a pressure lower than the pressure of the surrounding fluid in the device, the negative pressure in the first region causes the action. The device adsorbs to the surface of the object. In this case, since the shape of the negative pressure area is annular, the area of the negative pressure area is smaller than that in the case of a circular shape. That is, comparing the case where the shape of the negative pressure region is circular and the case where it is circular, if the diameter of the outer circumference of the annular shape and the diameter of the outer circumference of the circular shape are the same, the area is more circular small. Therefore, it is possible to prevent the material such as mortar from peeling off from the surface of the object due to the action of the suction force. As a second action, in the device of the present invention, the outer seal member arranged on the outer peripheral portion of the annular negative pressure region has a free end portion for blocking outside air by closely contacting with the object surface, while the inner peripheral portion has Although the inner seal member to be arranged has a free end portion that comes into close contact with the object surface,
The inner seal member has a function of blocking the outside air by forming a shape that entirely covers the space inside the annular negative pressure region. The pressure in the second region defined by the cooperation of the inner cylindrical partition and the inner sealing member is maintained at the same pressure as or slightly lower than the pressure of the surrounding fluid of the device. As described above, since the outside air does not flow from the second region into the first region, the suction air volume of the vacuum pump used for suction cleaning is limited, and the volume of the voids in the porous portion of the object surface is limited. In the case of a large value, the decrease in the velocity of the outside air sucked through the gap is prevented as much as possible, and thus the decrease in the suction cleaning ability is prevented as much as possible. Thirdly, the pressure of the space inside the annular negative pressure region, that is, the pressure for pressing the inner seal member against the object surface is the same as or lower than the pressure of the fluid surrounding the device. The contact pressure between the inner seal member and the object surface is reduced by maintaining the pressure higher than the pressure in the annular negative pressure region, and thus the contact pressure between the inner seal member and the object surface. Is reduced so that the device can move smoothly along the object surface. As a fourth action, since the nozzle port of the rotary nozzle unit is provided in the negative pressure region formed in the ring shape, a fluid such as high pressure water or compressed air is ejected toward the object surface in the negative pressure region. can do.

【０００７】[0007]

【実施例】以下、本発明に従って構成された装置の好適
実施例について、添付図を参照して更に詳細に説明す
る。図１乃至図６を参照して説明すると、図示の装置は
メインケーシングを具備しており、該メインケーシング
は剛性材料を素材とし、外側の筒状パーティション２１
と内側の筒状パーティション２２により構成されてい
る。内側の筒状パーティション２２は物体表面１に垂直
に配置された中空の回転軸７１に軸受７３を介して固定
されており、中空の回転軸７１は外側の筒状パーティシ
ョン２１に溶着された伝動ベルトケーシング５に軸受５
３を介して固定されている。外側の筒状パーティション
２１は、物体表面１に面した部分が開口した円筒部、該
円筒部の開口部の外周縁部に溶着された環状の円板部、
及び該円筒部の側面に溶着された接続管部２１１から形
成されている。外側の筒状パーティション２１の円筒部
の対向する両側面には、それぞれ２個の車輪４１を備え
た一対の剛性材料を素材とする走行フレーム４が固定さ
れている。また、接続管部２１１は可撓性のサクション
ホース（図示せず）を介して真空ポンプの如き負圧生成
手段（図示せず）に接続されている。外側の筒状パーテ
ィション２１の環状の円板部には、例えばポリウレタン
ゴム、プラスチック等の比較的柔軟な材料を素材とする
外側シール部材３１がボルト、ナットにて装着されてい
る。外側シール部材３１は、全体の形状が略円環状を成
し、その自由端部が物体表面１に沿って装置の外側へ延
びた形状をしている。この形状により、外側シール部材
３１は外側シール部材３１の外側に在る流体の圧力によ
り物体表面１に押し付けられる。内側の筒状パーティシ
ョン２２は、物体表面１に面した部分が開口した円筒
部、該円筒部の開口部の内周縁部に溶着された環状の円
板部、及び軸受７３が装着されるボス部から形成されて
いる。内側の筒状パーティション２２の環状の円板部に
は、例えばポリウレタンゴム、プラスチック等の比較的
柔軟な材料を素材とする内側シール部材３２がボルト、
ナットにて装着されている。内側シール部材３２は、全
体の形状が皿状を成し、内側の筒状パーティション２２
の内側に在る空間を全て覆った形状をしており、中央部
分の自由端部は物体表面１に密着している。中空の回転
軸７１は、円筒状の外軸部と丸棒状の内軸部と該外軸部
と該内軸部を連結するために中空部分に配置された連結
部から成っており、該外軸部の外周面の対向する部分に
は、物体表面１に向け高圧水や圧縮空気などの流体を噴
出する一対のノズル７が溶着されており、該内軸部の端
部から該連結部と該外軸部とを経てノズル７に到る孔７
２が備えられている。該内軸部の端部にはスイベルジョ
イント８の中空回転軸が連結され、スイベルジョイント
８のメインボディは伝動ベルトケーシング５に固定され
ている。また、該内軸部の端部の円周部分には環状の従
動側伝動プーリ６２が固定されており、駆動側伝動プー
リ６１を駆動軸に装着されたギヤードモータ６は伝動ベ
ルトケーシング５に固定されている。駆動側伝動プーリ
６１と従動側伝動プーリ６２の間には伝動ベルト６３が
装着されている。伝動ベルトケーシング５の側面には接
続管部５１が溶着されているが、実施例１の装置におい
ては接続管部５１にはホースは接続されていない。外側
の筒状パーティション２１、内側の筒状パーティション
２２、外側シール部材３１、内側シール部材３２、中空
の回転軸７１、軸受５３、及び軸受７３は物体表面１と
協働して環状の第１領域１１を規定している。また、内
側の筒状パーティション２２、内側シール部材３２、中
空の回転軸７１、及び軸受７３は協働して第２領域１２
を規定している。なお、第２領域１２は伝動ベルトケー
シング５の内側の空間領域１３と中空の回転軸７１の中
空部分を介して連通している。スイベルジョイント８の
中空固定軸にはホース９を介して高圧水ポンプやエアコ
ンプレッサの如き流体圧力生成手段（図示せず）に接続
されている。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of an apparatus constructed according to the present invention will be described in more detail below with reference to the accompanying drawings. Referring to FIGS. 1 to 6, the illustrated apparatus includes a main casing, which is made of a rigid material and has an outer cylindrical partition 21.
And an inner cylindrical partition 22. The inner cylindrical partition 22 is fixed to a hollow rotating shaft 71 arranged perpendicularly to the object surface 1 via a bearing 73, and the hollow rotating shaft 71 is a transmission belt welded to the outer cylindrical partition 21. Bearing 5 in casing 5
It is fixed through 3. The outer cylindrical partition 21 has a cylindrical portion whose portion facing the object surface 1 is open, an annular disc portion welded to the outer peripheral edge of the opening of the cylindrical portion,
And a connecting pipe portion 211 welded to the side surface of the cylindrical portion. A traveling frame 4 made of a pair of rigid materials, each having two wheels 41, is fixed to opposite side surfaces of the cylindrical portion of the outer cylindrical partition 21. Further, the connecting pipe portion 211 is connected to a negative pressure generating means (not shown) such as a vacuum pump via a flexible suction hose (not shown). An outer seal member 31 made of a relatively flexible material such as polyurethane rubber or plastic is attached to the annular disk portion of the outer cylindrical partition 21 with bolts and nuts. The outer seal member 31 has a substantially annular shape as a whole, and its free end extends along the object surface 1 to the outside of the apparatus. With this shape, the outer seal member 31 is pressed against the object surface 1 by the pressure of the fluid existing outside the outer seal member 31. The inner cylindrical partition 22 has a cylindrical portion whose portion facing the object surface 1 is open, an annular disc portion welded to the inner peripheral edge of the opening of the cylindrical portion, and a boss portion to which the bearing 73 is mounted. Are formed from. An inner seal member 32 made of a relatively flexible material such as polyurethane rubber or plastic is used as a bolt on the annular disc portion of the inner cylindrical partition 22.
It is attached with a nut. The inner seal member 32 has a dish shape as a whole, and the inner cylindrical partition 22
Has a shape covering the entire space inside, and the free end of the central portion is in close contact with the object surface 1. The hollow rotating shaft 71 is composed of a cylindrical outer shaft portion, a round bar-shaped inner shaft portion, and a connecting portion arranged in the hollow portion for connecting the outer shaft portion and the inner shaft portion. A pair of nozzles 7 for ejecting a fluid such as high-pressure water or compressed air toward the object surface 1 is welded to opposite portions of the outer peripheral surface of the shaft portion, and the end portion of the inner shaft portion is connected to the connecting portion. Hole 7 reaching the nozzle 7 through the outer shaft portion
2 is provided. The hollow rotating shaft of the swivel joint 8 is connected to the end of the inner shaft portion, and the main body of the swivel joint 8 is fixed to the transmission belt casing 5. An annular driven-side transmission pulley 62 is fixed to the circumferential portion of the end of the inner shaft portion. The geared motor 6 having the driving-side transmission pulley 61 mounted on the drive shaft is fixed to the transmission belt casing 5. Has been done. A transmission belt 63 is mounted between the driving side transmission pulley 61 and the driven side transmission pulley 62. Although the connecting pipe portion 51 is welded to the side surface of the power transmission belt casing 5, no hose is connected to the connecting pipe portion 51 in the device of the first embodiment. The outer cylindrical partition 21, the inner cylindrical partition 22, the outer sealing member 31, the inner sealing member 32, the hollow rotating shaft 71, the bearing 53, and the bearing 73 cooperate with the object surface 1 to form the annular first region. 11 is prescribed. Further, the inner cylindrical partition 22, the inner seal member 32, the hollow rotating shaft 71, and the bearing 73 cooperate with each other to form the second region 12.
Is prescribed. The second region 12 communicates with the space region 13 inside the transmission belt casing 5 via the hollow portion of the hollow rotating shaft 71. The hollow fixed shaft of the swivel joint 8 is connected via a hose 9 to a fluid pressure generating means (not shown) such as a high-pressure water pump or an air compressor.

【０００８】[0008]

【作用】次に、上述した本発明の好適実施例の装置の作
用効果について説明する。負圧生成手段（図示せず）が
作動すると、第１領域１１の内部の大気の如き流体が接
続管部２１１及びサクションホース（図示せず）を通っ
て外部に排出され、第１領域１１が所要の通り減圧され
る。かく第１領域１１が減圧されると、装置を包囲して
いる大気の如き流体の圧力が第１領域１１の内外の流体
圧力差に起因して外側の筒状パーティション２１を物体
表面１の方向に押し付け、該押し付け力は４個の車輪４
１を介して物体表面１に伝達され、かくして装置は物体
表面１に吸着するとともに、車輪４１をギヤードモータ
（図示せず）などの駆動手段により回転駆動せしめると
装置は物体表面１に沿って移動する。なお、第１領域１
１の内部の圧力が所望の圧力に維持されている時、装置
を包囲している大気の如き流体の圧力が第１領域１１の
内外の流体圧力差に起因して外側シール部材３１の自由
端部と内側シール部材３２の自由端部を物体表面１の方
向に押し付け、よって該包囲流体が第１領域１１の内部
に流入するのを極力阻止する。該包囲流体の流れの経路
について、該包囲流体は、外側シール部材３１の自由端
部と物体表面１との間の僅かな隙間を通って第１領域１
１に流入し、そのあと接続管部２１１及びサクションホ
ース（図示せず）を通って負圧生成手段（図示せず）に
到る。回転するノズル７から噴出された高圧水もしくは
圧縮空気は、物体表面１に衝突して物体表面１に付着し
た汚れなどの物質を除去したのち、該包囲流体の流れに
乗って負圧生成手段（図示せず）に到る。Next, the operation and effect of the apparatus of the preferred embodiment of the present invention described above will be described. When the negative pressure generating means (not shown) is activated, a fluid such as the atmosphere inside the first region 11 is discharged to the outside through the connecting pipe portion 211 and the suction hose (not shown), and the first region 11 is discharged. The pressure is reduced as required. Thus, when the first region 11 is depressurized, the pressure of a fluid such as the atmosphere surrounding the device causes the outer cylindrical partition 21 to move toward the object surface 1 due to the fluid pressure difference between the inside and outside of the first region 11. To the four wheels 4
1 is transmitted to the object surface 1, and the apparatus is thus attracted to the object surface 1. When the wheels 41 are rotationally driven by a driving means such as a geared motor (not shown), the apparatus moves along the object surface 1. To do. The first area 1
When the pressure inside 1 is maintained at the desired pressure, the pressure of the fluid surrounding the device, such as the atmosphere, is increased by the free end of the outer seal member 31 due to the fluid pressure difference inside and outside the first region 11. Section and the free end of the inner seal member 32 are pressed in the direction of the object surface 1 and thus prevent the surrounding fluid from flowing into the first region 11 as much as possible. Regarding the flow path of the surrounding fluid, the surrounding fluid passes through the slight gap between the free end of the outer sealing member 31 and the object surface 1 to the first region 1
1, then passes through the connecting pipe portion 211 and the suction hose (not shown) to reach the negative pressure generating means (not shown). The high-pressure water or compressed air ejected from the rotating nozzle 7 collides with the object surface 1 to remove substances such as dirt adhering to the object surface 1, and then rides on the flow of the surrounding fluid to generate negative pressure ( (Not shown).

【０００９】上述した本発明の好適実施例の装置の効果
について説明する。吸着移動装置の吸着力は負圧領域の
面積に比例するので、該負圧領域の面積が大きい場合に
おいては吸着力が非常に大きくなり、物体表面が薄い鋼
板の場合には該鋼板が吸着力の作用で撓んでしまい傷を
付けることになる。また、物体表面がモルタルなどの材
料で覆われている場合においては、吸着力の作用でモル
タルなどの材料が剥がれてしまうことになる。このよう
な場合においては、吸着移動装置の負圧領域の面積を小
さくする必要が出てくる。本発明の好適実施例の装置に
おいては、装置の負圧領域の面積を小さくするために環
状の負圧領域である第１領域１１を備えている。負圧領
域の形状が環状である場合と円状である場合を比較する
と、環状形状の外周の直径と円状形状の外周の直径を同
一とすれば、環状である場合のほうが面積が小さい。な
おノズル７の回転直径は十分大きいので、負圧領域の面
積の減少が作業能率を阻害することは無い。次に、物体
表面１が空隙の体積が大きい繊維や多孔質の材料から成
っており、物体表面１の該空隙部分に入り込んだ汚れな
どの物質を吸引清掃したい場合における、本発明の好適
実施例の装置の効果を述べる。好適実施例の装置の内側
シール部材３２は環状の負圧領域の内側に在る物体表面
１の全てを覆っているので、該負圧領域の内側から外気
が該負圧領域すなわち第１領域１１の内部に流入するこ
とは無い。よって、吸引清掃するために用いる真空ポン
プの吸引風量が限られており、かつ物体表面１の多孔部
分の空隙の体積が大きい場合においても、該空隙を通っ
て吸引される外気の速度の減少は極力阻止され、よって
吸引清掃能力の減少は極力阻止される。次に、本発明の
好適実施例の装置においては、環状に形成された第１領
域１１の中に回転するノズル７のノズル口を備えている
ので、第１領域１１の中で物体表面１に向け高圧水また
は圧縮空気などの流体を噴出することができる。なお、
本発明の好適実施例の装置において、接続管部５１をホ
ース（図示せず）を介して負圧調整弁（図示せず）及び
負圧生成手段（図示せず）に接続することにより、第２
領域１２の圧力を、装置を包囲する流体の圧力より低く
且つ第１領域１１の圧力より高い圧力に維持せしめるこ
ともできる。この場合、内側シール部材３２と物体表面
１との接触圧力が低減される。かくして、内側シール部
材３２と物体表面１との摩擦抵抗が低減されるので、本
発明の好適実施例の装置は物体表面１に沿ってスムーズ
に移動することができる。The effects of the above-described apparatus of the preferred embodiment of the present invention will be described. Since the suction force of the suction moving device is proportional to the area of the negative pressure region, the suction force becomes very large when the area of the negative pressure region is large, and the steel sheet has a suction force when the object surface is a thin steel plate. The action will bend and cause damage. Further, when the surface of the object is covered with a material such as mortar, the material such as mortar is peeled off due to the action of the suction force. In such a case, it becomes necessary to reduce the area of the negative pressure region of the adsorption transfer device. The apparatus of the preferred embodiment of the present invention is provided with a first area 11 which is an annular negative pressure area in order to reduce the area of the negative pressure area of the apparatus. Comparing the case where the shape of the negative pressure region is annular and the case where it is circular, if the diameter of the outer circumference of the annular shape is the same as the diameter of the outer circumference of the circular shape, the area is smaller when the shape is annular. Since the rotating diameter of the nozzle 7 is sufficiently large, the reduction of the area of the negative pressure region does not hinder the work efficiency. Next, a preferred embodiment of the present invention in the case where the object surface 1 is made of a fiber or a porous material having a large void volume and it is desired to suction and clean a substance such as dirt that has entered the void portion of the object surface 1. The effect of the device will be described. Since the inner seal member 32 of the preferred embodiment device covers all of the object surface 1 inside the annular negative pressure area, outside air from the negative pressure area from the negative pressure area or first area 11 Does not flow into the interior of. Therefore, even when the suction air volume of the vacuum pump used for suction cleaning is limited and the volume of the void in the porous portion of the object surface 1 is large, the velocity of the outside air sucked through the void does not decrease. It is prevented as much as possible, so that the reduction in suction cleaning ability is prevented as much as possible. Next, in the apparatus of the preferred embodiment of the present invention, since the nozzle opening of the rotating nozzle 7 is provided in the first region 11 formed in an annular shape, the object surface 1 is formed on the object surface 1 in the first region 11. A fluid such as high pressure water or compressed air can be jetted. In addition,
In the apparatus of the preferred embodiment of the present invention, the connecting pipe portion 51 is connected to a negative pressure regulating valve (not shown) and a negative pressure generating means (not shown) via a hose (not shown), Two
It is also possible to keep the pressure in region 12 below the pressure of the fluid surrounding the device and above the pressure in first region 11. In this case, the contact pressure between the inner seal member 32 and the object surface 1 is reduced. Thus, the frictional resistance between the inner seal member 32 and the object surface 1 is reduced so that the apparatus of the preferred embodiment of the present invention can move smoothly along the object surface 1.

【００１０】以上に本発明の装置の好適実施例について
説明したが、本発明の装置は該好適実施例の他にも特許
請求の範囲に従って種々実施例を考えることができる。Although the preferred embodiment of the apparatus of the present invention has been described above, various other embodiments of the apparatus of the present invention can be considered according to the scope of the claims in addition to the preferred embodiment.

【００１１】以上の本発明の装置の好適実施例について
の説明は、本発明の好適実施例の装置が大気中の物体表
面上に在るものとして説明を行ったが、本発明の好適実
施例の装置は水中においても適用されることができる。
かかる場合の負圧生成手段については、真空ポンプに代
えて水ポンプや水駆動エゼクタを用いることができる。The above description of the preferred embodiment of the apparatus of the present invention has been made assuming that the apparatus of the preferred embodiment of the present invention is on the surface of an object in the atmosphere. The device can also be applied in water.
As the negative pressure generating means in such a case, a water pump or a water driven ejector can be used instead of the vacuum pump.

【００１２】[0012]

【発明の効果】吸着移動装置の吸着力は負圧領域の面積
に比例するので、該負圧領域の面積が大きい場合におい
ては吸着力が非常に大きくなり、物体表面が薄い鋼板の
場合には該鋼板が吸着力の作用で撓んでしまい傷を付け
ることになる。また、物体表面がモルタルなどの材料で
覆われている場合においては、吸着力の作用でモルタル
などの材料が剥がれてしまうことになる。このような場
合においては、装置の負圧領域の面積を小さくする必要
が出てくる。本発明の好適実施例の装置においては、装
置の負圧領域の面積を小さくするために環状の負圧領域
である第１領域１１を備えている。負圧領域の形状が環
状である場合と円状である場合を比較すると、環状形状
の外周の直径と円状形状の外周の直径を同一とすれば、
環状である場合のほうが面積が小さい。なおノズル７の
回転直径は十分大きいので、負圧領域の面積の減少が作
業能率を阻害することは無い。次に、本発明の好適実施
例の装置においては、環状に形成された第１領域１１の
中に回転するノズル７のノズル口を備えているので、第
１領域１１の中で物体表面１に向け高圧水または圧縮空
気などの流体を効率的に噴出することができる。次に、
本発明の好適実施例の装置において、接続管部５１をホ
ース（図示せず）を介して負圧調整弁（図示せず）及び
負圧生成手段（図示せず）に接続することにより、第２
領域１２の圧力を、装置を包囲する流体の圧力より低く
且つ第１領域１１の圧力より高い圧力に維持せしめる
と、内側シール部材３２と物体表面１との接触圧力が低
減される。かくして、内側シール部材３２と物体表面１
との摩擦抵抗が低減されるので、本発明の好適実施例の
装置は物体表面１に沿ってスムーズに移動することがで
きる。Since the suction force of the suction moving device is proportional to the area of the negative pressure region, the suction force becomes very large when the area of the negative pressure region is large, and when the object surface is a thin steel plate. The steel plate is bent by the action of the suction force and is damaged. Further, when the surface of the object is covered with a material such as mortar, the material such as mortar is peeled off due to the action of the suction force. In such a case, it becomes necessary to reduce the area of the negative pressure region of the device. The apparatus of the preferred embodiment of the present invention is provided with a first area 11 which is an annular negative pressure area in order to reduce the area of the negative pressure area of the apparatus. Comparing the case where the shape of the negative pressure region is circular and the case where it is circular, if the diameter of the outer periphery of the annular shape and the diameter of the outer periphery of the circular shape are the same,
The area is smaller when it is annular. Since the rotating diameter of the nozzle 7 is sufficiently large, the reduction of the area of the negative pressure region does not hinder the work efficiency. Next, in the apparatus of the preferred embodiment of the present invention, since the nozzle opening of the rotating nozzle 7 is provided in the first region 11 formed in an annular shape, the object surface 1 is formed on the object surface 1 in the first region 11. A fluid such as high-pressure water for directing or compressed air can be efficiently ejected. next,
In the apparatus of the preferred embodiment of the present invention, the connecting pipe portion 51 is connected to a negative pressure regulating valve (not shown) and a negative pressure generating means (not shown) via a hose (not shown), Two
Maintaining the pressure in region 12 below the pressure of the fluid surrounding the device and above the pressure in first region 11 reduces the contact pressure between inner seal member 32 and object surface 1. Thus, the inner seal member 32 and the object surface 1
The frictional resistance to and is reduced so that the device of the preferred embodiment of the present invention can move smoothly along the object surface 1.

【００１３】かくの通りの吸着移動装置は、物体表面に
おいて様々な目的のため負圧を利用して作業を行うため
の装置として好都合に用いることができる。例えば、壁
面、天井面あるいは床面などの物体表面に対し、吸引清
掃作業や、圧縮空気や高圧水の吹き付け作業などを実施
する装置として好都合に用いることができる。The suction-movement device as described above can be conveniently used as a device for performing work on the surface of an object by utilizing negative pressure for various purposes. For example, it can be conveniently used as a device for performing suction cleaning work, spraying compressed air or high-pressure water on an object surface such as a wall surface, a ceiling surface, or a floor surface.

【図面の簡単な説明】[Brief description of drawings]

【図１】本発明に従って構成された装置の好適実施例を
示す平面図。FIG. 1 is a plan view showing a preferred embodiment of an apparatus constructed in accordance with the present invention.

【図２】図１に示す装置における下側面図。一部は図１
に示す装置におけるＣ−Ｃの部分断面図。FIG. 2 is a bottom side view of the device shown in FIG. Figure 1 is part
6 is a partial cross-sectional view of CC in the apparatus shown in FIG.

【図３】図１に示す装置を物体表面の方向から見た背面
図。FIG. 3 is a rear view of the device shown in FIG. 1 viewed from the direction of the object surface.

【図４】図１に示す装置におけるＡ−Ａの断面図。4 is a cross-sectional view taken along the line AA in the device shown in FIG.

【図５】図１に示す装置におけるＢ−Ｂの断面図。5 is a sectional view of BB in the apparatus shown in FIG.

【図６】図４に示す装置におけるＤ−Ｄの拡大断面図。6 is an enlarged sectional view of DD in the device shown in FIG.

Claims (5)

【特許請求の範囲】[Claims] 【請求項１】外側の筒状パーティションと内側の筒状パ
ーティションとを少なくとも備えたメインケーシング
と；該外側の筒状パーティションの開口部に装着されそ
の一部分が物体表面に接触せしめられる環状の外側シー
ル部材と；該内側の筒状パーティションの開口部に装着
されその中央部分が物体表面に接触せしめられる皿状の
内側シール部材と；該メインケーシングと該物体表面と
の距離を任意の距離に維持するための移動手段;とを具
備する装置において、少なくとも該メインケーシングと
該外側シール部材と該内側シール部材とが該物体表面と
協働して環状の第１領域を規定しており、該第１領域の
圧力が装置の包囲流体の圧力より低い圧力に維持されて
いることを特徴とする、吸着移動装置。1. A main casing having at least an outer tubular partition and an inner tubular partition; an annular outer seal mounted in an opening of the outer tubular partition, a part of which is brought into contact with an object surface. A member; a dish-shaped inner seal member attached to the opening of the inner cylindrical partition and having its central portion brought into contact with the object surface; and maintaining a distance between the main casing and the object surface at an arbitrary distance A moving means for moving the object, the at least main casing, the outer seal member, and the inner seal member cooperate with the object surface to define an annular first region. An adsorption transfer device characterized in that the pressure in the region is maintained below the pressure of the surrounding fluid of the device. 【請求項２】該第１領域の内側に、少なくとも該内側の
筒状パーティションと該内側シール部材とが協働して規
定した第２領域を備えたことを特徴とする、請求項１に
記載の吸着移動装置。2. The second region defined inside the first region, the second region being defined by at least the inner cylindrical partition and the inner sealing member in cooperation with each other. Adsorption transfer device. 【請求項３】該第２領域の圧力が、装置の包囲流体の圧
力と同じかもしくは装置の包囲流体の圧力より低く、且
つ該第１領域の圧力より高い圧力に維持されていること
を特徴とする、請求項２に記載の吸着移動装置。3. The pressure in the second region is maintained at the same pressure as the pressure of the surrounding fluid of the device or lower than the pressure of the surrounding fluid of the device and higher than the pressure in the first region. The suction transfer device according to claim 2. 【請求項４】該外側シール部材は、該外側シール部材の
外側に在る流体の圧力により該物体表面に押し付けられ
る形状を備えている、ことを特徴とする、請求項１乃至
請求項３に記載の吸着移動装置。4. The outer seal member is provided with a shape that is pressed against the object surface by the pressure of a fluid existing outside the outer seal member. The adsorption transfer device described. 【請求項５】該メインケーシングにおいて、該内側の筒
状パーティションは該外側の筒状パーティションから分
割されて配置されており、該内側の筒状パーティション
は、該物体表面に垂直に配置された中空の回転軸に軸受
を介して固定されており、該中空の回転軸は該外側の筒
状パーティションに軸受を介して固定されており、該中
空の回転軸は円筒状の外軸部と丸棒状の内軸部と該外軸
部と該内軸部を連結するために中空部分に配置された連
結部から成っており、該外軸部の外周面には該第１領域
の中に流体を吐出するノズルが単数もしくは複数個固定
されており、該内軸部の端部から該連結部と該外軸部と
を経て該ノズルに到る孔が備えられている、ことを特徴
とする、請求項１乃至請求項４に記載の吸着移動装置。5. In the main casing, the inner cylindrical partition is arranged separately from the outer cylindrical partition, and the inner cylindrical partition is a hollow arranged perpendicular to the object surface. Is fixed to the rotating shaft of the bearing through a bearing, the hollow rotating shaft is fixed to the outer cylindrical partition through a bearing, and the hollow rotating shaft is shaped like a cylindrical outer shaft and a round bar. Of the inner shaft portion, the outer shaft portion, and a connecting portion arranged in a hollow portion for connecting the inner shaft portion, and the outer surface of the outer shaft portion has a fluid in the first region. A single or a plurality of discharging nozzles are fixed, and a hole is provided from the end of the inner shaft portion to the nozzle through the connecting portion and the outer shaft portion, The suction-movement device according to any one of claims 1 to 4.
JP2002135771A 2002-05-10 2002-05-10 Suction transfer device Expired - Fee Related JP4195233B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2002135771A JP4195233B2 (en) 2002-05-10 2002-05-10 Suction transfer device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2002135771A JP4195233B2 (en) 2002-05-10 2002-05-10 Suction transfer device

Publications (2)

Publication Number Publication Date
JP2003327177A true JP2003327177A (en) 2003-11-19
JP4195233B2 JP4195233B2 (en) 2008-12-10

Family

ID=29698007

Family Applications (1)

Application Number Title Priority Date Filing Date
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Country Link
JP (1) JP4195233B2 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112278210A (en) * 2020-11-27 2021-01-29 河北工业大学 Underwater robot with swimming and adsorption functions
WO2022037036A1 (en) * 2020-08-21 2022-02-24 浙江大学 Amphibious suction cup having adjustable gap

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022037036A1 (en) * 2020-08-21 2022-02-24 浙江大学 Amphibious suction cup having adjustable gap
CN112278210A (en) * 2020-11-27 2021-01-29 河北工业大学 Underwater robot with swimming and adsorption functions

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Publication number Publication date
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