JP2005047451A - Self-suction type traveling device - Google Patents

Self-suction type traveling device Download PDF

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JP2005047451A
JP2005047451A JP2003283426A JP2003283426A JP2005047451A JP 2005047451 A JP2005047451 A JP 2005047451A JP 2003283426 A JP2003283426 A JP 2003283426A JP 2003283426 A JP2003283426 A JP 2003283426A JP 2005047451 A JP2005047451 A JP 2005047451A
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brush
suction
self
body frame
traveling device
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Hideo Yoshimura
英夫 吉村
Kenji Nakamura
賢司 中村
Akiyoshi Horii
顕良 堀井
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Atox Co Ltd
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Atox Co Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-suction type traveling device suction a vacuum blower on a traveling device body, generating vacuum force by itself and capable of self-suction on not only a flat surface but also corroded projected/recessed wall surface and a ceiling part of concrete/coating surface/steel material to travel in the self-suction type traveling device. <P>SOLUTION: The self-suction type traveling device is provided with a body frame 1 having an outer peripheral part except for a suction part covered with a body cover 4; a crawler 6 or a wheel provided at both sides in an advancement direction of the body frame 1; a blower 2 for generating vacuum force mounted on the body frame 1; a brush type suction disc 3 attached to a lower side central part of the body frame 1; and a filter 8 for filtering aspiration air provided at the inner side of the brush type suction disc 3. The device is further provided with an exhaust gas suppression brush 20 at a lower end of the cover covering the outer peripheral part of the body frame 1. Generation/diffusion of dust caused by the fact that the exhaust gas of the blower for generating vacuum escapes to the outside can be suppressed by the exhaust gas suppression brush 20. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

本発明は、建屋、大型タンク等を構成する材質を問わず、それらの外壁や内壁或いは天井等（以下、「壁面等」という）に自己吸着して走行する装置に関するものである。自己吸着型の走行装置は、壁面等の検査（非破壊検査器、遠隔操作カメラ、汚染検査器）、清掃（回転ブラシ、ウエス拭取り具）及び塗装（塗装用スプレーノズル）する機器を搭載して作業する用途に適用する。特に表面が粗い面や、凹凸のある面に対しても、ブラシ型吸着盤を用いることにより、ブラシが凹凸面に追従し、隙間を洩れなくシールすることにより吸着盤内の真空圧を維持でき、壁面等に具合よく吸着して走行することができる自己吸着型走行装置に関するものである。   The present invention relates to an apparatus that travels while adsorbing itself to an outer wall, an inner wall, a ceiling, or the like (hereinafter referred to as a “wall surface”) regardless of the material constituting a building, a large tank, or the like. The self-adsorption type traveling device is equipped with equipment for inspecting wall surfaces (non-destructive inspection devices, remote control cameras, contamination inspection devices), cleaning (rotating brushes, wiping tools) and painting (spray nozzles for painting). Applicable for working Especially for rough or uneven surfaces, the brush type suction disk can be used to maintain the vacuum pressure in the suction disk by following the uneven surface and sealing the gap without leaking. The present invention relates to a self-adsorbing traveling device that can travel while adsorbing to a wall surface or the like.

従来自己吸着型走行装置はしられている。しかしこの従来型の自己吸着型走行装置の吸着盤はその材料がゴムであるのが一般的である。そして吸着対象となる壁面等に吸着盤を密着させて吸着盤内の真空圧を維持している。しかしこのようなゴム製の吸着盤を使用した自己吸着型走行装置には、次のような問題があった。   Conventional self-adsorptive travel devices have been used. However, the suction disk of this conventional self-adsorbing traveling device is generally made of rubber. Then, the suction plate is brought into close contact with the wall surface or the like to be suctioned to maintain the vacuum pressure in the suction plate. However, the self-adsorption type traveling device using such a rubber suction disk has the following problems.

低硬度ゴム製の吸着盤では、壁面等によく密着するので、リーク量は少ないが、吸着盤の摩耗が激しく、かつ接地摩擦が大きい。従って吸着力は大きくなるが、その反面、走行装置の壁面等での上昇力は弱くなる。このため、走行装置本体に真空発生源を搭載すると、その分本体重量が重くなり、吸着し上昇することはできなかった。   A low-hardness rubber suction disk adheres well to the wall surface and the like, so the amount of leakage is small, but the suction disk is heavily worn and the grounding friction is large. Accordingly, the attracting force increases, but on the other hand, the ascending force on the wall surface of the traveling device becomes weak. For this reason, when a vacuum generating source is mounted on the traveling device main body, the weight of the main body becomes heavier and cannot be adsorbed and raised.

ウレタン等の高硬度ゴム製の吸着盤を使用した吸着型走行装置では、耐摩耗性が高く、接地摩擦は少なくなるが、壁面等の凹凸に追従しにくくなる。従ってリーク量が多くなり、このためリークを補うため大風量の真空源が必要となり、真空発生装置を本体に搭載できず真空吸着型走行装置の装置外に設けた真空発生装置から本体までホースで接続し吸引していた。   An adsorption type traveling device using an adsorption disk made of high hardness rubber such as urethane has high wear resistance and reduces ground friction, but it is difficult to follow irregularities such as wall surfaces. Therefore, the amount of leak increases, so a vacuum source with a large air volume is necessary to compensate for the leak, and the vacuum generator cannot be mounted on the main body, and the hose from the vacuum generator installed outside the vacuum adsorption traveling device to the main body Connected and sucked.

複数個吸着盤
壁面等の凹凸や、粗さの影響を低減させるために、クローラ等に複数個の小型吸着盤を取付け、吸盤が直接走行面と擦れることを無くした回転式吸着盤がある。凹凸のある場所に接触した吸着盤には吸着力はないが、複数個とすることで総吸着力を維持していた。このような機構は、回転部に吸着盤を複数個配置するため機構が複雑となっていた。更に、吸着表面が粗い場合に真空発生用にエアーエジェクタを用いた場合には吸着盤からのリーク量が僅かでもあると吸着することができなかった。 Multiple suction cups In order to reduce the effects of unevenness and roughness on the wall surface, etc., there are rotary suction cups in which a plurality of small suction cups are attached to a crawler or the like so that the suction cups are not directly rubbed against the running surface. Although there is no suction force in the suction disk that is in contact with the uneven surface, the total suction force is maintained by using a plurality of suction disks. Such a mechanism is complicated because a plurality of suction plates are arranged in the rotating part. Further, when the suction surface is rough and the air ejector is used for generating a vacuum, the suction cannot be performed if the amount of leakage from the suction disk is small.

真空発生装置によるダスト拡散
真空発生装置を搭載できる壁面吸着型走行装置は、搭載したブロア等の排気をそのまま、室外や屋外に排出するが、吸着走行面にゴミや放射性物質が付着していると、作業環境を著しく悪化させていた。 Dust diffusion by a vacuum generator A wall-adsorbent traveling device that can be equipped with a vacuum generator exhausts the exhaust from the mounted blower directly to the outside or outdoors, but if dust or radioactive substances adhere to the adsorption traveling surface. The work environment was significantly worsened.

従来型のゴム製吸着盤や織成布製の吸着盤あるいは回転部材と共に回転するブラシ式の吸着盤を用いた自己吸着型走行装置においては、乾いた走行面を走行する際に、非常に摩擦係数が大きかった。このため走行系の車輪やクローラの駆動力を高めなければならなかった。   In a self-adsorption type traveling device that uses a conventional rubber suction plate, a woven fabric suction plate, or a brush-type suction plate that rotates with a rotating member, the friction coefficient is very high when traveling on a dry running surface. Was big. For this reason, the driving force of the wheels and crawlers of the traveling system had to be increased.

又粗くて凹凸のある走行面では、吸着盤からのリークが多量に発生するので、このリーク量を上回る強力な真空源を必要とした。   On the rough and uneven running surface, a large amount of leakage from the suction disk occurs, so a powerful vacuum source exceeding the amount of leakage was required.

本出願人は先に「真空吸着走行装置の吸着盤」と題して新規な吸着盤について特許出願した（特願２００３−１６３２５６号）。   The present applicant previously filed a patent application for a new suction disk entitled “Suction disk for vacuum suction traveling device” (Japanese Patent Application No. 2003-163256).

本発明はこの吸着盤を本体フレームに装着してより効果的に壁面を走行可能な自己吸着走行装置を提供することを課題とする。   It is an object of the present invention to provide a self-adsorption traveling device that can travel on a wall surface more effectively by attaching the suction disk to a main body frame.

そして本発明の自己吸着型走行装置は、走行装置本体に真空ブロアを搭載し真空力を自力で発生し、さらにブラシ型吸着盤を用いて平滑な面はもちろんのこと、コンクリート面・塗装面・鋼材の腐食した凹凸のある壁面のみならず、天井部でも自己吸着してスムーズに走行することができる自己吸着型走行装置を提供することを課題とする。   The self-adsorptive traveling device of the present invention is equipped with a vacuum blower in the traveling device body and generates a vacuum force by itself, and further uses a brush-type adsorber to provide a smooth surface, concrete surface, painted surface, It is an object of the present invention to provide a self-adsorbing type traveling device capable of smoothly adhering not only on a corrugated and uneven wall surface of a steel material but also on a ceiling portion.

（１）吸着部を除いた外周部を本体カバーで覆われた走行装置本体フレームと、
走行装置本体フレームの進行方向両側に設けたクローラ又は車輪と、
前記走行装置本体フレームに搭載した真空力発生用のブロアーと、
前記走行装置本体フレームの下側中央部に装着したブラシ型吸着盤と、
前記ブラシ型吸着盤の内側に設けた吸入空気濾過用のフィルタとで真空吸着型走行装置を構成した。
（２）前記本体フレームの外周部を覆うカバーは、その下端部に排気抑制ブラシを備え、該排気抑制ブラシによって真空発生用のブロアーからの排気が室外又は屋外に逃げるのを抑制するようにした。
（３）前記ブラシ型吸着盤は高密度・極細ブラシ毛でリング状に形成されている。
（４）前記本体フレーム上に非破壊検査器、遠隔操作カメラ、汚染検査器等を搭載し、遠隔制御による壁面検査を可能にした。
（５）前記本体フレーム上に回転ブラシ又はウエス拭取り具等を搭載し、遠隔制御による壁面清掃を可能にした。
（６）前記本体フレーム上に塗装用スプレーノズル等の壁面塗装具を搭載し、遠隔制御による壁面塗装を可能にした。
（７）前記ブラシ型吸着盤は、高密度・極細ブラシ毛を金属線のまわりに１８０°折り返し、折り返し部をリング状のＣ型チャンネルに挿入した後、Ｃ型チャンネルを側面から圧着固定したものである。
（８）前記高密度・極細ブラシ毛の材料はナイロンもしくはポリプロビレンである。
（９）前記高密度・極細ブラシ毛の線径は０.０８〜０.３mmである。
（１０）前記高密度・極細ブラシ毛を圧着固定したＣ型チャンネルはベースプレートに固定され、このベースプレートをさらに吸着盤リングに着脱可能に取付けた。
（１１）前記ベースプレートを取付けた吸着盤リングは本体フレームに対し壁面等に対し接離する方向に摺動可能、かつブラシ型吸着盤の中心線の周りに回転可能に取付けられており、さらに前記吸着盤リングは、真空吸着時に前記本体側に取付けた吸着盤押圧スプリングで押圧されるようにした。
（１２）前記吸着盤リングは前記本体フレームとの摺動部を円筒状シールゴム又はリングでシールされている。
（１３）前記ブラシ型吸着盤は壁面等の凹凸部の走行時に真空圧の維持をするため、前記ブラシ型吸着盤を同心円状に内・外２重に配設した。
（１４）前記内外２重に配設した吸着盤の内側吸着盤のブラシ毛の長さを、外側吸着盤のブラシ毛の長さより長くした。 (1) A traveling device main body frame in which an outer peripheral portion excluding an adsorption portion is covered with a main body cover;
Crawlers or wheels provided on both sides of the traveling direction of the traveling device main body frame;
A blower for generating a vacuum force mounted on the traveling device main body frame;
A brush-type suction disk mounted on the lower center part of the traveling device main body frame;
A vacuum adsorption traveling device was configured with a filter for suction air filtration provided inside the brush type adsorption disk.
(2) The cover that covers the outer periphery of the main body frame is provided with an exhaust suppression brush at its lower end, and the exhaust suppression brush prevents the exhaust from the vacuum generating blower from escaping outdoors or outdoors. .
(3) The brush type suction disk is formed in a ring shape with high density and extra fine brush bristles.
(4) A non-destructive inspection device, a remote control camera, a contamination inspection device, etc. are mounted on the main body frame to enable wall control by remote control.
(5) A rotating brush or waste wiper is mounted on the main body frame to enable wall cleaning by remote control.
(6) Wall paint such as a spray nozzle for painting is mounted on the main body frame to enable wall painting by remote control.
(7) The above-mentioned brush type suction disk is obtained by folding high-density, ultrafine brush bristles 180 ° around a metal wire, inserting the folded portion into a ring-shaped C-shaped channel, and then pressing and fixing the C-shaped channel from the side. It is.
(8) The material for the high-density and ultrafine brush hair is nylon or polypropylene.
(9) The wire diameter of the high-density / ultrafine brush hair is 0.08 to 0.3 mm.
(10) The C-type channel to which the high-density and extra-fine brush bristles were fixed by pressure was fixed to a base plate, and this base plate was further detachably attached to the suction disk ring.
(11) The suction cup ring to which the base plate is attached is slidable in a direction to come in contact with and away from the wall surface with respect to the main body frame, and is rotatably attached around the center line of the brush type suction cup. The suction disk ring was pressed by a suction disk pressing spring attached to the main body during vacuum suction.
(12) The suction plate ring has a sliding portion with the main body frame sealed with a cylindrical seal rubber or ring.
(13) The brush type suction disk is concentrically arranged in an inner / outer double manner in order to maintain a vacuum pressure when traveling on uneven portions such as wall surfaces.
(14) The length of the bristle of the inner suction plate of the suction plate arranged in the inner and outer doubles is longer than the length of the brush hair of the outer suction plate.

壁面等へ真空吸着型走行装置において吸着盤としてブラシ型吸着盤を用いることにより、下記の如き特徴を有している。
（１）ブラシ型吸着盤を本体フレームに対し固定することなく、弾性的に架装した。即ち吸着盤リング１２が吸着盤押圧スプリング５あるいは吸着シールゴム９等を介し本体フレーム１に対し気密性と摺動可能性、さらには回転可能性をもって取り付けられているので、自己吸着型走行装置は、壁面等に対しスムーズな運動が可能である。
（２）本体フレームの周辺下端部に排気抑制ブラシ２０を取付けたので、排気による吸着走行面に付着したゴミの発生やＲＩ施設等での放射性物質の拡散を抑止することができる。
（３）ブラシを吸着盤にしているので、吸着走行した箇所を清掃できる。このため、本体フレーム上に検査機器等を搭載して、壁面の検査を行う場合にはブラシでまず清掃し、吸引したのちに、きれいになった壁面の検査を行うことができる。
（４）本体フレーム上に壁面検査装置に限らず、壁面清掃装置、壁面塗装装置を搭載するならば、危険な壁面でも遠隔操作により、その壁面の安全な清掃作業あるいは塗装作業を行うことができる。
（５）ブラシは、すでに市販化されているチャンネルブラシを用いるならば、さらに製作が容易である。
（６）リング状に成型したブラシは、走行面の粗さ、凹凸の度合いに応じてブラシの線径、ブラシ毛長さ、ブラシ密度及び、ブラシリング数を多段化し、最適な状態で装置吸着盤に取付けることができる。
（７）粗い壁面では小さな凹凸があり、従来の吸着盤ではリーク量が多くなり吸着することができないが、高密度極細ブラシ毛を用いることにより、壁面等の凹凸にブラシ毛が追従し、吸着盤リーク量を低減するので、吸着盤内の真空圧を保持でき、小型の真空ブロアを本体上に搭載することが可能となった。
（８）ブラシ型吸着盤を用いたことにより、粗い壁面等と吸着盤との摩擦係数が小さいので、真空ブロアを本体フレーム上に搭載してもよく吸着し急な壁面等でも容易に上昇することができる。 The use of a brush type suction disk as a suction disk in a vacuum suction type traveling device for a wall surface or the like has the following characteristics.
(1) The brush type suction disk was elastically mounted without being fixed to the main body frame. That is, since the suction disk ring 12 is attached to the main body frame 1 with the suction disk pressing spring 5 or the suction seal rubber 9 or the like with airtightness, slidability, and further rotation capability, Smooth movement is possible with respect to the wall surface.
(2) Since the exhaust suppression brush 20 is attached to the lower end of the periphery of the main body frame, it is possible to suppress the generation of dust adhering to the adsorption traveling surface due to exhaust and the diffusion of radioactive substances in the RI facility.
(3) Since the brush is used as the suction disk, the place where the suction travels can be cleaned. For this reason, when inspecting a wall surface by mounting an inspection device or the like on the main body frame, it is possible to inspect the cleaned wall surface after first cleaning and sucking with a brush.
(4) If not only a wall surface inspection device but also a wall surface cleaning device and a wall surface coating device are mounted on the main body frame, even a dangerous wall surface can be safely cleaned or painted by remote control. .
(5) If a brush that is already on the market is used, the brush can be manufactured more easily.
(6) The brush molded in a ring shape has multiple stages of brush wire diameter, brush hair length, brush density, and number of brush rings according to the roughness of the running surface and the degree of unevenness, and the device is adsorbed in an optimal state. Can be installed on the panel.
(7) There are small irregularities on the rough wall surface, and the conventional suction disk increases the amount of leakage and cannot be adsorbed. However, by using high-density ultrafine brush hair, the brush hair follows the irregularities on the wall surface and adsorbs. Since the amount of panel leakage is reduced, the vacuum pressure in the suction panel can be maintained, and a small vacuum blower can be mounted on the main unit.
(8) Since the friction coefficient between the rough wall surface and the suction disk is small due to the use of the brush type suction disk, the vacuum blower may be mounted on the main body frame, and it is easily adsorbed even on a sudden wall surface. be able to.

図に基いて説明する。図１はブロア搭載型で、ブラシ型吸着盤を備えた自己吸着型走行装置の側面図である。   This will be described with reference to the drawings. FIG. 1 is a side view of a self-adsorbing type traveling device equipped with a blower and equipped with a brush type suction disk.

図１で自己吸着型走行装置Ａは、その本体フレーム１上に真空発生用の真空ブロア２を搭載している。自己吸着型装置Ａの壁面等Ｗと接する側（図１の右側）にはブラシ型の吸着盤３が取付けられている。本体フレーム１は自己吸着型走行装置Ａの吸着部側を除いた外周部は本体カバー４で覆われている。本体カバー４の周辺下端部には排気抑制ブラシ２０が取付けられ、これによって大気中への排気を極力抑え、ダストの発生・拡散を防ぐようにしている。   In FIG. 1, a self-adsorption type traveling device A has a vacuum blower 2 for generating a vacuum mounted on a main body frame 1. A brush-type suction disk 3 is attached to a side (right side in FIG. 1) of the self-adsorption type apparatus A that contacts the wall surface W or the like. The main body frame 1 is covered with a main body cover 4 on the outer peripheral portion of the self-adsorbing traveling device A except for the suction portion side. An exhaust suppression brush 20 is attached to the lower end of the periphery of the main body cover 4, thereby suppressing exhaust to the atmosphere as much as possible and preventing generation and diffusion of dust.

ブラシ型の吸着盤３は、壁面等Ｗの凹凸に追従できるよう、吸着盤押圧スプリング５によって吸着時壁面等の走行面に向って（図１の右側に向って）付勢されている。   The brush-type suction disk 3 is urged by a suction disk pressing spring 5 toward a traveling surface such as a wall surface during suction (toward the right side in FIG. 1) so as to follow the unevenness of the wall surface or the like W.

６はクローラで（図ではクローラが記載されているが、車輪でもよい）走行用モータ７で駆動される。８はフィルタで、ブラシ型吸着盤３から吸い込まれた外気は、このフィルタ８を介し吸引される。９は吸着盤シールゴムで、吸着盤３は壁面等Ｗに凹凸があっても吸着盤３内の真空度を保持する為、本体フレーム１に対し摺動又は回転するが、この時この吸着盤シールゴム９によって摺動部をシールし、洩れを防止している。   Reference numeral 6 denotes a crawler (crawler is shown in the figure, but it may be a wheel) and is driven by a traveling motor 7. Reference numeral 8 denotes a filter, and outside air sucked from the brush type suction disk 3 is sucked through the filter 8. Reference numeral 9 denotes a suction cup seal rubber, and the suction cup 3 slides or rotates with respect to the main body frame 1 in order to maintain the degree of vacuum in the suction cup 3 even if the wall surface or the like is uneven. The sliding portion is sealed by 9 to prevent leakage.

吸着盤シールゴム９は図２の如くＯリング９’あるいは、図４の如く円筒状をなすゴム板９''でもよい。   The suction disk seal rubber 9 may be an O-ring 9 'as shown in FIG. 2 or a cylindrical rubber plate 9' 'as shown in FIG.

ブラシ型の吸着盤３は、ベースプレート１１（図２）に溶接等で取付けられ、このベースプレート１１が吸着盤リング１２の取付部１２ａにねじ１３で着脱可能に取り付けられる。吸着盤リング１２の摺動部１２ｂは本体フレーム１に取付けたブラシ型吸着盤保持部１４に対し吸着盤シールゴム９でシールされて摺動する。図２では吸着盤シールゴムはＯリング９’である。   The brush-type suction disk 3 is attached to the base plate 11 (FIG. 2) by welding or the like, and this base plate 11 is detachably attached to the attachment part 12a of the suction disk ring 12 with screws 13. The sliding part 12 b of the suction disk ring 12 is slid by being sealed with a suction disk seal rubber 9 against the brush type suction disk holding part 14 attached to the main body frame 1. In FIG. 2, the suction disk seal rubber is an O-ring 9 '.

図２でブラシ型吸着盤保持部１４は、本体フレーム１にねじ１５で取付けられている。保持部１４の端にはリングストッパを兼ねるフィルタ押え板１７がねじ１６で取り付けられている。   In FIG. 2, the brush type suction disk holding unit 14 is attached to the main body frame 1 with screws 15. A filter pressing plate 17 that also serves as a ring stopper is attached to the end of the holding portion 14 with a screw 16.

真空ブロア２で吸引すると、エアはフィルタ８を介して吸引され（図３矢印ａ参照）、ブロア排気口１８から本体カバーで覆われた本体フレーム内に排出される（図３矢印ｂ参照）。１９はパッキンゴムである。ブロア排気口１８から出た排気は本体フレーム１の外周を囲む本体カバー４の周辺下端部に設けた排気抑制ブラシ２０で障られる。その一部は排出されるが（図３矢印ｃ参照）、大部分は図３の矢印ｄの如く再びブラシ型吸着盤３を介して吸引され、真空ブロアー２に吸引される。かくして、本体フレーム１外への排風によるダストの発生を防止することができる。   When sucked by the vacuum blower 2, air is sucked through the filter 8 (see arrow a in FIG. 3), and is discharged from the blower exhaust port 18 into the main body frame covered with the main body cover (see arrow b in FIG. 3). Reference numeral 19 denotes a packing rubber. The exhaust from the blower exhaust port 18 is obstructed by an exhaust suppression brush 20 provided at the lower peripheral edge of the main body cover 4 surrounding the outer periphery of the main body frame 1. A part of it is discharged (see arrow c in FIG. 3), but most is sucked again through the brush type suction disk 3 and sucked into the vacuum blower 2 as shown by the arrow d in FIG. Thus, the generation of dust due to the exhaust air to the outside of the main body frame 1 can be prevented.

吸着盤押圧スプリング５は本体フレーム１に取付けられたスプリングケース２１内に装着され、先端の吸着盤リング１２を押圧するロッド２２を介して吸着盤リング１２の吸着盤リング取付部１２ａの上面に押圧力を付与する。２３はインデックスプランジャーで、これにより押圧力の調節を行う。   The suction disk pressing spring 5 is mounted in a spring case 21 attached to the main body frame 1 and is pressed onto the upper surface of the suction disk ring mounting portion 12a of the suction disk ring 12 via a rod 22 that presses the suction disk ring 12 at the tip. Apply pressure. Reference numeral 23 denotes an index plunger which adjusts the pressing force.

２４は旋回式吊具で（図１）、この吊具２４を介し、ロープＲで吊り下げておくならば、自己吸着型走行装置が壁面等Ｗから落下するのを防止することができる。吊具２４は本体フレーム１に対し、その基部が軸１１のまわりに回転可能とし、自己吸着型走行装置が方向変換しても、これに容易に対応できるようになっている。   Reference numeral 24 denotes a swivel-type suspension (FIG. 1). If the suspension is suspended by a rope R via the suspension 24, the self-adsorptive traveling device can be prevented from falling from a wall surface or the like W. The base of the hanger 24 can be rotated around the shaft 11 with respect to the main body frame 1, so that even if the direction of the self-adsorptive traveling device is changed, it can easily cope with this.

このように吸着盤は本体側に固定されていないので本体フレーム１が超信地旋回（その場旋回）するときでもスムーズに旋回することができる。   As described above, since the suction disk is not fixed to the main body side, the main body frame 1 can smoothly turn even when the main body frame 1 makes a super turn (turn on the spot).

図５にブラシ型の吸着盤３の部分拡大図を示す。２５は高密度・極細ブラシ毛で、その線径は０.０８〜０.３mmと極めて細く、材料はナイロンもしくはポリプロピレンである。   FIG. 5 shows a partially enlarged view of the brush-type suction disk 3. No. 25 is a high-density, extra-fine brush hair, the wire diameter of which is 0.08 to 0.3 mm, and is made of nylon or polypropylene.

高密度・極細ブラシ毛２５は鋼線２６を中心にＵ字形に１８０°折り曲げられ、その折り曲げ部をＣ型チャンネル２７内に納め、このＣ型チャンネル２７を両側から図５の矢印方向にカシメて一体化している。   The high-density, extra-fine brush bristles 25 are bent 180 ° into a U-shape around the steel wire 26, and the bent portion is placed in a C-shaped channel 27. It is integrated.

ブラシ型の吸着盤３は、ベースプレート１１に対し図６の如く１重、または図７の如く２重に設けて真空度の保持を完璧にしている。図７の場合には、外側の吸着盤のブラシ毛の長さが内側の吸着盤のブラシ毛より短くなっている。   The brush-type suction disk 3 is provided as a single base as shown in FIG. 6 or double as shown in FIG. In the case of FIG. 7, the length of the bristles of the outer suction plate is shorter than the brush hairs of the inner suction plate.

図８はブラシ型の吸着盤の走行時における状態を示し、図８・ａは吸着前、図８・ｂは平滑壁面等への吸着時、図８・ｃは凸状壁面走行時、図８・ｄは凹状壁面走行時の状態を示す。図８・ｃに示すように凸状面では短尺のブラシ型吸着盤が、又図８・ｄの如く凹状面では長尺のブラシ型吸着盤が接し、真空洩れを防いでいる。   FIG. 8 shows the state of the brush-type suction disk during travel, FIG. 8a shows before suction, FIG. 8b shows suction on a smooth wall surface, FIG. -D shows the state at the time of concave wall surface driving | running | working. As shown in FIG. 8C, a short brush type suction disk is in contact with the convex surface, and a long brush type suction disk is in contact with the concave surface as shown in FIG. 8D to prevent vacuum leakage.

以上のような構成であって、真空ブロア２を起動させ、ブラシ型吸着盤３内を負圧にすると、ブラシ型吸着盤３は走行面に吸着する。真空圧がさらに上昇すると吸着盤押付用スプリング５が縮み、ブラシ毛がたわむことにより、ブラシ型吸着盤３は真空ブロア２の方向に引き込まれ吸着盤押圧スプリング５のバネ力でクローラ又は車輪６に押付力が与えられ、壁面や天井に吸着走行することができる。   When the vacuum blower 2 is activated and the inside of the brush type suction disk 3 is set to a negative pressure, the brush type suction disk 3 is attracted to the running surface. When the vacuum pressure further rises, the suction plate pressing spring 5 contracts and the brush bristles bend, so that the brush type suction plate 3 is drawn in the direction of the vacuum blower 2 and is applied to the crawler or wheel 6 by the spring force of the suction plate pressing spring 5. A pressing force is applied, and the vehicle can be adsorbed to the wall surface or ceiling.

又ブラシは、ナイロンもしくは、ポリプロピレン製のものを用い、線径は、走行面の凹凸に応じてφ０.０８〜φ０.３の中から選定し、凹凸の大きさに応じてブラシ毛の長さを変更する。
ブラシ線径は、細くすればブラシの毛密度が密になるのでリーク量が減少し、真空圧が高くなるが、ブラシの腰が弱くなり、毛足を短くしなくてはならない。 The brush is made of nylon or polypropylene, and the wire diameter is selected from φ0.08 to φ0.3 according to the unevenness of the running surface, and the length of the brush bristles according to the size of the unevenness To change.
If the brush wire diameter is reduced, the hair density of the brush is increased, so that the amount of leakage is reduced and the vacuum pressure is increased, but the waist of the brush is weakened and the hair must be shortened.

さらに図５の１重のブラシ型吸着盤は、比較的滑らかな走行面に用い、線径φ０.０８、ブラシ長さ２０〜２５mmが最適であった。
図７の２重ブラシ型吸着盤は、凹凸がある走行面に用いるもので、ブラシが凹凸面間の隙間を埋め真空圧を維持できる。この場合、外側のブラシで線径φ０.０８、ブラシ長さ２０〜２５mm内側のブラシが線径φ０.０８、ブラシ長さ３０〜４０mmが最適であった。この２重ブラシを用いた場合、凹部で幅２０mm深さ１０mmの窪みまで対応でき、凸部は段差高さ１０mm吸着盤内真空圧を維持し吸着走行することが可能であった。また、ブラシ数は、走行面の状態に合わせ、さらに２段さらにはそれ以上の多段にすることができる。 Further, the single brush type suction disk of FIG. 5 was used for a relatively smooth running surface, and the wire diameter φ 0.08 and the brush length 20 to 25 mm were optimal.
The double brush type suction disk of FIG. 7 is used for a traveling surface having irregularities, and the brush can fill a gap between the irregular surfaces and maintain a vacuum pressure. In this case, the optimal diameter of the outer brush was a wire diameter of 0.08 and the inner brush length of 20 to 25 mm was a wire diameter of 0.08 and a brush length of 30 to 40 mm. When this double brush was used, it was possible to cope with a recess having a width of 20 mm and a depth of 10 mm at the concave portion, and the convex portion was able to perform suction running while maintaining the vacuum pressure in the suction cup with a step height of 10 mm. Further, the number of brushes can be further increased to two or more stages according to the state of the running surface.

ブロア搭載型ブラシ型の吸着盤を備えた自己吸着型走行装置の側面図である。It is a side view of the self-adsorption type traveling device provided with the blower mounting type brush type adsorption board. ブラシ型吸着盤取付部の拡大図を示す。The enlarged view of a brush type suction disk attachment part is shown. 排気抑制ブラシと排気の流れ説明図。Exhaust suppression brush and exhaust flow explanatory diagram. ブラシ型吸着盤取付部におけるシール構造を示す。The seal structure in a brush type suction disk attachment part is shown. ブラシ型の吸着盤詳細図である。It is a detailed drawing of a brush type suction disk. １重構造のブラシ型の吸着盤。Single-structure brush type suction cup. ２重構造のブラシ型の吸着盤。Double-structured brush-type suction cup. ２重型のブラシ型の吸着盤の壁面等との接触状態説明図。Explanatory drawing of a contact state with the wall surface etc. of a double type | mold brush type adsorption | suction board.

符号の説明Explanation of symbols

Ａ 自己吸着型走行装置
Ｗ 壁面等 Ｒ ロープ
１ （自己吸着型走行装置の）本体フレーム
２ （真空発生用の）真空ブロア ３ ブラシ型吸着盤
４ 本体カバー ５ 吸着盤押圧スプリング
６ クローラ（又は車輪） ７ 走行用モータ
８ フィルタ ９ 吸着盤シールゴム
10 Ｏリング 10′ゴム板
11 ベースプレート 12 吸着盤リング
12a （吸着盤リングの）取付部 12b （吸着盤リングの）摺動部
13 ねじ 14 ブラシ型吸着盤保持部
15 ねじ 16 ねじ
17 フィルタ押え板 18 ブロア排気口
19 パッキンゴム 20 排気抑制ブラシ
21 スプリングケース 21 ロッド
22 インデックスプランジャー 24 旋回式吊具
25 高密度・極細ブラシ毛 26 鋼線
27 Ｃ型チャンネル
A Self-adsorption type traveling device W Wall surface etc. R Rope 1 Main body frame (for self-adsorption type traveling device) 2 Vacuum blower (for generating vacuum) 3 Brush-type adsorption plate 4 Body cover 5 Adsorption plate pressing spring 6 Crawler (or wheel) 7 Traveling motor 8 Filter 9 Suction cup seal rubber
10 O-ring 10 'rubber plate
11 Base plate 12 Suction cup ring
12a Mounting part (for suction cup ring) 12b Sliding part (for suction cup ring)
13 Screw 14 Brush type suction cup holder
15 screw 16 screw
17 Filter retainer plate 18 Blower exhaust port
19 Packing rubber 20 Exhaust suppression brush
21 Spring case 21 Rod
22 Index plunger 24 Swivel suspension
25 High density, extra fine brush hair 26 Steel wire
27 C channel

Claims (14)

吸着部側を除いた外周部を本体カバーで覆われた本体フレームと、
本体フレームの進行方向両側に設けたクローラ又は車輪と、
前記本体フレームに搭載した真空力発生用のブロアーと、
前記本体フレームの下側中央部に装着したブラシ型吸着盤と、
前記ブラシ型吸着盤の内側に設けた吸引空気濾過用のフィルタとからなる
自己吸着型走行装置。 A body frame in which the outer periphery excluding the suction part side is covered with a body cover;
Crawlers or wheels provided on both sides of the main body frame in the traveling direction;
A blower for generating a vacuum force mounted on the main body frame;
A brush-type suction disk mounted on the lower central portion of the main body frame;
A self-adsorption traveling device comprising a suction air filtering filter provided inside the brush-type suction disk. 前記本体フレームの外周部を覆うカバーは、その周辺下端部に排気抑制ブラシを備え、該排気抑制ブラシによって真空発生用のブロアーの排気が外気中に逃げるのを抑制するようにした請求項１記載の自己吸着型走行装置。 The cover that covers the outer peripheral portion of the main body frame is provided with an exhaust suppression brush at the lower end of the periphery, and the exhaust suppression brush suppresses the exhaust of the vacuum generating blower from escaping into the outside air. Self-adsorption type traveling device. 前記ブラシ型吸着盤は高密度・極細ブラシ毛でリング状に形成されていることを特徴とする請求項１記載の自己吸着型走行装置。 2. The self-adsorbing traveling device according to claim 1, wherein the brush-type suction disk is formed in a ring shape with high-density and ultra-fine brush bristles. 前記本体フレーム上に非破壊検査器、遠隔操作カメラ、汚染検査器等を搭載し、遠隔制御による壁面検査を可能にした請求項１記載の自己吸着型走行装置。 The self-adsorbing traveling device according to claim 1, wherein a non-destructive inspection device, a remote operation camera, a contamination inspection device, and the like are mounted on the main body frame to enable wall control by remote control. 前記本体フレーム上に回転ブラシ又はウエス拭取り具等を搭載し、遠隔制御による壁面清掃を可能にした請求項１記載の自己吸着型走行装置。 The self-adsorbing traveling device according to claim 1, wherein a rotating brush or a cloth wiper is mounted on the main body frame to enable wall cleaning by remote control. 前記本体フレーム上に塗装用スプレーノズル等壁面塗装具を搭載し、遠隔制御による壁面塗装を可能にした請求項１記載の自己吸着型走行装置。 2. The self-adsorbing traveling device according to claim 1, wherein a wall surface painting tool such as a spray nozzle for painting is mounted on the main body frame to enable wall painting by remote control. 前記ブラシ型吸着盤は、高密度・極細ブラシ毛を金属線のまわりに１８０°折り返し、折り返し部をリング状のＣ型チャンネルに挿入した後、Ｃ型チャンネルを側面から圧着固定したものである請求項３記載の自己吸着型走行装置。 The brush-type suction disk is obtained by folding high-density and ultrafine brush bristles 180 ° around a metal wire, inserting the folded portion into a ring-shaped C-shaped channel, and then crimping and fixing the C-shaped channel from the side. Item 4. The self-adsorption type traveling device according to item 3. 前記高密度・極細ブラシ毛の材料はナイロンもしくはポリプロビレンである請求項３記載の自己吸着型走行装置。 4. The self-adsorbing traveling device according to claim 3, wherein the material of the high-density / extra-fine brush hair is nylon or polypropylene. 前記高密度・極細ブラシ毛の線径は０.０８〜０.３mmである請求項３記載の自己吸着型走行装置。 4. The self-adsorbing traveling device according to claim 3, wherein the high-density and extra-fine brush bristles have a wire diameter of 0.08 to 0.3 mm. 前記高密度・極細ブラシ毛を圧着固定したＣ型チャンネルはベースプレートに固定され、このベースプレートをさらに吸着盤リングに着脱可能に取付けた請求項７記載の自己吸着型走行装置。 8. The self-adsorptive travel device according to claim 7, wherein the C-shaped channel to which the high-density and extra-fine brush bristles are fixed by pressure is fixed to a base plate, and the base plate is further detachably attached to the suction disk ring. 前記ベースプレートを取付けた吸着盤リングは本体フレームに対し壁面等に対し接離する方向に摺動可能、かつブラシ型吸着盤の中心線の周りに回転可能に取付けられており、さらに前記吸着盤リングは、真空吸着時に前記本体側に取付けた吸着盤押圧スプリングで押圧されるようにした請求項１０記載の自己吸着型走行装置。 The suction cup ring to which the base plate is attached is slidable in the direction of contact with and away from the wall surface with respect to the main body frame, and is rotatably attached around the center line of the brush type suction cup. 11. The self-adsorbing traveling device according to claim 10, wherein the self-adsorbing traveling device is pressed by a suction disk pressing spring attached to the main body during vacuum suction. 前記吸着盤リングは前記本体フレームとの摺動部を円筒状シールゴム又はリングでシールされている請求項１１記載の自己吸着型走行装置。 The self-adsorptive travel device according to claim 11, wherein the suction disk ring has a sliding portion with the main body frame sealed with a cylindrical seal rubber or ring. 前記ブラシ型吸着盤は壁面等の凹凸部の走行時に真空圧の維持をするため、前記ブラシ型吸着盤を同心円状に内・外２重に配設した請求項１２記載の自己吸着型走行装置。 The self-adsorptive travel device according to claim 12, wherein the brush-type suction plate is concentrically arranged in an inner / outer double so as to maintain a vacuum pressure when traveling on an uneven portion such as a wall surface. . 前記内外２重に配設した吸着盤の内側吸着盤のブラシ毛の長さを、外側吸着盤のブラシ毛の長さより長くした請求項１３記載の自己吸着型走行装置。
The self-adsorptive travel device according to claim 13, wherein the length of the brush bristles of the inner suction plate of the suction plates arranged in the inner and outer layers is longer than the length of the brush hair of the outer suction plate.
JP2003283426A 2003-07-31 2003-07-31 Self-suction type traveling device Pending JP2005047451A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015145833A (en) * 2014-02-03 2015-08-13 一般財団法人電力中央研究所 Air permeability testing device of concrete
CN105460097A (en) * 2014-09-12 2016-04-06 浙江大学 Climbing machine vehicle
CN109878591A (en) * 2019-04-16 2019-06-14 北京史河科技有限公司 Climbing robot

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