JP2563094B2 - Device capable of adsorbing on a wall surface and moving along the wall surface - Google Patents

Device capable of adsorbing on a wall surface and moving along the wall surface

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Publication number
JP2563094B2
JP2563094B2 JP7224604A JP22460495A JP2563094B2 JP 2563094 B2 JP2563094 B2 JP 2563094B2 JP 7224604 A JP7224604 A JP 7224604A JP 22460495 A JP22460495 A JP 22460495A JP 2563094 B2 JP2563094 B2 JP 2563094B2
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JP
Japan
Prior art keywords
wall surface
pressure
partition
pressure receiving
receiving body
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.)
Expired - Lifetime
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JP7224604A
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Japanese (ja)
Other versions
JPH0853081A (en
Inventor
不可止 浦上
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Individual
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Individual
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Priority to JP7224604A priority Critical patent/JP2563094B2/en
Publication of JPH0853081A publication Critical patent/JPH0853081A/en
Application granted granted Critical
Publication of JP2563094B2 publication Critical patent/JP2563094B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Description

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

【０００１】[0001]

【発明の属する技術分野】本発明は、壁面に吸着し且つ
壁面に沿って移動することができる装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device capable of adsorbing on a wall surface and moving along the wall surface.

【０００２】[0002]

【従来の技術】壁面に吸着し且つ該壁面に沿って移動す
ることができる装置としては、受圧体、受圧体に設けら
れた走行手段と、受圧体及び壁面と協働して減圧領域を
規定する仕切壁と、減圧領域を真空に生成せしめるため
の減圧源とを備えた装置が提案されている（米国特許第
４，０９５，３７８号明細書及び図面）。かくの通りの
装置においては、減圧源によって上記減圧領域内に真空
が生成され、減圧領域内外の流体圧力差に起因して仕切
壁に作用する流体圧力によって上記仕切壁の一部が壁面
に接触せしめられ、一方減圧領域内外の流体圧力差に起
因して受圧体に作用する流体圧力が走行手段を介して壁
面に伝達され、これによって装置が壁面に吸着せしめら
れる。また、走行手段を駆動することによって、上述し
た如くして壁面に吸着している装置は、吸着した状態で
壁面に沿って移動せしめられる。2. Description of the Related Art As a device capable of adsorbing on a wall surface and moving along the wall surface, a pressure receiving body, a traveling means provided on the pressure receiving body, and a pressure reducing area are defined in cooperation with the pressure receiving body and the wall surface. An apparatus having a partition wall and a vacuum source for creating a vacuum in the vacuum region has been proposed (US Pat. No. 4,095,378 and drawings). In the apparatus as described above, a vacuum is generated in the decompression region by the decompression source, and a part of the partition wall comes into contact with the wall surface due to the fluid pressure acting on the partition wall due to the fluid pressure difference inside and outside the decompression region. On the other hand, the fluid pressure acting on the pressure receiving body due to the fluid pressure difference between the inside and the outside of the depressurization region is transmitted to the wall surface via the traveling means, whereby the device is attracted to the wall surface. Further, by driving the traveling means, the device adsorbed on the wall surface as described above is moved along the wall surface in the adsorbed state.

【０００３】[0003]

【発明が解決しようとする課題】しかしながら、上記公
知の装置は、走行機能を有する走行手段とシール機能を
有する仕切壁とが別個の専用のものから構成されてお
り、それ故に、構成が複雑でしかも装置全体が大型化
し、更に製作コストが高くなる問題があった。However, in the above-mentioned known device, the traveling means having the traveling function and the partition wall having the sealing function are constituted by separate dedicated members, and therefore the constitution is complicated. Moreover, there is a problem that the entire apparatus becomes large and the manufacturing cost becomes high.

【０００４】本発明は上記事実に鑑みてなされたもので
あり、その目的は、比較的簡単な構成でもって壁面に吸
着し、該壁面に沿って移動することができる、優れた装
置を提供することである。The present invention has been made in view of the above facts, and an object thereof is to provide an excellent device capable of adsorbing to a wall surface and moving along the wall surface with a relatively simple structure. That is.

【０００５】[0005]

【課題を解決するための手段】本発明の一局面によれ
ば、包囲圧力流体によって壁面に吸着し且つ該壁面に沿
って移動することができる装置にして、剛性乃至半剛性
材料から形成された受圧体と、該受圧体の該壁面に対向
する側に配設され且つ該壁面に実質上垂直な軸線に対し
て傾斜した回転軸線を中心として該受圧体に対して回転
自在に装着された、該壁面に面した自由端部に向かって
拡がりながら延びる中空円錐形状の仕切体であって、該
受圧体及び該壁面と協働して減圧領域を規定するところ
の仕切体と、該受圧体に装着され、該受圧体に対して該
仕切体を回転せしめるための駆動源と、該減圧領域から
流体を排出して該仕切体の該自由端部を該壁面に接触せ
し めることにより該減圧領域を真空に生成せしめ、該
減圧領域内外の流体圧力差に起因して装置を該壁面に吸
着せしめるための減圧源とを具備する、ことを特徴とす
る装置、が提供される。According to one aspect of the present invention, a device capable of adsorbing to and moving along a wall by an ambient pressure fluid is formed from a rigid or semi-rigid material. A pressure receiving body, and rotatably attached to the pressure receiving body about a rotation axis that is disposed on a side of the pressure receiving body facing the wall surface and is inclined with respect to an axis substantially vertical to the wall surface; A hollow conical partitioning body extending while expanding toward a free end facing the wall surface, the partitioning body defining a decompression region in cooperation with the pressure receiving body and the wall surface, and the pressure receiving body. A drive source mounted for rotating the partition body with respect to the pressure receiving body; and a fluid source for discharging the fluid from the decompression region to bring the free end of the partition body into contact with the wall surface. A vacuum is generated in the decompression region, and the fluid pressure inside and outside the decompression region is An apparatus for reducing pressure for adsorbing the device to the wall surface due to a force difference is provided.

【０００６】この発明において、受圧体の壁面に対向す
る側に配設された仕切体は、壁面に実質上垂直な軸線に
対して傾斜した回転軸線を中心として受圧体に対して回
転自在であり、その自由端部が壁面に接触せしめられ、
受圧体及び壁面と協働して減圧領域を規定するよう構成
されている。回転軸線が垂直な軸線に対して傾斜した側
の、仕切体の自由端部の壁面に接触する部位は、他の接
触部位より接触圧力が増大するので、その接線方向に移
動させられる傾向が生ずる。この接触圧力（接地圧力）
が増大する接触部位は、壁面に垂直な軸線の上方から見
て、この垂直な軸線を通り回転中心軸線が傾斜した方向
に延びる線上に位置し、上方から見てこの線にクロスす
る接線方向に駆動力が生成される。すなわち、仕切体
は、受圧体及び壁面と協働して減圧領域を規定するシー
ル機能の他に、壁面に対して相対的に移動する走行機能
を有している。従って装置を移動させるための走行手段
の一部を仕切体によって兼用することができるので、装
置全体の構成が著しく簡略化、小型化され、製造コスト
も大幅に低減される。In the present invention, the partition body disposed on the side facing the wall surface of the pressure receiving body is rotatable with respect to the pressure receiving body about a rotation axis inclined with respect to an axis substantially perpendicular to the wall surface. , Its free end is brought into contact with the wall surface,
It is configured to cooperate with the pressure receiving body and the wall surface to define the depressurized area. On the side where the axis of rotation is inclined with respect to the vertical axis, the part that comes into contact with the wall surface of the free end of the partition body has a greater contact pressure than other contact parts, and therefore tends to be moved in the tangential direction. . This contact pressure (ground pressure)
The contact area where the angle increases increases is located on a line extending in the direction in which the center axis of rotation passes through this vertical axis and is inclined when viewed from above the axis perpendicular to the wall surface, and in the tangential direction that intersects this line when viewed from above. Driving force is generated. That is, the partition body has a traveling function of moving relative to the wall surface, in addition to the sealing function of defining the decompression region in cooperation with the pressure receiving body and the wall surface. Therefore, a part of the traveling means for moving the device can also be used by the partition body, so that the configuration of the entire device is significantly simplified and downsized, and the manufacturing cost is also significantly reduced.

【０００７】本発明の他の局面によれば、包囲圧力流体
によって壁面に吸着し且つ該壁面に沿って移動すること
ができる装置にして、相互に連結されている２以上の複
数個のユニット体を備え、該ユニット体の各々は、剛性
乃至半剛性材料から形成された受圧体と、該受圧体の該
壁面に対向する側に配設され且つ該壁面に実質上垂直な
軸線に対して傾斜した回転軸線を中心として該受圧体に
対して回転自在に装着された、該壁面に面した自由端部
に向かって拡がりながら延びる中空円錐形状の仕切体で
あって、該受圧体及び該壁面と協働して減圧領域を規定
するところの仕切体と、該受圧体に装着され、該受圧体
に対して該仕切体を回転せしめるための駆動源とを具備
し、該減圧領域の各々は、該減圧領域の各々から流体を
排出して該仕切体の各々の該自由端部を該壁面に接触せ
しめることにより該減圧領域の各々を真空に生成せし
め、該減圧領域の各々の内外の流体圧力差に起因して装
置を該壁面に吸着せしめるための減圧源に連結されてい
る、ことを特徴とする装置、が提供される。この発明に
よれば、前記発明と同様な作用効果が得られ、更に、車
輪の如き補助走行手段を付設することなく自走すること
ができる。したがって一層コンパクトな装置が得られる
ものである。According to another aspect of the present invention, a device capable of adsorbing to a wall surface by an enclosed pressure fluid and moving along the wall surface is provided with two or more unit bodies connected to each other. Each of the unit bodies is provided with a pressure receiving body formed of a rigid or semi-rigid material, and inclined with respect to an axis line that is disposed on the side of the pressure receiving body facing the wall surface and is substantially perpendicular to the wall surface. A hollow cone-shaped partition body rotatably mounted on the pressure receiving body around the rotation axis and extending toward a free end facing the wall surface. A partition body that cooperates to define a decompression area, and a drive source that is mounted on the pressure receiving body and rotates the partition body with respect to the pressure receiving body. A fluid is discharged from each of the depressurized areas to produce the partition Depressurization for creating a vacuum in each of the decompression regions by contacting each of the free ends with the wall and causing the device to adsorb to the wall due to the fluid pressure difference between the interior and exterior of each of the decompression regions. A device, characterized in that it is connected to a source. According to this invention, the same operational effects as those of the above invention can be obtained, and further, the vehicle can be self-propelled without attaching auxiliary traveling means such as wheels. Therefore, a more compact device can be obtained.

【０００８】本発明の更に他の局面によれば、包囲圧力
流体によって壁面に吸着し且つ該壁面に沿って移動する
ことができる装置にして、装置本体と、剛性乃至半剛性
材料から形成され、該壁面に実質上垂直な軸線に対して
傾斜した回転軸線を中心として回転自在に該装置本体に
装着された受圧体と、該受圧体の該壁面に対向する側に
配設され且つ該受圧体に連結されて一体に回転する、該
壁面に面した自由端部に向かって拡がりながら延びる中
空円錐形状の仕切体であって、該受圧体及び該壁面と協
働して減圧領域を規定するところの仕切体と、該装置本
体に装着され、該装置本体に対して該受圧体を回転せし
めるための駆動源と、該減圧領域から流体を排出して該
仕切体の該自由端部を該壁面に接触せしめることにより
該減圧領域を真空に生成せしめ、該減圧領域内外の流体
圧力差に起因して装置を該壁面に吸着せしめるための減
圧源とを具備する、ことを特徴とする装置、が提供され
る。この発明によれば、前記第１の局面による発明と同
様な作用効果が達成される。According to still another aspect of the present invention, a device capable of adsorbing to a wall surface by an enclosing pressure fluid and moving along the wall surface is formed of a device body and a rigid or semi-rigid material, A pressure receiving body that is rotatably mounted on the main body of the apparatus about an axis of rotation that is inclined with respect to an axis that is substantially perpendicular to the wall surface, and the pressure receiving body that is disposed on the side of the pressure receiving body that faces the wall surface. A hollow cone-shaped partition body that is connected to the body and rotates integrally and extends while expanding toward a free end facing the wall surface, and defines a decompression region in cooperation with the pressure receiving body and the wall surface. Of the partition body, a drive source mounted on the apparatus body for rotating the pressure receiving body with respect to the apparatus body, and a fluid discharged from the decompression region to cause the free end portion of the partition body to form the wall surface. The vacuum area by contacting It generating allowed, comprising a vacuum source for allowing suction to the wall surface device due to the fluid pressure difference between the vacuum area inside and outside, and wherein the, is provided. According to this invention, the same operational effect as the invention according to the first aspect is achieved.

【０００９】[0009]

【発明の実施の形態】先ず、図１乃至第図５を参照し
て、本発明に従って構成された装置の第１の実施の形態
について説明する。主として図１乃至図３を参照して、
図示の第１の実施の形態の装置は、剛性乃至半剛性材料
から形成することができる受圧体１０２を具備してい
る。かかる装置においては、受圧体１０２は略直方体の
箱状であり、例えば船舶の外側壁面の如き壁面１０４に
対向する下壁には略円形の開口１０６が形成されてい
る。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS First, a first embodiment of an apparatus constructed according to the present invention will be described with reference to FIGS. Mainly referring to FIGS. 1 to 3,
The illustrated first embodiment device includes a pressure receiver 102 that may be formed from a rigid or semi-rigid material. In such a device, the pressure receiving body 102 has a substantially rectangular parallelepiped box shape, and a substantially circular opening 106 is formed in a lower wall facing a wall surface 104 such as an outer wall surface of a ship.

【００１０】受圧体１０２の開口１０６には、例えば鋼
板から形成することができる円板状の回転体１０８が配
設されている。受圧体１０２の上壁には、正逆転可能な
電動モータの如き駆動源１１０が装備されており、この
駆動源１１０の出力軸１１０ａが壁面１０４の方向に延
びている。そして、出力軸１１０ａの端部には連結部材
１１２が装着され、この連結部材１１２に上記回転体１
０８が固定されている。具体例では、連結部材１１２
は、出力軸１１０ａに装着された取付部１１４ａと取付
部１１４ａから放射状に外方に延びる複数の腕部１１４
ｂを有し、上記複数の腕部１１４ｂの各先端部に回転体
１０８が溶接等の手段により固定されている。In the opening 106 of the pressure receiving body 102, there is provided a disc-shaped rotating body 108 which can be formed of, for example, a steel plate. A drive source 110 such as an electric motor capable of rotating in the forward and reverse directions is mounted on the upper wall of the pressure receiving body 102, and an output shaft 110a of the drive source 110 extends in the direction of the wall surface 104. A connecting member 112 is attached to the end of the output shaft 110a, and the rotating member 1 is attached to the connecting member 112.
08 is fixed. In the specific example, the connecting member 112
Is a mounting portion 114a mounted on the output shaft 110a and a plurality of arm portions 114 radially extending outward from the mounting portion 114a.
b, and the rotating body 108 is fixed to each tip of the plurality of arms 114b by means such as welding.

【００１１】回転体１０８の周縁部には、仕切体１１６
が配設されている。仕切体１１６は、図３に示す如く、
壁面１０４に面した自由端部（後述する）に向かって拡
がりながら延びる中空円錐形状をなし、受圧体１０２及
び壁面１０４と協働して減圧領域１１８を規定する。こ
の仕切体１１６は、受圧体１０２及び壁面１０４と協働
して減圧領域１１８を規定するシール部１２０と、受圧
体１０２を支持する支持部１２２を有するのが好まし
く、シール部１２０が回転体１０８の周縁部に配設さ
れ、支持部１２２が回転体１０８のシール部１２０の配
設部位の内側部位に配設されている。そして、シール部
１２０は、比較的小さい力によって少なくとも壁面１０
４に接触する部位が受圧体１０２に対して壁面１０４の
方向及びこれから離れる方向に変位し得るようにするこ
とが好ましい。A partition member 116 is provided around the rotary member 108.
Is provided. The partition body 116, as shown in FIG.
It has a hollow conical shape that extends while expanding toward a free end portion (described later) facing the wall surface 104, and cooperates with the pressure receiving body 102 and the wall surface 104 to define the decompression region 118. The partition body 116 preferably has a seal portion 120 that cooperates with the pressure receiving body 102 and the wall surface 104 to define a decompression region 118, and a support portion 122 that supports the pressure receiving body 102, and the seal portion 120 is the rotating body 108. The support portion 122 is disposed at the peripheral portion of the rotary body 108 and is disposed inside the seal portion 120 of the rotating body 108. Then, the seal portion 120 is applied to at least the wall surface 10 with a relatively small force.
It is preferable that the portion in contact with 4 can be displaced with respect to the pressure receiving body 102 in the direction of the wall surface 104 and in the direction away therefrom.

【００１２】支持部１２２は環状部材１２４から構成さ
れ、回転体１０８の下面、即ち壁面１０４に対向する面
に固定されている。また、シール部１２０は、一端部か
ら外方に且つ壁面１０４に向う方向に延び自由端部１２
６が壁面１０４に接触せしめられる主部１２８及び主部
１２８の自由端部１２６から外方に且つ壁面１０４から
離れる方向に延びる延長部１３０を含み、上記主部１２
８の一端部が環状部材１２４の上部外周面に接続されて
いる。この主部１２８の一端部は、環状部材１２４に代
えて、回転体１０８の周縁部に直接連結するようにして
もよい。仕切体１１６は例えばポリウレタンゴムから形
成することができ、この実施の形態において一体に形成
されている。以上の説明から明らかなように、シール部
１２０は少なくとも壁面１０４に接触する自由端部１２
６が受圧体１０２に対して壁面１０４の方向及びこれか
ら離れる方向に変位し得るような弾性を有している。The support portion 122 is composed of an annular member 124, and is fixed to the lower surface of the rotating body 108, that is, the surface facing the wall surface 104. In addition, the seal portion 120 extends outward from one end portion in a direction toward the wall surface 104, and the free end portion 12 is formed.
6 includes a main portion 128 that is brought into contact with the wall surface 104 and an extension portion 130 that extends outward from the free end 126 of the main portion 128 and away from the wall surface 104.
One end of 8 is connected to the upper outer peripheral surface of the annular member 124. One end portion of the main portion 128 may be directly connected to the peripheral portion of the rotating body 108 instead of the annular member 124. The partition 116 can be formed of polyurethane rubber, for example, and is integrally formed in this embodiment. As is clear from the above description, the seal portion 120 has at least the free end portion 12 that contacts the wall surface 104.
6 has elasticity such that it can be displaced with respect to the pressure receiving body 102 in the direction of the wall surface 104 and in the direction away from it.

【００１３】尚、この実施の形態においては、仕切体１
１６のシール部１２０の厚さは比較的薄くまた環状部材
１２４の厚さは比較的厚い故に、シール部１２０におけ
る主部１２８の自由端部１２６は比較的小さい力によっ
て受圧体１０２に対して壁面１０４の方向及びこれから
離れる方向に変位し、また環状部材１２４は後述する如
く受圧体１０２を所要の通り支持するが、これに代え
て、シール部１２０を比較的柔軟な材料から形成すると
共に、これとは別個に支持部１２２を比較的剛性を有す
る材料から形成することによっても同様の効果が達成さ
れる。In this embodiment, the partition 1
Since the seal portion 120 of 16 has a relatively small thickness and the annular member 124 has a relatively large thickness, the free end portion 126 of the main portion 128 of the seal portion 120 has a wall surface against the pressure receiving body 102 by a relatively small force. Displacement in the direction of 104 and away from it, and the annular member 124 supports the pressure receiving body 102 as required, as will be described later, but instead of this, the seal portion 120 is formed of a relatively flexible material and The same effect can be achieved by forming the support portion 122 separately from the support portion 122 from a material having a relatively high rigidity.

【００１４】図３及び図４を参照して、シール部１２０
の主部１２８の自由端部１２６には、減圧領域１１８内
外を連通する第１の溝１３２が形成されている。第１の
溝１３２は上記主部１２８の自由端部１２６内面に周方
向に間隔を置いて複数個形成されており、各第１の溝１
３２は半径方向外方に放射状に延びている。第１の溝１
３２の横断面は適宜の形状でよいが、図示の形態では略
矩形に形成されている。Referring to FIGS. 3 and 4, the seal portion 120
At the free end 126 of the main portion 128, a first groove 132 that communicates the inside and the outside of the depressurized region 118 is formed. A plurality of the first grooves 132 are formed on the inner surface of the free end portion 126 of the main portion 128 at intervals in the circumferential direction.
The reference numeral 32 extends radially outward. First groove 1
The cross section of 32 may have any suitable shape, but is formed in a substantially rectangular shape in the illustrated form.

【００１５】第１の溝１３２の個数及び断面積は適宜に
設定することができるが、後の記載から容易に理解され
る如く、個数を多くする或いは断面積を大きくした場合
には第１の溝１３２を通して減圧領域１１８内に流入す
る流体の量が多くなり、それ故に、減圧領域１１８内を
所要の通り減圧せしめるのに比較的大型の且つ高能力の
減圧生成手段を必要とし、一方個数を少なくする或いは
断面積を小さくした場合には第１の溝１３２を通しての
流体の流れが少なくなり、それ故に後述する処理作業に
おいて除去された汚れを回収する能力が低下する。上述
したことから、具体例においては、シール部１２０の主
部１２８における直径約１２０mmの自由端部１２６に、
周方向に実質上等間隔を置いて７２個の第１の溝１３２
が形成されており、そして第１の溝１３２の断面形状は
一辺が１mmの正方形になっている。The number and cross-sectional area of the first grooves 132 can be set as appropriate, but as will be easily understood from the description below, when the number is increased or the cross-sectional area is increased, the first groove 132 is increased. A large amount of fluid flows into the decompression region 118 through the groove 132, and therefore, a relatively large and high-performance decompression generation means is required to decompress the decompression region 118 as required, while Less or less cross-sectional area results in less fluid flow through the first groove 132, and thus less ability to recover the dirt removed in the processing operations described below. From the above, in the specific example, in the free end portion 126 having a diameter of about 120 mm in the main portion 128 of the seal portion 120,
72 first grooves 132 substantially evenly spaced in the circumferential direction
Is formed, and the cross-sectional shape of the first groove 132 is a square having a side of 1 mm.

【００１６】また、環状部材１２４にも、これを貫通す
る第２の溝１３４が形成されている。第２の溝１３４は
環状部材１２４の内面（壁面１０４と接触する面）に周
方向に間隔を置いて複数個形成されており、各第２の溝
１３４も半径方向外方に放射状に延びている。第２の溝
１３４の横断面も適宜の形状でよいが、図示の形態では
略矩形になっている。第２の溝１３４の個数及び断面積
も適宜に設定することができる。尚、第１の溝１３２の
横断面積は上述したことから比較的小さいのがよいが、
一方第２の溝１３４にあっては第１の溝１３２を通して
流入した流体が更に第２の溝１３４を通って充分に流れ
るようにその横断面積は比較的大きいのが好ましい。こ
の実施の形態では、直径約６５mmの環状部材１２４に、
周方向に実質上等間隔を置いて２４個の第２の溝１３４
が形成されており、そして第２の溝１３４の断面形状は
一辺が４mmの正方形になっている。すなわち第２の溝１
３４の横断面積は第１の溝１３２の横断面積より大きく
規定されている。The annular member 124 also has a second groove 134 formed therethrough. A plurality of second grooves 134 are formed on the inner surface of the annular member 124 (the surface in contact with the wall surface 104) at circumferential intervals, and each second groove 134 also extends radially outward in the radial direction. There is. The cross section of the second groove 134 may have an appropriate shape, but is substantially rectangular in the illustrated form. The number and sectional area of the second grooves 134 can also be set appropriately. Although the cross-sectional area of the first groove 132 is preferably relatively small from the above,
On the other hand, the second groove 134 preferably has a relatively large cross-sectional area so that the fluid flowing through the first groove 132 can sufficiently flow through the second groove 134. In this embodiment, the annular member 124 having a diameter of about 65 mm is
Twenty-four second grooves 134 that are substantially evenly spaced in the circumferential direction.
Is formed, and the cross-sectional shape of the second groove 134 is a square having a side of 4 mm. That is, the second groove 1
The cross-sectional area of 34 is defined to be larger than the cross-sectional area of the first groove 132.

【００１７】上述した仕切体１１６が装着された回転体
１０８には、回転体１０８、仕切体１１６（特にシール
部１２０）及び壁面１０４によって規定される減圧領域
１１８の第１の領域と回転体１０８及び受圧体１０２に
よって規定される減圧領域１１８の第２の領域とを連通
する複数個の開口１３６が形成されている。また、受圧
体１０２と回転体１０８の間には図３に示す如く環状の
シール部材１３８を配設するのが好ましい。シール部材
１３８は、一端部が受圧体１０２の開口１０６の周縁に
設けられたフランジ部１４０の外周面に連結され、かか
る一端部から外方に且つ回転体１０８の方向に延び、そ
の他端部が回転体１０８に接触せしめられている。この
シール部材１３８は、ゴムの如き非通気性で且つ柔軟な
材料から形成するのが望ましい。In the rotating body 108 to which the partition body 116 is mounted, the rotating body 108, the partition body 116 (particularly the seal portion 120) and the first area of the decompression region 118 defined by the wall surface 104 and the rotating body 108. And a plurality of openings 136 communicating with the second region of the decompression region 118 defined by the pressure receiving body 102. Further, it is preferable to dispose an annular seal member 138 between the pressure receiving body 102 and the rotating body 108 as shown in FIG. The seal member 138 has one end connected to the outer peripheral surface of a flange portion 140 provided on the peripheral edge of the opening 106 of the pressure receiving body 102, extends outward from the one end toward the rotating body 108, and has the other end. It is brought into contact with the rotating body 108. The seal member 138 is preferably formed of a non-breathable and flexible material such as rubber.

【００１８】第１の実施の形態の装置においては、仕切
体１１６が壁面１０４に実質上垂直な軸線１４２に対し
て幾分傾斜した回転軸線１４４を中心として回転される
ことが重要である。このため、駆動源１１０の出力軸１
１０ａは上記軸線１４２に対して幾分傾斜して受圧体１
０２に回転自在に支持されている。従って、駆動源１１
０が作動されると、連結部材１１２を介して回転体１０
８及び仕切体１１６が一体に出力軸１１０ａの中心軸
線、即ち軸線１４２に対して幾分傾斜した回転軸線１４
４を中心として回転される。そして、仕切体１１６の幾
分傾斜した回転軸線１４４を中心とする回転によって、
後に詳述する如く、仕切体１１６が走行手段としても機
能する。仕切体１１６の回転軸線の傾斜角度α2 （言い
換えると、壁面１０４に実質上垂直な軸線１４２と仕切
体１１６の回転軸線１４４とのなす角度α2 ）は、約３
度に設定されている。In the apparatus of the first embodiment, it is important that the partition body 116 is rotated about a rotation axis 144 that is slightly inclined with respect to an axis 142 that is substantially perpendicular to the wall surface 104. Therefore, the output shaft 1 of the drive source 110
10a is slightly inclined with respect to the axis 142, and the pressure receiving body 1
It is rotatably supported by 02. Therefore, the drive source 11
When 0 is operated, the rotating body 10 is connected through the connecting member 112.
8 and the partition body 116 integrally form a rotation axis 14 that is slightly inclined with respect to the central axis of the output shaft 110a, that is, the axis 142.
It is rotated around 4. Then, by the rotation about the somewhat inclined rotation axis 144 of the partition 116,
As will be described later in detail, the partition body 116 also functions as a traveling means. The inclination angle α 2 of the rotation axis of the partition 116 (in other words, the angle α 2 formed by the axis 142 substantially perpendicular to the wall surface 104 and the rotation axis 144 of the partition 116) is about 3
Is set in degrees.

【００１９】受圧体１０２には、剛性フレーム１４６が
固定されている。剛性フレーム１４６は受圧体１０２に
連結された一端部から仕切体１１６の回転軸線１４４の
傾斜方向とは反対方向に延び、その他端部は減速手段１
４８（詳しくは減速手段のハウジング）に連結されてい
る。減速手段１４８の入力部はそのハウジングに装着さ
れた補助駆動源を構成する正逆回転可能な電動モータ１
５０に駆動連結され、その出力部はハウジングに回転自
在に装着された車輪１５２に駆動連結されている。ま
た、剛性フレーム１４６には脚部１５４が設けられ、こ
の脚部１５４にも車輪１５６が回転自在に装着されてい
る。車輪１５２及び１５６には、夫々、それらに一体に
スプロケット１５２ａ及び１５６ａが設けられており、
これらスプロケット１５２ａ及び１５６ａ間にローラチ
ェーン１５８が巻掛けられている。尚、補助走行手段を
構成する車輪１５２及び１５６の周表面には、壁面１０
４との間の摩擦力を大きくするために、ゴム等の高摩擦
係数の材料を配設するのが好ましい。A rigid frame 146 is fixed to the pressure receiving body 102. The rigid frame 146 extends from one end portion connected to the pressure receiving body 102 in a direction opposite to the inclination direction of the rotation axis 144 of the partition body 116, and the other end portion thereof is at the speed reducing means 1.
48 (specifically, the housing of the speed reducing means). The input part of the speed reduction means 148 is an electric motor 1 which is mounted in its housing and constitutes an auxiliary drive source and which can rotate in forward and reverse directions.
50 is drivingly connected, and the output part thereof is drivingly connected to a wheel 152 rotatably mounted on the housing. Further, the rigid frame 146 is provided with legs 154, and the wheels 156 are also rotatably mounted on the legs 154. The wheels 152 and 156 are respectively provided with sprockets 152a and 156a integrally with them,
A roller chain 158 is wound around these sprockets 152a and 156a. It should be noted that the wall surface 10 is provided on the peripheral surfaces of the wheels 152 and 156 that form the auxiliary traveling means.
It is preferable to dispose a material having a high coefficient of friction, such as rubber, in order to increase the frictional force between the rubber and the rubber.

【００２０】かくの通りであるので、電動モータ１５０
が回転されると減速手段１４８を介して車輪１５２が回
転され、更にローラチェーン１５８を介して車輪１５６
も回転される。尚、補助走行手段として、車輪１５２及
び１５６を用いる代わりに、それ自体周知の１個以上の
エンドレストラックを用いてもよい。車輪１５２及び１
５６は、後の記載から理解される如く、環状部材１２４
の壁面１０４との接触部位における接線方向に実質上平
行に配置するのが好ましい。As described above, the electric motor 150
When the wheel is rotated, the wheel 152 is rotated through the speed reducing means 148, and the wheel 156 is further rotated through the roller chain 158.
Is also rotated. Instead of using the wheels 152 and 156 as the auxiliary traveling means, one or more endless trucks known per se may be used. Wheels 152 and 1
56 is an annular member 124, as will be understood from the description below.
It is preferable that they are arranged substantially parallel to the tangential direction at the site of contact with the wall surface 104.

【００２１】受圧体１０２、壁面１０４及び仕切体１１
６によって規定された減圧領域１１８は、減圧領域１１
８を真空にせしめるための減圧源１６０に接続されてい
る。減圧源１６０としては、例えば装置を大気中で使用
する場合には排気ポンプ又はエゼクタ等を用いることが
でき、また例えば装置を水中又は海中で使用する場合に
は配水ポンプ等を用いることができる。この実施の形態
では、受圧体１０２の上壁に減圧領域１１８に連通する
接続部１６２が設けられ、この接続部１６２にフレキシ
ブルホース１６４の一端部が接続され、フレキシブルホ
ース１６４の他端部が減圧源１６０に連通せしめられて
いる。Pressure receiving member 102, wall surface 104 and partition member 11
The decompression area 118 defined by 6 is the decompression area 11
8 is connected to a vacuum source 160 for evacuating. As the reduced pressure source 160, for example, an exhaust pump or an ejector can be used when the device is used in the atmosphere, and a water distribution pump or the like can be used when the device is used in water or in the sea. In this embodiment, a connection part 162 communicating with the decompression region 118 is provided on the upper wall of the pressure receiving body 102, one end of a flexible hose 164 is connected to this connection part 162, and the other end of the flexible hose 164 is decompressed. It is in communication with the source 160.

【００２２】この第１の実施の形態の装置の作用効果を
説明すると、次の通りである。主として図２及び図３を
参照して、減圧源１６０が付勢されると、この減圧源１
６０の作用によって減圧領域１１８内の流体（大気中で
使用する場合には空気、水中で使用する場合には水）が
フレキシブルホース１６４を通って外部に排出され、こ
れによって減圧領域１１８内に真空が生成される。かく
すると、容易に理解される如く、減圧領域１１８内外の
流体圧力差に起因して受圧体１０２に作用する流体圧力
は、仕切体１１６の環状部材１２４並びに車輪１５２及
び１５６を介して壁面１０４に伝達される。The operation and effect of the device according to the first embodiment will be described below. Mainly referring to FIGS. 2 and 3, when the pressure reducing source 160 is energized, the pressure reducing source 1
By the action of 60, the fluid in the decompression region 118 (air when used in the atmosphere, water when used in water) is discharged to the outside through the flexible hose 164, whereby a vacuum is generated in the decompression region 118. Is generated. Thus, as will be easily understood, the fluid pressure acting on the pressure receiving body 102 due to the fluid pressure difference between the inside and the outside of the decompression region 118 is applied to the wall surface 104 via the annular member 124 of the partition body 116 and the wheels 152 and 156. Transmitted.

【００２３】即ち、受圧体１０２に作用する包囲流体圧
力の一部は、駆動源１１０、連結部材１１２及び回転体
１０８を介して環状部材１２４に伝えられ、また上記包
囲流体圧力の残部は、剛性フレーム１４６、減速手段１
４８（詳しくは減速手段のハウジング）等を介して車輪
１５２及び１５６に伝えられ、そして上記包囲流体圧力
は、更に、環状部材１２４並びに車輪１５２及び１５６
を介して壁面１０４に伝達され、これによって装置が壁
面１０４に吸着せしめられる。仕切体１１６の回転軸線
１４４は車輪１５２及び１５６が存在する側とは反対側
に幾分傾斜せしめられている故に、図２及び図３から理
解される如く、仕切体１１６の環状部材１２４における
車輪１５２及び１５６から実質上最も離れている部位が
壁面１０４に接触せしめられる。That is, a part of the surrounding fluid pressure acting on the pressure receiving body 102 is transmitted to the annular member 124 via the drive source 110, the connecting member 112 and the rotating body 108, and the remaining portion of the surrounding fluid pressure is rigid. Frame 146, reduction gear 1
48 (specifically, the housing of the speed reducer) is transmitted to the wheels 152 and 156, and the surrounding fluid pressure is further transmitted to the annular member 124 and the wheels 152 and 156.
Is transmitted to the wall surface 104 by way of which the device is attracted to the wall surface 104. As the axis of rotation 144 of the partition 116 is somewhat tilted on the side opposite to the side on which the wheels 152 and 156 are present, as can be seen from FIGS. 2 and 3, the wheels on the annular member 124 of the partition 116. A portion substantially farthest from 152 and 156 is brought into contact with the wall surface 104.

【００２４】他方、減圧領域１１８内外の流体圧力差に
起因して仕切体１１６のシール部１２０に作用する流体
圧力は、このシール部１２０を壁面１０４の方向に偏倚
せしめ、これによってシール部１２０の主部１２８の自
由端部１２６が壁面１０４に接触せしめられる。仕切体
１１６は、その自由端部１２６が壁面１０４に接触して
いない場合には、その断面形状はその軸線を中心として
左右対称形であるが、上述した如くして装置が壁面１０
４に吸着せしめられることによって、図１乃至図３に示
す如く変形する。更に、減圧領域１１８内外の流体圧力
差に起因してシール部材１３８に作用する流体圧力は、
シール部材１３８を回転体１０８の方向に偏倚せしめ、
これによってシール部材１３８の他端部が回転体１０８
に接触せしめられる。On the other hand, the fluid pressure acting on the seal portion 120 of the partition body 116 due to the fluid pressure difference between the inside and outside of the depressurization region 118 causes the seal portion 120 to be biased toward the wall surface 104, and thus the seal portion 120. The free end 126 of the main portion 128 is brought into contact with the wall surface 104. When the free end 126 of the partition 116 is not in contact with the wall surface 104, its sectional shape is bilaterally symmetrical about its axis.
4 is deformed as shown in FIG. 1 to FIG. Further, the fluid pressure acting on the seal member 138 due to the fluid pressure difference between the inside and outside of the depressurized region 118 is
The seal member 138 is biased toward the rotating body 108,
As a result, the other end of the seal member 138 is attached to the rotary member 108.
Be touched.

【００２５】上述した壁面１０４への吸着状態において
駆動源１１０が付勢されると、連結部材１１２及び回転
体１０８を介して仕切体１１６が上記回転軸線１４４を
中心として所定方向に回転され、これによって壁面１０
４のクリーニングが遂行される。即ち、上記吸着状態に
おいては、仕切体１１６の環状部材１２４の一部及びシ
ール部１２０における主部１２８の自由端部１２６が壁
面１０４に接触せしめられて移動され、それ故に環状部
材１２４及びシール部１２０の作用によって壁面１０４
のクリーニングが遂行される。尚、環状部材１２４は、
後述する如く走行手段として機能する故に、壁面１０４
との間の相対的移動が少なく、従って上記クリーニング
は主として仕切体１１６のシール部１２０によって遂行
される。When the drive source 110 is urged in the state of being attracted to the wall surface 104 described above, the partition body 116 is rotated about the rotation axis 144 in a predetermined direction via the connecting member 112 and the rotation body 108. By wall 10
4 cleaning is performed. That is, in the adsorption state, a part of the annular member 124 of the partition member 116 and the free end 126 of the main portion 128 of the seal portion 120 are brought into contact with the wall surface 104 and moved, and therefore, the annular member 124 and the seal portion. By the action of 120, the wall surface 104
Cleaning is performed. The annular member 124 is
Since it functions as a traveling means as described later, the wall surface 104
The relative movement between and is small, and thus the cleaning is mainly performed by the seal portion 120 of the partition 116.

【００２６】かかるクリーニング作業時には減圧領域１
１８が所要の通り減圧せしめられており、一方仕切体１
１６の主部１２８の自由端部１２６には周方向に間隔を
置いて複数個の第１の溝１３２が形成されており、それ
故に、容易に理解される如く、外部から第１の溝１３２
を通って減圧領域１１８に至る流体の流れが実質上常時
生成されている。従って、減圧領域１１８外の仕切体１
１６の主部１２８の自由端部１２６近傍において発生し
た汚れ（劣化塗片、サビ、水あか等）は上述した流体の
流れに乗って第１の溝１３２を通って減圧領域１１８内
に移送され、かくしてクリーニング時に発生した汚れが
周囲に飛散することが確実に防止される。第１の溝１３
２が放射状に延びている故に仕切体１１６の実質上全周
において半径方向内方に向う放射状の流れが生成され、
これによって仕切体１１６の全周において汚れが飛散す
ることが防止される。減圧領域１１８内に移送された汚
れは、減圧源１６０の作用によって減圧領域１１８内の
流体と一緒にチューブ１６４を通って分離器（図示せ
ず）に搬送され、この分離器において所要の通り分離さ
れ、分離された後のきれいな流体が外部に排出される。During the cleaning operation, the decompression area 1
18 is decompressed as required, while the partition 1
A plurality of first grooves 132 are formed at the free ends 126 of the main portions 128 of the sixteen in the circumferential direction and are spaced from each other in the circumferential direction.
A fluid flow therethrough to the depressurized region 118 is generated substantially at all times. Therefore, the partition 1 outside the decompression area 118
Dirt (deteriorated coating pieces, rust, water stains, etc.) generated in the vicinity of the free end portion 126 of the main portion 128 of the 16 is transferred to the inside of the decompression region 118 through the first groove 132 by riding on the flow of the fluid described above. Thus, it is possible to reliably prevent the dirt generated during cleaning from scattering around. First groove 13
The radial extension of 2 creates a radial flow radially inward over substantially the entire circumference of the partition 116,
This prevents dirt from scattering all around the partition 116. The dirt transferred into the decompression region 118 is conveyed by the action of the decompression source 160 together with the fluid in the decompression region 118 through the tube 164 to a separator (not shown), where it is separated as required. The separated and separated clean fluid is discharged to the outside.

【００２７】仕切体１１６の主部１２８の自由端部１２
６の内面に第１の溝１３２が形成されていることに関連
して、更に次の利点がある。即ち、第１の溝１３２が存
在することに起因して主部１２８の自由端部１２６の第
１の溝１３２が存在しない部位が壁面１０４に向けて突
出し、かかる部位が壁面１０４に実質上作用するように
なり、それ故に、クリーニング時のクリーニング効率を
も高めることができる。The free end 12 of the main portion 128 of the partition 116.
There are further advantages associated with the formation of the first groove 132 on the inner surface of 6. That is, due to the existence of the first groove 132, the portion of the free end 126 of the main portion 128 where the first groove 132 does not exist protrudes toward the wall surface 104, and the portion substantially acts on the wall surface 104. Therefore, the cleaning efficiency at the time of cleaning can be improved.

【００２８】また、上述した実施の形態においては、仕
切体１１６の主部１２８の自由端部１２６が比較的小さ
い力によって受圧体１０２に対して壁面１０４の方向及
びこれから離れる方向に変位し得るようになっている故
に、仕切体１１６に作用する包囲流体圧力によって仕切
体１１６の主部１２８の自由端部１２６が壁面１０４に
接触せしめられる。従って、上記自由端部１２６と壁面
１０４との接触圧力、言い換えるとクリーニング作業の
作業圧力が実質上一定であり、これによって壁面の実質
上均一なクリーニングが達成される。また、仕切体１１
６の上記自由端部１２６と壁面１０４との接触圧力は仕
切体１１６に作用する包囲流体圧力の影響を受ける故
に、仕切体１１６の受圧面積を変えることによって容易
に上記接触圧力を変更することができ、更にこのことに
関連して、受圧体１０２の受圧面積を適宜に設定するこ
とによって装置を壁面１０４に吸着せしめるに必要な所
要の吸着力を得ることができる。Further, in the above-described embodiment, the free end portion 126 of the main portion 128 of the partition body 116 can be displaced with respect to the pressure receiving body 102 in the direction of the wall surface 104 and in the direction away from the pressure receiving body 102 by a relatively small force. Therefore, the free end 126 of the main portion 128 of the partition 116 is brought into contact with the wall surface 104 by the surrounding fluid pressure acting on the partition 116. Therefore, the contact pressure between the free end portion 126 and the wall surface 104, in other words, the working pressure of the cleaning operation is substantially constant, whereby substantially uniform cleaning of the wall surface is achieved. Also, the partition 11
Since the contact pressure between the free end portion 126 and the wall surface 104 of 6 is influenced by the surrounding fluid pressure acting on the partition body 116, the contact pressure can be easily changed by changing the pressure receiving area of the partition body 116. Further, in connection with this, by appropriately setting the pressure receiving area of the pressure receiving body 102, it is possible to obtain a necessary suction force required to suck the device on the wall surface 104.

【００２９】また、仕切体１１６が上述した如く回転さ
れると、この仕切体１１６、特に環状部材１２４の一部
が壁面１０４に作用し、これによって環状部材１２４と
壁面１０４との間に装置を移動せしめようとする力が発
生する。すなわち、回転軸線１４４が垂直な軸線１４２
に対して傾斜した側の、仕切体１１６の自由端部１２６
の壁面１０４に接触する部位は他の接触部位より接触圧
力が増大し、かつ回転軸線１４４が垂直な軸線１４２に
対して傾斜した側の、壁面１０４に接触する環状部材１
２４の前記一部のみが接触するので、その接線方向に移
動させられる傾向が生ずる。この接触圧力（接地圧力）
が増大する接触部位（自由端部１２６）、あるいは環状
部材１２４の壁面１０４と接触する前記一部は、壁面１
０４に垂直な軸線１４２の上方から見て、この垂直な軸
線１４２を通り回転中心軸線１４４が傾斜した方向に延
びる線上に位置し、上方から見てこの線にクロスする接
線方向に駆動力が生成される。従って、かく回転される
仕切体１１６と、電動モータ１５０によって回転駆動さ
れる車輪１５２及び１５６によって、装置を所要の通り
自走せしめることができる。When the partition body 116 is rotated as described above, a part of the partition body 116, in particular, the annular member 124 acts on the wall surface 104, so that the device is placed between the annular member 124 and the wall surface 104. The force to move them is generated. That is, the rotation axis 144 is perpendicular to the axis 142.
The free end 126 of the partition 116 on the side inclined with respect to
Of the annular member 1 that comes into contact with the wall surface 104 on the side where the contact pressure of the part that comes into contact with the wall surface 104 is greater than that of the other contact parts and the rotation axis 144 is inclined with respect to the vertical axis 142.
Since only said part of 24 makes contact, there is a tendency to be displaced in its tangential direction. This contact pressure (ground pressure)
Of the wall surface 1 of the annular member 124 or the contact portion (free end 126) where
When viewed from above the axis line 142 perpendicular to 04, the driving force is generated in a tangential direction that is located on a line that passes through the vertical axis line 142 and extends in the inclined direction of the rotation center axis line 144, and that intersects with this line when viewed from above. To be done. Therefore, the partition body 116 thus rotated and the wheels 152 and 156 which are rotationally driven by the electric motor 150 allow the apparatus to be self-propelled as required.

【００３０】この点に関して、図５−Ａを参照して更に
説明すると、駆動源１１０を正転させて仕切体１１６、
従って環状部材１２４を矢印１６６で示す方向に回転せ
しめると、装置は矢印１６８で示す方向、即ち環状部材
１２４の壁面１０４との接触部位における接線方向にお
いて矢印１６６で示す回転方向と反対方向に移動する傾
向が生じる。このとき、電動モータ１５０を正転させて
車輪１５２及び１５６を矢印１７０で示す方向に回転せ
しめると共に環状部材１２４の壁面１０４との接触部位
の周速度と車輪１５２及び１５６の壁面１０４との接触
部位の周速度とを実質上同一にせしめれば、容易に理解
される如く、装置は矢印１６８で示す方向に直進する。This point will be further described with reference to FIG. 5-A.
Therefore, when the annular member 124 is rotated in the direction indicated by the arrow 166, the device moves in the direction indicated by the arrow 168, that is, in the tangential direction at the contact portion of the annular member 124 with the wall surface 104, in the direction opposite to the rotational direction indicated by the arrow 166. A tendency arises. At this time, the electric motor 150 is normally rotated to rotate the wheels 152 and 156 in the direction indicated by arrow 170, and the peripheral speed of the contact portion of the annular member 124 with the wall surface 104 and the contact portion of the wheel 152 and 156 with the wall surface 104. If the peripheral velocity of the device is made substantially the same, the device goes straight in the direction indicated by the arrow 168, as will be easily understood.

【００３１】一方、駆動源１１０と電動モータ１５０の
上記正転状態において環状部材１２４の上記接触部位の
周速度と車輪１５２及び１５６の上記接触部位の周速度
に差を生じせしめた場合には、例えば環状部材１２４の
上記接触部位の周速度が車輪１５２及び１５６の上記接
触部位の周速度より大きいときには環状部材１２４が矢
印１６８で示す方向に先行するようになり、従って装置
は矢印１７２で示す方向に旋回しながら移動し、例えば
環状部材１２４の上記接触部位の周速度が車輪１５２及
び１５６の上記接触部位の周速度より小さいときには車
輪１５２及び１５６が矢印１６８で示す方向に先行する
ようになり、従って装置は矢印１７４で示す方向に旋回
しながら移動する。On the other hand, when the peripheral speed of the contact portion of the annular member 124 and the peripheral speed of the contact portions of the wheels 152 and 156 are made to differ in the normal rotation state of the drive source 110 and the electric motor 150, For example, when the peripheral speed of the contact portion of the annular member 124 is greater than the peripheral speed of the contact portions of the wheels 152 and 156, the annular member 124 will lead in the direction indicated by arrow 168, and thus the device will move in the direction indicated by arrow 172. When the peripheral speed of the contact portion of the annular member 124 is smaller than the peripheral speed of the contact portions of the wheels 152 and 156, the wheels 152 and 156 come to advance in the direction indicated by the arrow 168. Therefore, the device moves while turning in the direction indicated by arrow 174.

【００３２】これに対して、図５−Ｂに示すように、電
動モータ１５０の正転状態において駆動源１１０を逆転
せしめて回転体１０８、従って環状部材１２４を矢印で
示す１７６で示す方向に回転せしめると、装置はその略
中心を中心として矢印１７８で示す方向に旋回される。
尚、電動モータ１５０の逆転状態においても、同様に走
行せしめられる。On the other hand, as shown in FIG. 5B, when the electric motor 150 is in the normal rotation state, the drive source 110 is rotated in the reverse direction to rotate the rotating body 108, and thus the annular member 124, in the direction indicated by the arrow 176. When biased, the device is pivoted about its center in the direction indicated by arrow 178.
Even when the electric motor 150 is in the reverse rotation state, the vehicle can be driven in the same manner.

【００３３】第１の実施の形態においても、図３に示す
通り、環状部材１２４と壁面１０４との接触面積を大き
くするために、環状部材１２４の下面の形状を壁面１０
４との接触部位において上記壁面１０４と実質上平行と
なるようにせしめるのが好ましい。Also in the first embodiment, as shown in FIG. 3, in order to increase the contact area between the annular member 124 and the wall surface 104, the shape of the lower surface of the annular member 124 is changed to the wall surface 10.
It is preferable that the contact portion with 4 is made substantially parallel to the wall surface 104.

【００３４】以上の通りであるので、第１の実施の形態
の装置においては、仕切体１１６が壁面１０４に実質上
垂直な軸線１４２に対して幾分傾斜した回転軸線１４４
を中心として回転せしめられることに起因して、この仕
切体１１６は、受圧体１０２及び壁面１０４と協働して
減圧領域１１８を規定するシール機能（仕切体１１６の
シール部１２０がこの機能を発揮する）、壁面１０４を
所要の通り処理（例えばクリーニング）する処理機能
（仕切体１１６の主としてシール部１２０がこの機能を
発揮する）及び壁面１０４に対して相対的に移動する走
行機能（仕切体１１６の主として支持部１２２がこの機
能を発揮する）をもつ。従って、装置を移動させるため
の走行手段も兼ね、走行手段の一部を省略することがで
きる。更に、仕切体１１６は表面処理手段も兼ねるの
で、壁面を処理する表面処理手段を別個に必要とせず、
装置の一層の簡単化及び小型化が達成される。なお前記
実施の形態において、環状部材１２４は、仕切体１１６
の自由端部１２６が過大な力で壁面１０４に押し付けら
れて早期に磨耗するのを防止する機能を有し、装置の吸
着力を保持し、壁面１０４に沿って装置を移動させるい
わゆる車輪の機能をも有している。この環状部材１２４
を除去することができる場合には、仕切体１１６が表面
処理手段と走行機能を兼ねることになる。As described above, in the device of the first embodiment, the partition body 116 has the rotation axis 144 which is slightly inclined with respect to the axis 142 substantially perpendicular to the wall surface 104.
The partition body 116 cooperates with the pressure receiving body 102 and the wall surface 104 to define the decompression region 118 due to the rotation around the center (the sealing portion 120 of the partition body 116 exerts this function). Processing function (for example, cleaning) of the wall surface 104 as required (mainly the seal portion 120 of the partition body 116 exerts this function) and a traveling function of moving relative to the wall surface 104 (partition body 116). Mainly the support portion 122 exerts this function). Therefore, it also serves as a traveling means for moving the device, and a part of the traveling means can be omitted. Further, since the partition 116 also serves as the surface treatment means, it is not necessary to separately provide the surface treatment means for treating the wall surface.
Further simplification and miniaturization of the device is achieved. In the above-mentioned embodiment, the annular member 124 is the partition member 116.
Has a function of preventing the free end portion 126 of the device from being pressed against the wall surface 104 by an excessive force and prematurely worn, holds the suction force of the device, and functions as a so-called wheel that moves the device along the wall surface 104. Also has This annular member 124
If it can be removed, the partitioning body 116 serves as a surface treatment means and a traveling function.

【００３５】尚、図１乃至図５に示す装置に、クリーニ
ング手段又は塗装手段の如き専用の表面処理手段、或い
は検査手段を別個に装備して利用することもできる。か
かる場合には、仕切体１１６は、上記シール機能及び上
記走行機能をもつ。The apparatus shown in FIGS. 1 to 5 may be separately equipped with a dedicated surface treatment means such as a cleaning means or a coating means, or an inspection means. In this case, the partition 116 has the sealing function and the traveling function.

【００３６】かくの通りの装置は、原子力施設における
各種プールの壁面又は床面に付着した放射性腐蝕生成物
（所謂水あか）を気中或いは水中において除去する作
業、即ち所謂除汚作業、更には船舶の外側壁面のクリー
ニング作業時に好都合に用いることができる。The apparatus as described above is used for removing radioactive corrosion products (so-called water scale) adhering to the wall surfaces or floor surfaces of various pools in a nuclear facility in the air or in water, that is, so-called decontamination work, and further, ships. It can be conveniently used during the cleaning operation of the outer wall surface of the.

【００３７】次いで、図６乃至図８を参照して、本発明
に従って構成された装置の第２の実施の形態について説
明する。この第２の実施の形態においては、図１乃至図
５に示す装置と略同様の構成の３個のユニット体２０２
ａ、２０２ｂ及び２０２ｃを備えている。尚、この第２
の実施の形態においては、説明の都合上、第１の実施の
形態の部材と実質上同一の部材は同一の番号を付して説
明する。Next, a second embodiment of the apparatus constructed according to the present invention will be described with reference to FIGS. In the second embodiment, three unit bodies 202 having substantially the same configuration as the device shown in FIGS.
a, 202b and 202c. In addition, this second
In the embodiment, for convenience of explanation, members substantially the same as the members of the first embodiment will be described with the same numbers.

【００３８】主として図６を参照して、各ユニット体２
０２ａ、２０２ｂ及び２０２ｃは、減圧領域を規定する
ための受圧体及び仕切体を備えている。図示の実施の形
態においては、ユニット体２０２ａ及び２０２ｂにおけ
る受圧体１０２ａは一体に形成され、この受圧体１０２
ａとユニット体２０２ｃにおける受圧体１０２ｂが連結
されている。受圧体１０２ａの下壁には図６において上
下方向に間隔を置いて一対の開口１０６（図８において
片方のみ示す）が設けられ、一対の開口１０６の開口部
にユニット体２０２ａ及び２０２ｂの仕切体１１６が配
設され、また受圧体１０２ｂの下壁にも開口（図示せ
ず）が形成され、この開口の開口部にもユニット体２０
２ｃの仕切体１１６が配設されている。Mainly referring to FIG. 6, each unit body 2
02a, 202b, and 202c are provided with the pressure receiving body and the partition body for defining a pressure reduction area. In the illustrated embodiment, the pressure receiving bodies 102a in the unit bodies 202a and 202b are integrally formed.
a and the pressure receiving body 102b in the unit body 202c are connected. A pair of openings 106 (only one of which is shown in FIG. 8) is provided in the lower wall of the pressure receiving body 102a at intervals in the vertical direction in FIG. 6, and the partition bodies of the unit bodies 202a and 202b are provided in the openings of the pair of openings 106. 116 is provided, and an opening (not shown) is also formed in the lower wall of the pressure receiving body 102b, and the unit body 20 is also provided in the opening of this opening.
A partition body 116 of 2c is provided.

【００３９】従って、容易に理解される如く、受圧体１
０２ａ、仕切体１１６及び壁面１０４によって規定され
るユニット体２０２ａの減圧領域１１８と受圧体１０２
ａ、仕切体１１６及び壁面１０４によって規定されるユ
ニット体２０２ｂの減圧領域１１８とは相互に連通せし
められており、更に受圧体１０２ｂ、仕切体１１６及び
壁面１０４によって規定される減圧領域１１８も上記減
圧領域１１８に相互に連通せしめられている。尚、これ
に代えて、各ユニット体２０２ａ、２０２ｂ及び２０２
ｃを別個に形成し（言い換えると、各ユニット体２０２
ａ、２０２ｂ及び２０２ｃは別個の受圧体及び仕切体を
有し、これらによって別個に減圧領域を規定するように
する）、これらユニット体２０２ａ、２０２ｂ及び２０
２ｃを剛性フレームを介して相互に連結するようにして
もよい。Therefore, as can be easily understood, the pressure receiving body 1
02a, the partition body 116 and the wall surface 104, the pressure reducing area 118 of the unit body 202a and the pressure receiving body 102.
a, the pressure reducing area 118 of the unit body 202b defined by the partition body 116 and the wall surface 104 is in communication with each other, and the pressure reducing area 118 defined by the pressure receiving body 102b, the partition body 116 and the wall surface 104 is also reduced in pressure. The regions 118 are in communication with each other. Instead of this, each unit body 202a, 202b and 202
c separately formed (in other words, each unit body 202
a, 202b and 202c have separate pressure receiving bodies and partition bodies so as to separately define a decompression area), these unit bodies 202a, 202b and 20
The 2c may be connected to each other via a rigid frame.

【００４０】各ユニット体２０２ａ、２０２ｂ及び２０
２ｃは実質上同一の構成であり、図８を参照してユニッ
ト体２０２ａの構成について概説する。受圧体１０２ａ
には減速手段２０４が装着され、この減速手段２０４に
正逆転可能な電動モータの如き駆動源１１０が装着され
ている。減速手段２０４の出力軸２０４ａは箱状の受圧
体１０２ａを貫通して下壁に形成された開口１０６を通
して突出し、この突出端部に取付ねじ２０６によって回
転体１０８が直接装着されている。図示の回転体１０８
は、減速手段２０４の出力軸２０４ａに固定された取付
部２０６ａ、取付部２０６ａから半径方向外方に延びる
複数の腕部２０６ｂ及び複数の腕部２０６ｂの先端部に
固定された中空円筒部２０６ｃを有し、中空円筒部２０
６ｃに仕切体１１６が装着されている。Each unit body 202a, 202b and 20
2c has substantially the same configuration, and the configuration of the unit body 202a will be outlined with reference to FIG. Pressure receiver 102a
A deceleration means 204 is attached to the driving means 110, and a driving source 110 such as an electric motor capable of rotating in the forward and reverse directions is attached to the deceleration means 204. The output shaft 204a of the speed reduction means 204 penetrates the box-shaped pressure receiving body 102a and projects through the opening 106 formed in the lower wall, and the rotary body 108 is directly attached to the projecting end portion by the mounting screw 206. Illustrated rotating body 108
Is a mounting portion 206a fixed to the output shaft 204a of the speed reducer 204, a plurality of arm portions 206b extending outward in the radial direction from the mounting portion 206a, and a hollow cylindrical portion 206c fixed to the tips of the plurality of arm portions 206b. Having, hollow cylindrical portion 20
The partition 116 is attached to 6c.

【００４１】仕切体１１６は支持部１２２を構成するス
リーブ状の環状部材１２４を有し、この環状部材１２４
の上端部がスチールベルト２０８によって回転体１０８
の中空円筒部２０６ｃの外周面に取付けられている。ま
た、仕切体１１６は受圧体１０２ａ及び壁面１０４と協
働して減圧領域１１８を規定するシール部１２０を有
し、シール部１２０は環状部材１２４の中間部外周面に
接続された一端から外方に且つ壁面１０４に向う方向に
延び自由端部１２６が壁面１０４に接触せしめられる主
部１２８と、主部１２８の自由端部１２６から外方に且
つ壁面１０４から離れる方向に延びる延長部１３０を有
している。The partition member 116 has a sleeve-shaped annular member 124 which constitutes the support portion 122.
The upper end of the rotating body 108 is made of steel belt 208.
Is attached to the outer peripheral surface of the hollow cylindrical portion 206c. Further, the partition body 116 has a seal portion 120 that cooperates with the pressure receiving body 102 a and the wall surface 104 to define a decompression region 118, and the seal portion 120 is outward from one end connected to the outer peripheral surface of the intermediate portion of the annular member 124. And a main portion 128 that extends in a direction toward the wall surface 104 and has a free end portion 126 in contact with the wall surface 104, and an extension portion 130 that extends outward from the free end portion 126 of the main portion 128 and away from the wall surface 104. are doing.

【００４２】受圧体１０２ａと回転体１０８間に配設さ
れたシール部材が仕切体１１６に一体に設けられてい
る。即ち、仕切体１１６の環状部材１２４の上端部は他
の部分に比して厚さが薄くなっており、この薄くなった
上端部が上方に延び受圧体１０２ａの開口１０６に設け
られたフランジ部１４０の外周面に接触せしめられてい
る。ユニット体２０２ａ（又は２０２ｂ、２０２ｃ）の
その他の構成は、図１乃至図５に示す第１の実施の形態
と実質上同一であり、それ故に、その詳細については省
略する。A seal member arranged between the pressure receiving member 102a and the rotating member 108 is integrally provided on the partition member 116. That is, the upper end portion of the annular member 124 of the partition body 116 has a smaller thickness than the other portions, and the thinned upper end portion extends upward and is provided at the opening 106 of the pressure receiving body 102a. It is in contact with the outer peripheral surface of 140. The other structure of the unit body 202a (or 202b, 202c) is substantially the same as that of the first embodiment shown in FIGS. 1 to 5, and therefore its details are omitted.

【００４３】この第２の実施の形態においては、図６及
び図７から理解される如く、ユニット体２０２ａ及び２
０２ｂの回転体１０８、従って仕切体１１６は壁面１０
４に実質上垂直な軸線に対して図６及び図７において左
方に幾分傾斜した回転軸線を中心として回転され、また
ユニット体２０２ｃの回転体１０８、従って仕切体１１
６は壁面１０４に実質上垂直な軸線に対して図６及び図
７において右方に幾分傾斜した回転軸線を中心として回
転される。また、受圧体１０２ａに設けられた接続部２
０７には、減圧源に連通されたフレキシブルホース（図
示せず）が接続されており、従ってユニット体２０２
ａ、２０２ｂ及び２０２ｃの相互に連通する減圧領域１
１８は上記減圧源（図示せず）によって減圧せしめられ
る。In this second embodiment, as understood from FIGS. 6 and 7, the unit bodies 202a and 202a are
The rotating body 108 of 02b, and thus the partition body 116, is the wall surface 10.
4 is rotated about an axis of rotation slightly tilted to the left in FIGS. 6 and 7 with respect to an axis substantially perpendicular to 4, and also the rotor 108 of the unit body 202c, and thus the partition body 11c.
6 is rotated about an axis of rotation which is slightly inclined to the right in FIGS. 6 and 7 with respect to an axis substantially perpendicular to the wall surface 104. In addition, the connecting portion 2 provided on the pressure receiving body 102a
A flexible hose (not shown) connected to the decompression source is connected to 07, and accordingly, the unit body 202 is connected.
decompression area 1 in which a, 202b and 202c communicate with each other
18 is decompressed by the decompression source (not shown).

【００４４】第２の実施の形態の装置では、容易に理解
される如く、減圧領域１１８内外の流体圧力差に起因し
て各ユニット体２０２ａ、２０２ｂ及び２０２ｃの仕切
体１１６のシール部１２０に作用する包囲流体圧力は、
夫々、各シール部１２０の主部１２８の自由端部１２６
を介して壁面１０４に伝達され、各シール部１２０に作
用する流体圧力によって対応する主部１２８の自由端部
１２６が壁面１０４に接触せしめられる。一方、減圧領
域１１８内外の流体圧力差に起因して受圧体１０２ａ及
び１０２ｂに作用する包囲流体圧力は各ユニット体２０
２ａ、２０２ｂ及び２０２ｃにおける減速手段２０４、
回転体１０８及び仕切体１１６のスリーブ状の環状部材
１２４の一部を介して壁面１０４に伝達され、これによ
って装置が壁面１０４に吸着せしめられる。In the apparatus according to the second embodiment, as will be easily understood, the seal portion 120 of the partition body 116 of each unit body 202a, 202b and 202c is caused by the fluid pressure difference between the inside and outside of the depressurization region 118. The surrounding fluid pressure to
Each of the sealing portions 120 has a free end portion 126 of a main portion 128.
The fluid pressure transmitted to the wall surface 104 via each of the seal portions 120 causes the corresponding free end 126 of the main portion 128 to contact the wall surface 104. On the other hand, the surrounding fluid pressure acting on the pressure receiving bodies 102a and 102b due to the fluid pressure difference between the inside and outside of the depressurization region 118 is set in each unit body 20
2a, 202b and 202c reduction means 204,
It is transmitted to the wall surface 104 via a part of the sleeve-shaped annular member 124 of the rotating body 108 and the partition body 116, and thereby the device is attracted to the wall surface 104.

【００４５】ユニット体２０２ａ及び２０２ｂにおいて
は仕切体１１６が図６及び図７において左方に幾分傾斜
した回転軸線を中心として回転せしめられる故に、ユニ
ット体２０２ａ及び２０２ｂにおける仕切体１１６にあ
っては図６及び図７において環状部材１２４の最も左方
に位置する部位が壁面１０４に接触せしめられ、またユ
ニット体２０２ｃにおいては仕切体１１６が図６及び図
７において右方に幾分傾斜して回転軸線を中心として回
転せしめられる故に、ユニット体２０２ｃにおける仕切
体１１６にあっては図６及び図７において環状部材１２
４の最も右方に位置する部位が壁面１０４に接触せしめ
られる。そして、ユニット体２０２ａ、２０２ｂ及び２
０２ｃの各々の仕切体１１６において、壁面１０４に垂
直な軸線の上方から見て、この垂直な軸線を通り回転中
心軸線が傾斜した方向に延びる線上に位置する、自由端
部１２６の表面との接触部位における接線方向は、夫々
実質上同一方向に規定されている。この点は環状部材１
２４においても同様である。したがって装置は全体とし
て一つの方向に進むことができる。In the unit bodies 202a and 202b, since the partition body 116 is rotated about the rotation axis which is slightly inclined to the left in FIGS. 6 and 7, the partition body 116 in the unit bodies 202a and 202b is 6 and 7, the leftmost portion of the annular member 124 is brought into contact with the wall surface 104, and in the unit body 202c, the partition 116 rotates with a slight inclination to the right in FIGS. 6 and 7. Since the partition member 116 in the unit body 202c is rotated about the axis, the annular member 12 in FIG. 6 and FIG.
The rightmost portion of 4 is brought into contact with the wall surface 104. Then, the unit bodies 202a, 202b and 2
In each of the partition bodies 116 of No. 02c, contact with the surface of the free end portion 126, which is located on a line extending in the direction in which the central axis of rotation passes through the axis perpendicular to the wall surface 104 when viewed from above. The tangential directions of the portions are defined to be substantially the same. This point is the annular member 1
The same applies to 24. Therefore, the device as a whole can proceed in one direction.

【００４６】かくの通りの装置は、容易に理解される如
く、第１の実施の形態の装置と同様の効果を奏し、更に
車輪の如き補助走行手段を必要とせず所要の通り自走す
ることができるという特徴をも有する。As can be easily understood, the device as described above has the same effect as that of the device of the first embodiment, and further can be self-propelled as required without the need for auxiliary traveling means such as wheels. It also has the feature that

【００４７】尚、図６を参照して第２の実施の形態の装
置の走行について概説すると次の通りである。即ち、ユ
ニット体２０２ａ及び２０２ｂの駆動源１１０を正転さ
せて仕切体１１６を夫々矢印２１０及び２１２で示す方
向（図６において時計方向）に回転せしめると、装置は
矢印２１４で示す方向、即ち図６において下方に移動す
る傾向が生じ、一方これら駆動源１１０を逆転させて仕
切体１１６を夫々矢印２１６及び２１８で示す方向（図
６において反時計方向）に回転せしめると、装置は矢印
２２０で示す方向、即ち図６において上方に移動する傾
向が生じる。The running of the apparatus according to the second embodiment will be outlined with reference to FIG. That is, when the drive source 110 of the unit bodies 202a and 202b is rotated in the forward direction and the partition body 116 is rotated in the directions indicated by arrows 210 and 212 (clockwise in FIG. 6), the device moves in the direction indicated by arrow 214, 6 tends to move downwards, while the drive sources 110 are reversed to rotate the divider 116 in the directions indicated by arrows 216 and 218 (counterclockwise in FIG. 6), the device is indicated by arrow 220. There is a tendency to move in the direction, i.e. upwards in FIG.

【００４８】また、ユニット体２０２ｃの駆動源１１０
を正転させて仕切体１１６を矢印２２２で示す方向（図
６において時計方向）に回転せしめると、装置は矢印２
２０で示す方向、即ち図６において上方に移動する傾向
が生じ、一方かかる駆動源１１０を逆転させて仕切体１
１６を矢印２２４で示す方向（図６において反時計方
向）に回転せしめると、装置は矢印２１４で示す方向、
即ち図６において下方に移動する傾向が生じる。Further, the driving source 110 for the unit body 202c
When the partition body 116 is rotated in the direction indicated by an arrow 222 (clockwise in FIG. 6) by rotating the device in the normal direction,
20 tends to move upward, that is, in FIG. 6, while the drive source 110 is reversed to move the partition 1
When 16 is rotated in the direction indicated by arrow 224 (counterclockwise in FIG. 6), the device moves in the direction indicated by arrow 214,
That is, there is a tendency to move downward in FIG.

【００４９】かくの通りであるので、容易に理解される
如く、ユニット体２０２ａ及び２０２ｂの仕切体１１６
を矢印２１０及び２１２で示す方向に回転せしめると共
にユニット体２０２ｃの仕切体１１６を矢印２２４で示
す方向に回転せしめると、装置は矢印２１４で示す方向
に直進せしめられる。Since it is as described above, the partition member 116 of the unit bodies 202a and 202b can be easily understood.
Is rotated in the directions indicated by arrows 210 and 212 and the partition body 116 of the unit body 202c is rotated in the direction indicated by arrow 224, the device is moved straight in the direction indicated by arrow 214.

【００５０】これとは反対に、ユニット体２０２ａ及び
２０２ｂの仕切体１１６を矢印２１６及び２１８で示す
方向に回転せしめると共にユニット体２０２ｃの仕切体
１１６を矢印２２２で示す方向に回転せしめると、装置
は矢印２２０で示す方向に直進せしめられる。On the contrary, when the partition bodies 116 of the unit bodies 202a and 202b are rotated in the directions indicated by the arrows 216 and 218 and the partition bodies 116 of the unit body 202c are rotated in the direction indicated by the arrow 222, the apparatus is operated. It goes straight in the direction indicated by arrow 220.

【００５１】ユニット体２０２ａ、２０２ｂ及び２０２
ｃの仕切体１１６を矢印２１０、２１２及び２２２で示
す方向に回転せしめると、装置はその略中心を旋回中心
として左旋回せしめられ、これとは反対に、ユニット体
２０２ａ、２０２ｂ及び２０２ｃの仕切体１１６を矢印
２１６、２１８及び２２４で示す方向に回転せしめる
と、装置はその略中心を旋回中心として右旋回せしめら
れる。Unit bodies 202a, 202b and 202
When the partition body 116 of c is rotated in the directions indicated by arrows 210, 212 and 222, the device is rotated to the left with the substantial center thereof as the center of rotation. On the contrary, the partition bodies of the unit bodies 202a, 202b and 202c are rotated. By rotating 116 in the directions indicated by arrows 216, 218 and 224, the device is rotated to the right about its approximate center.

【００５２】この第２の実施の形態では、３個のユニッ
ト体２０２ａ、２０２ｂ及び２０２ｃを備えているが、
装置を所要の通り支持することができる場合には、２個
のユニット体から構成することもでき、また４個以上の
ユニット体を用いてもよい。また、図示の第２の実施の
形態の装置に、必要に応じて、車輪の如き補助走行手段
を付設してもよい。In this second embodiment, three unit bodies 202a, 202b and 202c are provided,
If the device can be supported as required, it can also consist of two unit bodies or more than three unit bodies can be used. In addition, auxiliary traveling means such as wheels may be attached to the apparatus of the illustrated second embodiment, if necessary.

【００５３】次に、図９を参照して、本発明に従って構
成された装置の第３の実施の形態について説明する。か
かる第３の実施の形態の装置においては、装置本体に対
して受圧体と一体に仕切体が回転せしめられる。Next, with reference to FIG. 9, a third embodiment of the apparatus constructed according to the present invention will be described. In the apparatus according to the third embodiment, the partition body is rotated integrally with the pressure receiving body with respect to the apparatus body.

【００５４】図９を参照して、図示の装置も剛性乃至半
剛性材料から形成された受圧体３０２を具備している。
この受圧体３０２の外面（壁面３０４に対向する面と反
対の面）中央部には軸部材３０６が固定されている。軸
部材３０６は、受圧体３０２に対して実質上垂直外方に
延びる大径部３０８ａ及び大径部３０８ａに連続して更
に外方に延びる小径部３０８ｂを有している。そして、
軸部材３０６の大径部３０８ａ及び小径部３０８ｂが夫
々軸受３１０を介して装置本体３１２に回転自在に装着
されている。軸受３１０はスラスト荷重及びラジアル荷
重用のものが用いられる。Referring to FIG. 9, the illustrated apparatus also includes a pressure receiving body 302 formed of a rigid or semi-rigid material.
A shaft member 306 is fixed to the central portion of the outer surface (the surface opposite to the surface facing the wall surface 304) of the pressure receiving body 302. The shaft member 306 has a large diameter portion 308a extending substantially perpendicularly to the pressure receiving body 302 and a small diameter portion 308b continuously extending to the large diameter portion 308a. And
The large diameter portion 308a and the small diameter portion 308b of the shaft member 306 are rotatably mounted on the apparatus main body 312 via bearings 310, respectively. The bearing 310 is used for thrust load and radial load.

【００５５】上記軸部材３０６の自由端部は装置本体３
１２から外方に突出し、この突出端部にはＶ形の溝が２
個形成されたプーリ３１４が装着されている。また、装
置本体３１２には、電動モータの如き駆動源３１６が装
着されている。駆動源３１６の出力軸にはＶ形の溝が２
個形成されたプーリ３１８が装着され、上記プーリ３１
４及び３１８間に２本のベルト３２０が巻掛けられてい
る。従って、駆動源３１６が回転されると、ベルト３２
０を介して軸部材３０６と一体に受圧体３０２が所要の
通り回転される。The free end of the shaft member 306 is the main body 3 of the apparatus.
12 protrudes outwardly, and there is a V-shaped groove on the protruding end.
An individually formed pulley 314 is attached. A drive source 316 such as an electric motor is attached to the apparatus body 312. The output shaft of the drive source 316 has two V-shaped grooves.
The individually formed pulley 318 is mounted, and the pulley 31
Two belts 320 are wound around 4 and 318. Therefore, when the drive source 316 is rotated, the belt 32
The pressure receiving body 302 is rotated integrally with the shaft member 306 via 0 as required.

【００５６】受圧体３０２の壁面３０４に対向する面に
は、壁面３０４に面した自由端部（後述する）に向かっ
て拡がりながら延びる中空円錐形状をなす、仕切体３２
２が配設されている。仕切体３２２は受圧体３０２及び
壁面３０４と協働して減圧領域３２４を規定するシール
部３２６と、装置を支持するための支持部３２８を有
し、シール部３２６及び支持部３２８が別個に形成され
ている。即ち、シール部３２６は、比較的柔軟な材料か
ら形成された比較的薄い環状の部材から構成され、受圧
体３０２に連結された一端部から外方に且つ壁面３０４
に向う方向に延び自由端部３３０が壁面３０４に接触せ
しめられる主部３３２と、主部３３２の自由端部３３０
から外方に且つ壁面３０４から離れる方向に延びる延長
部３３４を含んでいる。The surface of the pressure receiving body 302 facing the wall surface 304 has a hollow conical shape which extends while expanding toward a free end (described later) facing the wall surface 304.
2 are provided. The partition body 322 has a seal portion 326 that cooperates with the pressure receiving body 302 and the wall surface 304 to define the decompression region 324, and a support portion 328 for supporting the device, and the seal portion 326 and the support portion 328 are formed separately. Has been done. That is, the seal portion 326 is composed of a relatively thin annular member formed of a relatively flexible material, and extends outward from one end portion connected to the pressure receiving body 302 and to the wall surface 304.
A main portion 332 having a free end portion 330 extending in a direction toward the wall surface 304 and a free end portion 330 of the main portion 332.
An extension 334 extending outwardly from and away from the wall surface 304.

【００５７】また、支持部３２８は比較的剛性の材料か
ら形成された比較的厚い環状部材３３６から構成され、
受圧体３０２のシール部３２６の装着部位の内側部位に
固定されている。かかる実施の形態においても、第１の
実施の形態と同様にシール部３２６の主部３３２の自由
端部３３０に周方向に間隔を置いて第１の溝３３８を設
けると共に環状部材３３６にも周方向に間隔を置いて第
２の溝３４０を設けるのが好ましい。The support portion 328 is composed of a relatively thick annular member 336 formed of a relatively rigid material,
The pressure receiving body 302 is fixed to the inside portion of the mounting portion of the seal portion 326. Also in this embodiment, similarly to the first embodiment, the first groove 338 is provided at the free end portion 330 of the main portion 332 of the seal portion 326 at intervals in the circumferential direction, and the annular member 336 is also surrounded. The second grooves 340 are preferably provided at intervals in the direction.

【００５８】装置本体３１２には、更に、剛性フレーム
３４２の一端部が連結され、この剛性フレーム３４２の
他端部には補助走行手段を構成する車輪３４４が配設さ
れ、この車輪３４４が補助駆動源を構成する電動モータ
３４６によって回転駆動されるようになっている。One end of a rigid frame 342 is further connected to the apparatus main body 312, and a wheel 344 constituting an auxiliary traveling means is arranged at the other end of the rigid frame 342, and this wheel 344 is driven auxiliary. It is adapted to be rotationally driven by an electric motor 346 which constitutes a source.

【００５９】軸部材３０６が壁面３０４に実質上垂直な
軸線３４８に対して図９において左方に幾分傾斜して
（例えば傾斜角度α3 は約３度程度）装置本体３１２に
支持されており、従って、駆動源３１６が付勢される
と、受圧体３０２、言い換えると仕切体３２２は上記軸
線３４８に対して幾分傾斜した回転軸線３５０を中心と
して回転される。The shaft member 306 is supported by the apparatus main body 312 with a slight inclination to the left in FIG. 9 (for example, the inclination angle α 3 is about 3 degrees) with respect to the axis line 348 substantially perpendicular to the wall surface 304. Therefore, when the driving source 316 is biased, the pressure receiving body 302, in other words, the partition body 322 is rotated about the rotation axis line 350 which is slightly inclined with respect to the axis line 348.

【００６０】尚、受圧体３０２、仕切体３２２及び壁面
３０４によって規定される減圧領域３２４は、受圧体３
０２に形成された開口、軸部材３０６に形成された軸方
向に延びる中空部３５２及び上記軸方向に対して垂直に
延びる複数の小孔３５４、装置本体３１２内に規定され
た空間３５６、並びにフレキシブルチューブ３５８を介
して減圧源３６０に連通されている。The pressure reducing region 324 defined by the pressure receiving body 302, the partition body 322 and the wall surface 304 is the pressure receiving body 3
02, the hollow portion 352 extending in the axial direction formed in the shaft member 306, the plurality of small holes 354 extending perpendicularly to the axial direction, the space 356 defined in the apparatus main body 312, and the flexibility. The reduced pressure source 360 is communicated with a tube 358.

【００６１】かかる装置において、減圧源３６０が付勢
されると、減圧領域３２４内の流体が軸部材３０６の中
空部３５２、軸部材３０６に形成された小孔３５４、装
置本体３１２内の空間３５６及びフレキシブルチューブ
３５８を通って外部に排出され、これによって減圧領域
３２４が所要の通り減圧せしめられる。In such an apparatus, when the decompression source 360 is energized, the fluid in the decompression region 324 causes the fluid in the hollow portion 352 of the shaft member 306, the small hole 354 formed in the shaft member 306, and the space 356 in the apparatus body 312. And is discharged to the outside through the flexible tube 358, whereby the decompression region 324 is decompressed as required.

【００６２】かくすると、減圧領域３４２内外の流体圧
力差に起因して受圧体３０２に作用する包囲流体圧力
は、その一部が仕切体３２２の環状部材３３６を介して
壁面３０４に伝達されると共にその残部が軸部材３０
６、軸受３１０、装置本体３１２、剛性フレーム３４２
及び車輪３４４を介して壁面３０４に伝達され、これに
よって装置が壁面３０４に吸着せしめられる。一方、減
圧領域３２４内外の流体圧力差に起因して仕切体３２２
のシール部３２６に作用する包囲流体圧力はシール部３
２６の主部３３２の自由端部３３０を壁面３０４に向け
て偏倚せしめ、これによって上記主部３３２の自由端部
３３０が壁面３０４に接触せしめられる。Thus, the surrounding fluid pressure acting on the pressure receiving body 302 due to the fluid pressure difference between the inside and outside of the depressurization region 342 is partially transmitted to the wall surface 304 via the annular member 336 of the partition body 322. The remaining part is the shaft member 30.
6, bearing 310, device body 312, rigid frame 342
And to the wall surface 304 via the wheels 344, so that the device is attracted to the wall surface 304. On the other hand, due to the fluid pressure difference between the inside and outside of the depressurization region 324, the partition body 322 is
The surrounding fluid pressure acting on the seal portion 326 of the
The free end portion 330 of the main portion 332 of 26 is biased toward the wall surface 304, so that the free end portion 330 of the main portion 332 is brought into contact with the wall surface 304.

【００６３】そして、かかる壁面３０４への吸着状態に
おいて駆動源３１６を付勢すると、プーリ３１８、ベル
ト３２０及びプーリ３１４を介して軸部材３０６が回転
され、これによって受圧体３０２と一体に仕切体３２２
が軸線３４８に対して幾分傾斜した回転軸線３５０を中
心として回転される。かくすると、仕切体３２２の支持
部３２８の壁面３０４との接触部位と壁面３０４間に装
置を移動せしめようとする力が発生し、電動モータ３４
６によって回転駆動される車輪３４４及び上述した如く
回転される支持部３２８の作用によって装置が壁面３０
４に沿って所要の通り自走せしめられ、また仕切体３２
２、特にシール部３２６の作用によって壁面３０４のク
リーニングが遂行される。When the drive source 316 is biased in the state of being attracted to the wall surface 304, the shaft member 306 is rotated via the pulley 318, the belt 320 and the pulley 314, whereby the partition body 322 is integrated with the pressure receiving body 302.
Is rotated about an axis of rotation 350 that is somewhat inclined with respect to axis 348. As a result, a force for moving the device is generated between the wall surface 304 and the contact portion of the support portion 328 of the partition body 322 with the wall surface 304, and the electric motor 34
6 is rotated by the wheels 344 and the support 328 rotated as described above causes the device to move to the wall surface 30.
It can be self-propelled as required along 4 and the partition 32
2, the cleaning of the wall surface 304 is performed by the action of the seal portion 326.

【００６４】かくの通りであるので、第３の実施の形態
においても、仕切体３２２はシール機能、走行機能及び
表面処理機能をもち、かかる装置は上記第１の実施の形
態の装置と実質上同様の効果を奏する。As described above, in the third embodiment as well, the partition body 322 has a sealing function, a running function and a surface treatment function, and such a device is substantially the same as the device of the first embodiment. Has the same effect.

【００６５】[0065]

【発明の効果】本発明によれば、比較的簡単な構成でも
って壁面に吸着し、それに沿って移動することができ
る、優れた装置が得られる。この装置においては、受圧
体の壁面に対向する側に配設された仕切体は、壁面に実
質上垂直な軸線に対して傾斜した回転軸線を中心として
受圧体に対して回転自在であり、その自由端部が壁面に
接触せしめられ、受圧体及び壁面と協働して減圧領域を
規定するよう構成されている。回転軸線が垂直な軸線に
対して傾斜した側の、仕切体の自由端部の壁面に接触す
る部位は、他の接触部位より接触圧力が増大するので、
その接線方向に移動させられる傾向が生ずる。この接触
圧力が増大する接触部位は、壁面に垂直な軸線の上方か
ら見て、この垂直な軸線を通り回転中心軸線が傾斜した
方向に延びる線上に位置し、上方から見てこの線にクロ
スする接線方向に駆動力が生成される。すなわち、仕切
体は、受圧体及び壁面と協働して減圧領域を規定するシ
ール機能の他に、壁面に対して相対的に移動する走行機
能を有している。従って装置を移動させるための走行手
段の一部を仕切体によって兼用することができるので、
装置全体の構成が著しく簡略化、小型化され、製造コス
トも大幅に低減される。According to the present invention, it is possible to obtain an excellent device which can be attracted to a wall surface and can be moved along the wall surface with a relatively simple structure. In this device, the partition body disposed on the side facing the wall surface of the pressure receiving body is rotatable with respect to the pressure receiving body about a rotation axis inclined with respect to an axis substantially perpendicular to the wall surface. The free end is brought into contact with the wall surface and is configured to cooperate with the pressure receiving body and the wall surface to define the decompression region. On the side where the rotation axis is inclined with respect to the vertical axis, the contact pressure on the wall surface of the free end of the partition body is higher than the contact pressure on other contact areas.
It tends to be moved in its tangential direction. The contact portion where the contact pressure increases is located on a line extending in the direction in which the central axis of rotation passes through this vertical axis and is inclined when viewed from above the axis perpendicular to the wall surface, and crosses this line when viewed from above. Driving force is generated tangentially. That is, the partition body has a traveling function of moving relative to the wall surface, in addition to the sealing function of defining the decompression region in cooperation with the pressure receiving body and the wall surface. Therefore, part of the traveling means for moving the device can be shared by the partition body,
The configuration of the entire device is significantly simplified and downsized, and the manufacturing cost is also significantly reduced.

【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第１の実施の
形態を示す平面図。FIG. 1 is a plan view showing a first embodiment of an apparatus constructed according to the present invention.

【図２】図１の装置の正面図。FIG. 2 is a front view of the device of FIG.

【図３】図１におけるＡ−Ａ矢視断面図。FIG. 3 is a sectional view taken along the line AA in FIG. 1;

【図４】図１の装置における仕切体を下方から見たとこ
ろを示す図。FIG. 4 is a diagram showing a partition body in the apparatus of FIG. 1 viewed from below.

【図５】図１の装置の走行を説明するための説明図。5 is an explanatory diagram for explaining traveling of the device in FIG. 1. FIG.

【図６】本発明に従って構成された装置の第２の実施の
形態を示す平面図。FIG. 6 is a plan view showing a second embodiment of an apparatus constructed according to the present invention.

【図７】図６の装置を示す正面図。FIG. 7 is a front view showing the device of FIG.

【図８】図６の装置の一つのユニット体を断面で示す断
面図。8 is a sectional view showing a unit body of the apparatus shown in FIG. 6 in section.

【図９】本発明に従って構成された装置の第３の実施の
形態を正面から見たところを示す断面図。FIG. 9 is a sectional view showing a third embodiment of an apparatus constructed according to the present invention as seen from the front.

【符号の説明】[Explanation of symbols]

１０２、１０２ａ、１０２ｂ及び３０２ 受圧体 １０４及び３０４ 壁面 １１０及び３１６ 駆動源 １１６及び３２２ 仕切体 １１８及び３２４ 減圧領域 １２０及び３２６ シール部 １２２及び３２８ 支持部 １４２及び３５０ 回転軸線 １６０及び３６０ 減圧源 ２０２ａ、２０２ｂ及び２０２ｃ ユニット体 ３１２ 装置本体 102, 102a, 102b and 302 Pressure receiving body 104 and 304 Wall surface 110 and 316 Drive source 116 and 322 Partition body 118 and 324 Decompression region 120 and 326 Seal part 122 and 328 Support part 142 and 350 Rotation axis 160 and 360 Decompression source 202a, 202b and 202c Unit body 312 Device body

Claims (20)

(57)【特許請求の範囲】(57) [Claims] 【請求項１】 包囲圧力流体によって壁面に吸着し且つ
該壁面に沿って移動することができる装置にして、 剛性乃至半剛性材料から形成された受圧体と、 該受圧体の該壁面に対向する側に配設され且つ該壁面に
実質上垂直な軸線に対して傾斜した回転軸線を中心とし
て該受圧体に対して回転自在に装着された、該壁面に面
した自由端部に向かって拡がりながら延びる中空円錐形
状の仕切体であって、該受圧体及び該壁面と協働して減
圧領域を規定するところの仕切体と、 該受圧体に装着され、該受圧体に対して該仕切体を回転
せしめるための駆動源と、 該減圧領域から流体を排出して該仕切体の該自由端部を
該壁面に接触せしめることにより該減圧領域を真空に生
成せしめ、該減圧領域内外の流体圧力差に起因して装置
を該壁面に吸着せしめるための減圧源とを具備する、こ
とを特徴とする装置。1. A device capable of adsorbing to a wall surface by an enclosed pressure fluid and moving along the wall surface, comprising: a pressure-receiving body made of a rigid or semi-rigid material, and a surface facing the wall surface of the pressure-receiving body. On the side and rotatably attached to the pressure receiving body about a rotation axis inclined with respect to an axis substantially vertical to the wall surface, while expanding toward a free end portion facing the wall surface. A hollow conical partitioning body that extends and defines a decompression region in cooperation with the pressure receiving body and the wall surface; and a partitioning body that is mounted on the pressure receiving body and that is attached to the pressure receiving body. A drive source for rotating the fluid and a fluid pressure difference between the inside and the outside of the decompression area, which is generated by discharging fluid from the decompression area and bringing the free end of the partition body into contact with the wall surface to generate a vacuum. Cause the device to stick to the wall Comprising the order decompression source, and wherein the. 【請求項２】 該受圧体には、該壁面に接触せしめられ
る補助走行手段が設置されている、請求項１記載の装
置。2. The apparatus according to claim 1, wherein the pressure receiving body is provided with auxiliary traveling means that is brought into contact with the wall surface. 【請求項３】 該補助走行手段を駆動せしめるための補
助駆動源を更に備えている、請求項２記載の装置。3. The apparatus according to claim 2, further comprising an auxiliary drive source for driving the auxiliary traveling means. 【請求項４】 該受圧体の該壁面に対向する側には、該
駆動源によって該回転軸線を中心として回転される回転
体が配置され、該回転体に該仕切体が装着されており、
更に、該回転体には、該回転体、該仕切体及び該壁面に
よって規定される第１の領域と該回転体及び該受圧体に
よって規定される第２の領域を連通する開口が設けられ
ている、請求項２記載の装置。4. A rotating body, which is rotated about the rotation axis by the drive source, is arranged on a side of the pressure receiving body facing the wall surface, and the partition body is mounted on the rotating body.
Further, the rotating body is provided with an opening that communicates the first region defined by the rotating body, the partition body, and the wall surface with the second region defined by the rotating body and the pressure receiving body. The device of claim 2, wherein 【請求項５】 該受圧体と該回転体の間には、両者間を
シールするためのシール部材が配設されている、請求項
４記載の装置。5. The apparatus according to claim 4, wherein a seal member is provided between the pressure receiving body and the rotating body to seal the two. 【請求項６】 該仕切体は、該回転体の周縁部に配置さ
れ且つ該受圧体及び該壁面と協働して該減圧領域を規定
するシール部と、該シール部の配置部位の内側に配置さ
れた支持部を含み、該仕切体の該シール部は、少なくと
も該壁面に接触する該自由端部が該回転体に対して該壁
面の方向及びこれから離れる方向に変位し得るような弾
性を有しており、該減圧領域内外の流体圧力差に起因し
て該シール部に作用する流体圧力によって該シール部の
該自由端部が該壁面に接触せしめられ、一方該減圧領域
内外の流体圧力差に起因して該受圧体に作用する流体圧
力は該仕切体の該支持部及び該補助走行手段を介して該
壁面に伝えられる、請求項４記載の装置。6. The partition body is disposed on a peripheral portion of the rotary body and cooperates with the pressure receiving body and the wall surface to define the depressurized area, and inside the arrangement portion of the seal portion. The seal portion of the partition body includes a support portion arranged so as to provide elasticity so that at least the free end contacting the wall surface can be displaced with respect to the rotating body in a direction toward and away from the wall surface. The free end of the seal portion is brought into contact with the wall surface by the fluid pressure acting on the seal portion due to the fluid pressure difference inside and outside the pressure reducing area, while the fluid pressure inside and outside the depressurizing area. The device according to claim 4, wherein the fluid pressure acting on the pressure receiving body due to the difference is transmitted to the wall surface via the support portion of the partition body and the auxiliary traveling means. 【請求項７】 該仕切体の該支持部は該回転体に装着さ
れた環状部材から構成され、該シール部は該環状部材の
外周面に接続された一端部から外方に且つ該壁面の方向
に延び該自由端部が該壁面に接触せしめられる主部と該
主部の該自由端部から更に外方に且つ該壁面から離れる
方向に延びる延長部を含み、該減圧領域内外の流体圧力
差に起因して該シール部に作用する流体圧力によって該
主部の該自由端部が該壁面に接触せしめられ、一方該減
圧領域内外の流体圧力差に起因して該受圧体に作用する
流体圧力は該環状部材の一部及び該補助走行手段を介し
て該壁面に伝えられる、請求項６記載の装置。7. The support portion of the partition body is composed of an annular member attached to the rotating body, and the seal portion is outward from one end portion connected to the outer peripheral surface of the annular member and on the wall surface. Fluid pressure inside and outside the depressurization region, including a main part extending in a direction in which the free end is brought into contact with the wall surface and an extension part extending further outward from the free end part of the main part and away from the wall surface. The fluid pressure acting on the seal portion due to the difference causes the free end portion of the main portion to contact the wall surface, while the fluid acting on the pressure receiving body due to the fluid pressure difference between the inside and outside of the pressure reducing region. 7. A device according to claim 6, wherein pressure is transmitted to the wall surface via a part of the annular member and the auxiliary traveling means. 【請求項８】 該仕切体の該主部の該自由端部には、周
方向に間隔を置いて該減圧領域内外を連通する複数個の
第１の溝が形成され、該仕切体の該環状部材には、周方
向に間隔を置いてこれを貫通する第２の溝が形成されて
いる、請求項７記載の装置。8. A plurality of first grooves are formed in the free end portion of the main portion of the partition body so as to communicate with the inside and outside of the decompression region at intervals in the circumferential direction, and the first groove of the partition body is formed. The device according to claim 7, wherein the annular member is formed with second grooves that are circumferentially spaced from and penetrate through the annular member. 【請求項９】 該第２の溝の横断面積は該第２の溝の横
断面積より大きい、請求項８記載の装置。9. The apparatus of claim 8, wherein the cross-sectional area of the second groove is larger than the cross-sectional area of the second groove. 【請求項１０】 包囲圧力流体によって壁面に吸着し且
つ該壁面に沿って移動することができる装置にして、 相互に連結されている２以上の複数個のユニット体を備
え、 該ユニット体の各々は、 剛性乃至半剛性材料から形成された受圧体と、 該受圧体の該壁面に対向する側に配設され且つ該壁面に
実質上垂直な軸線に対して傾斜した回転軸線を中心とし
て該受圧体に対して回転自在に装着された、該壁面に面
した自由端部に向かって拡がりながら延びる中空円錐形
状の仕切体であって、該受圧体及び該壁面と協働して減
圧領域を規定するところの仕切体と、 該受圧体に装着され、該受圧体に対して該仕切体を回転
せしめるための駆動源とを具備し、 該減圧領域の各々は、該減圧領域の各々から流体を排出
して該仕切体の各々の該自由端部を該壁面に接触せしめ
ることにより該減圧領域の各々を真空に生成せしめ、該
減圧領域の各々の内外の流体圧力差に起因して装置を該
壁面に吸着せしめるための減圧源に連結されている、こ
とを特徴とする装置。10. An apparatus capable of adsorbing to a wall surface by an ambient pressure fluid and moving along the wall surface, comprising two or more unit bodies connected to each other, each of the unit bodies Is a pressure-receiving body made of a rigid or semi-rigid material, and the pressure-receiving body centered on a rotation axis that is arranged on the side of the pressure-receiving body facing the wall surface and is inclined with respect to an axis substantially perpendicular to the wall surface. A hollow cone-shaped partition body rotatably attached to the body and extending toward a free end facing the wall surface, and defining a decompression region in cooperation with the pressure receiving body and the wall surface. And a drive source that is attached to the pressure receiving body and that rotates the partition body with respect to the pressure receiving body. Each of the depressurization regions supplies fluid from each of the depressurizing regions. Ejecting the free ends of each of the dividers Connected to a vacuum source for causing each of the reduced pressure areas to create a vacuum by contacting the wall surface and causing the device to adsorb to the wall surface due to the fluid pressure difference between the inside and outside of each of the reduced pressure areas, A device characterized by the above. 【請求項１１】 該ユニット体の各々の該受圧体の該壁
面に対向する側には、該駆動源によって該回転軸線を中
心として回転される回転体が配置され、該回転体の各々
に該仕切体が装着されており、更に、該回転体の各々に
は、夫々、該回転体、該仕切体及び該壁面によって規定
される第１の領域と該回転体及び該受圧体によって規定
される第２の領域を連通する開口が設けられている、請
求項１０記載の装置。11. A rotating body, which is rotated about the rotation axis by the drive source, is disposed on a side of each of the unit bodies facing the wall surface of the pressure receiving body, and each of the rotating bodies has a rotating body. A partition body is mounted, and each of the rotary bodies is defined by a first region defined by the rotary body, the partition body and the wall surface, and the rotary body and the pressure receiving body, respectively. 11. The device according to claim 10, wherein an opening is provided that communicates with the second region. 【請求項１２】 該ユニット体の各々の該仕切体は、該
回転体の周縁部に配置され且つ該受圧体及び該壁面と協
働して該減圧領域を規定するシール部と、該シール部の
配置部位の内側に配置された支持部を含み、該仕切体の
各々の該シール部は、少なくとも該壁面に接触する該自
由端部が該回転体に対して該壁面の方向及びこれから離
れる方向に変位し得るような弾性を有しており、該減圧
領域の各々の内外の流体圧力差に起因して該シール部の
各々に作用する流体圧力によって該シール部の各々の該
自由端部が該壁面に接触せしめられ、一方該減圧領域の
各々の内外の流体圧力差に起因して該受圧体の各々に作
用する流体圧力は該ユニット体の各々の該仕切体の該支
持部を介して該壁面に伝えられる、請求項１１載の装
置。12. A seal portion, which is arranged at a peripheral portion of the rotary body and cooperates with the pressure receiving body and the wall surface to define the depressurized region, and the seal portion. Of the partition body, the seal portion of each of the partition bodies has at least the free end contacting the wall surface in a direction toward and away from the wall surface with respect to the rotating body. Has a resilience such that the free end of each of the seals is affected by the fluid pressure acting on each of the seals due to the fluid pressure difference between the interior and exterior of each of the depressurized regions. The fluid pressure exerted on each of the pressure receiving bodies due to the fluid pressure difference between the inside and the outside of each of the depressurized regions is brought into contact with the wall surface, and the fluid pressure is exerted via the supporting portion of each of the partition bodies of each of the unit bodies. The device according to claim 11, which is transmitted to the wall surface. 【請求項１３】 該ユニット体の各々の該仕切体の該支
持部は該回転体に装着された環状部材から構成され、該
シール部の各々は該環状部材の外周面に接続された一端
部から外方に且つ該壁面の方向に延び該自由端部が該壁
面に接触せしめられる主部と、該主部の該自由端部から
更に外方に且つ該壁面から離れる方向に延びる延長部を
含み、該減圧領域の各々の内外の流体圧力差に起因して
該シール部の各々に作用する流体圧力によって該主部の
該自由端部の各々が該壁面に接触せしめられ、一方該減
圧領域の各々の内外の流体圧力差に起因して該受圧体に
作用する流体圧力は該ユニット体の各々の該環状部材の
一部を介して該壁面に伝えられ、該環状部材の各々の該
一部は、該垂直な軸線の上方から見て該垂直な軸線を通
り該回転中心軸線が傾斜した方向に延びる線上に位置す
る、請求項１２記載の装置。13. The support portion of the partition body of each of the unit bodies is composed of an annular member attached to the rotating body, and each of the seal portions is one end portion connected to an outer peripheral surface of the annular member. A main portion that extends outwardly from the free end portion of the main portion so as to contact the wall surface, and an extension portion that extends further outward from the free end portion of the main portion and away from the wall surface. Fluid pressure exerted on each of the seals due to a fluid pressure differential between the interior and exterior of each of the decompression areas, causing each of the free ends of the main portion to contact the wall surface, while the decompression areas The fluid pressure acting on the pressure receiving body due to the fluid pressure difference between the inside and the outside of each of the unit is transmitted to the wall surface through a part of the annular member of each of the unit bodies, and the one of each of the annular members of The part passes through the vertical axis as viewed from above the vertical axis, and the rotation center axis is The device according to claim 12, which is located on a line extending in an inclined direction. 【請求項１４】 包囲圧力流体によって壁面に吸着し且
つ該壁面に沿って移動することができる装置にして、 装置本体と、 剛性乃至半剛性材料から形成され、該壁面に実質上垂直
な軸線に対して傾斜した回転軸線を中心として回転自在
に該装置本体に装着された受圧体と、 該受圧体の該壁面に対向する側に配設され且つ該受圧体
に連結されて一体に回転する、該壁面に面した自由端部
に向かって拡がりながら延びる中空円錐形状の仕切体で
あって、該受圧体及び該壁面と協働して減圧領域を規定
するところの仕切体と、 該装置本体に装着され、該装置本体に対して該受圧体を
回転せしめるための駆動源と、 該減圧領域から流体を排出して該仕切体の該自由端部を
該壁面に接触せしめることにより該減圧領域を真空に生
成せしめ、該減圧領域内外の流体圧力差に起因して装置
を該壁面に吸着せしめるための減圧源とを具備する、こ
とを特徴とする装置。14. A device capable of adsorbing to a wall surface by an ambient pressure fluid and moving along the wall surface, comprising: a device body; and an axis formed from a rigid or semi-rigid material and substantially perpendicular to the wall surface. A pressure receiver rotatably mounted on the main body of the apparatus about an axis of rotation that is inclined with respect to the pressure axis; and a pressure receiver that is disposed on the side of the pressure receiver facing the wall surface and is connected to the pressure receiver to rotate integrally. A partition body having a hollow conical shape extending while expanding toward a free end facing the wall surface, the partition body cooperating with the pressure receiving body and the wall surface to define a decompression region, and the device body. A drive source that is mounted to rotate the pressure receiving body with respect to the apparatus main body, and discharges fluid from the pressure reducing area to bring the free end portion of the partition body into contact with the wall surface to reduce the pressure reducing area. A vacuum is generated and the reduced pressure area The device due to the fluid pressure difference between the outside; and a vacuum source for allowing suction to the wall surface, and wherein the. 【請求項１５】 該装置本体には、該壁面に接触せしめ
られる補助走行手段が設置されている、請求項１４記載
の装置。15. The device according to claim 14, wherein auxiliary traveling means that is brought into contact with the wall surface is installed in the device body. 【請求項１６】 該補助走行手段を駆動せしめるための
補助駆動源を更に備えている、請求項１５記載の装置。16. The apparatus according to claim 15, further comprising an auxiliary drive source for driving the auxiliary traveling means. 【請求項１７】 該仕切体は、該受圧体の周縁部に配置
され且つ該受圧体及び該壁面と協働して該減圧領域を規
定するシール部と該シール部の配置部位の内側に配置さ
れた支持部を含み、該仕切体のシール部は、少なくとも
該壁面に接触する該自由端部が該受圧体に対して該壁面
の方向及びこれから離れる方向に変位し得るような弾性
を有しており、該減圧領域内外の流体圧力差に起因して
該シール部に作用する流体圧力によって該シール部の該
自由端部が該壁面に接触せしめられ、一方該減圧領域内
外の流体圧力差に起因して該受圧体に作用する流体圧力
は該仕切体の該支持部及び該補助走行手段を介して該壁
面に伝えられる、請求項１５記載の装置。17. The partition body is arranged at a peripheral portion of the pressure receiving body, and is arranged inside a seal portion which defines the depressurized area in cooperation with the pressure receiving body and the wall surface and an arrangement portion of the seal portion. And a seal portion of the partition body having elasticity such that at least the free end portion in contact with the wall surface can be displaced with respect to the pressure receiving body in a direction toward and away from the wall surface. The free end of the seal portion is brought into contact with the wall surface by the fluid pressure acting on the seal portion due to the fluid pressure difference between the inside and outside of the pressure reducing area, while the fluid pressure difference between inside and outside of the pressure reducing area is increased. 16. The device according to claim 15, wherein the fluid pressure that acts on the pressure receiving body is transmitted to the wall surface via the support portion of the partition body and the auxiliary traveling means. 【請求項１８】 該仕切体の該支持部は該受圧体に装着
された環状部材から構成され、該シール部は該環状部材
の外周面に接続された一端部から外方に且つ該壁面の方
向に延び該自由端部が該壁面に接触せしめられる主部
と、該主部の該自由端部から更に外方に且つ該壁面から
離れる方向に延びる延長部を含み、該減圧領域内外の流
体圧力差に起因して該シール部に作用する流体圧力によ
って該主部の該自由端部が該壁面に接触せしめられ、一
方該減圧領域内外の流体圧力差に起因して該受圧体に作
用する流体圧力は該環状部材の一部及び該補助走行手段
を介して該壁面に伝えられ、該環状部材の該一部は、該
垂直な軸線の上方から見て該垂直な軸線を通り該回転中
心軸線が傾斜した方向に延びる線上に位置する、請求項
１７記載の装置。18. The support portion of the partition body is composed of an annular member mounted on the pressure receiving body, and the seal portion is outward from one end portion connected to the outer peripheral surface of the annular member and on the wall surface. Fluid in and out of the depressurized region, including a main portion extending in a direction and having the free end in contact with the wall surface, and an extension portion extending further outward from the free end of the main portion and away from the wall surface. Due to the fluid pressure acting on the seal portion due to the pressure difference, the free end portion of the main portion is brought into contact with the wall surface, while acting on the pressure receiving body due to the fluid pressure difference inside and outside the depressurization region. The fluid pressure is transmitted to the wall surface through a part of the annular member and the auxiliary traveling means, and the part of the annular member passes through the vertical axis as viewed from above the vertical axis and the center of rotation. 18. The device of claim 17, wherein the axis lies on a line extending in a tilted direction. 【請求項１９】 該仕切体の該主部の該自由端部には、
周方向に間隔を置いて該減圧領域内外を連通する複数個
の第１の溝が形成され、該仕切体の該環状部材には、周
方向に間隔を置いてこれを貫通する第２の溝が形成され
ている、請求項１８記載の装置。19. The free end portion of the main portion of the partition body,
A plurality of first grooves are formed at intervals in the circumferential direction and communicate with the inside and outside of the decompression region, and the annular member of the partition body has second grooves penetrating the annular member at intervals in the circumferential direction. 19. The device of claim 18, wherein the device is formed. 【請求項２０】 該第２の溝の横断面積は該第１の溝の
横断面積より大きい、請求項１９記載の装置。20. The device of claim 19, wherein the cross-sectional area of the second groove is larger than the cross-sectional area of the first groove.
JP7224604A 1995-08-10 1995-08-10 Device capable of adsorbing on a wall surface and moving along the wall surface Expired - Lifetime JP2563094B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP7224604A JP2563094B2 (en) 1995-08-10 1995-08-10 Device capable of adsorbing on a wall surface and moving along the wall surface

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP7224604A JP2563094B2 (en) 1995-08-10 1995-08-10 Device capable of adsorbing on a wall surface and moving along the wall surface

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
JP61217924A Division JPH0818247B2 (en) 1985-11-05 1986-09-18 A device that can move along the surface of an object

Publications (2)

Publication Number Publication Date
JPH0853081A JPH0853081A (en) 1996-02-27
JP2563094B2 true JP2563094B2 (en) 1996-12-11

Family

ID=16816336

Family Applications (1)

Application Number Title Priority Date Filing Date
JP7224604A Expired - Lifetime JP2563094B2 (en) 1995-08-10 1995-08-10 Device capable of adsorbing on a wall surface and moving along the wall surface

Country Status (1)

Country Link
JP (1) JP2563094B2 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000006860A (en) * 1998-06-23 2000-01-11 Fukashi Uragami Device movable by adsorbing surface
JP4560286B2 (en) * 2003-10-14 2010-10-13 信 上野 Polishing equipment
RU2628285C2 (en) * 2015-10-12 2017-08-15 Общество С Ограниченной Ответственностью "Лаборатория Эландис" Chassis for moving over various support surfaces with wheel-step movers

Also Published As

Publication number Publication date
JPH0853081A (en) 1996-02-27

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