JP2836947B2 - Wall adsorption device - Google Patents
Wall adsorption deviceInfo
- Publication number
- JP2836947B2 JP2836947B2 JP2290655A JP29065590A JP2836947B2 JP 2836947 B2 JP2836947 B2 JP 2836947B2 JP 2290655 A JP2290655 A JP 2290655A JP 29065590 A JP29065590 A JP 29065590A JP 2836947 B2 JP2836947 B2 JP 2836947B2
- Authority
- JP
- Japan
- Prior art keywords
- suction
- seal member
- flexible seal
- wall surface
- suction device
- 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
Links
Landscapes
- Manipulator (AREA)
- Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)
Description
【発明の詳細な説明】 （産業上の利用分野） 本発明は，作業員が容易に近づき難い高所，例えば大
型構造物の上等での定期点検，補修，清掃，塗装等の作
業を行うときに使用する壁面吸着装置に関するものであ
る。DETAILED DESCRIPTION OF THE INVENTION (Industrial application field) The present invention performs periodic inspections, repairs, cleaning, painting, and the like on high places where workers are not easily accessible, for example, on large structures. The present invention relates to a wall suction device that is sometimes used.
（従来の技術） 従来，煙突，大型タンク，橋梁等の大型構造物の上で
の定期点検，補修，清掃，塗装等の作業は，高所作業に
なるので，遠隔操作及び移動可能な壁面吸着装置が必要
になる。(Conventional technology) Conventionally, regular inspections, repairs, cleaning, painting, etc., on large structures such as chimneys, large tanks, bridges, etc. are performed at a high place, so remote operation and movable wall surface adsorption are required. Equipment is required.
この従来例を第5,6,7図により説明すると，（ａ）が
平面視円形の吸着パツド本体，（ｂ）が同吸着パツド本
体（ａ）の外周部から半径方向外方へ突設した複数個の
可撓性シール部材，（ｃ）が真空源（図示せず）から延
びた真空吸引ホース，（f1）（f2）が上記吸着パツド本
体（ａ）に取付けた支持架構，（d1）〜（d4）が同支持
架構（f1）（f2）の両端部に取付けた走行車輪，（e1）
（e2）が上記支持架構（f1）（f2）上に取付けた駆動モ
ータ，（g1）（g2）が同駆動モータ（e1）のスプロケツ
トと上記走行車輪（d1）（g2）のスプロケツトとの間に
懸装した駆動チエーン（または駆動ベルト），（g3）
（g4）が同駆動モータ（e2）のスプロケツトと上記走行
車輪（d3）（d4）のスプロケツトとの間に懸装した駆動
チエーン，（ｈ）が上記吸着パツド本体（ａ）と上記各
可撓性シール部材（ｂ）との間に形成された減圧空間
部，（h1）が上記吸着パツド本体（ａ）の中心部に設け
て同減圧空間部に連通した真空吸引口で，上記真空吸引
ホース（ｃ）が同真空吸引口（h1）に取付られている。
また（ｉ）が壁面，（ｊ）が上記各可撓性シール部材
（ｂ）の支持部材，（ｋ）が同各可撓性シール部材
（ｂ）の過変形防止用仕切材，（ｌ）が同各可撓性シー
ル部材（ｂ）を上記支持部材（ｊ）に固定するボルト
で，真空源から延びた真空吸引ホース（ｃ）を真空吸引
口（h1）に取付けて，真空源を作動し，吸着パツド本体
（ａ）と各可撓性シール部材（ｂ）との間に形成された
減圧空間部（ｈ）内の空気を吸引して，壁面吸着装置を
壁面（ｉ）に吸着させ，次いで駆動モータ（e1）（e2）
を起動して，その回転を駆動チエーン（g1）（g2）及び
（g3）（g4）を介して走行車輪（d1）（d2）及び（d3）
（d4）に伝え，同走行車輪（d1）（d2）及び（d3）
（d4）を回転させて，壁面吸着装置を壁面（ｉ）に沿っ
て走行させる。このとき，各可撓性シール部材（ｂ）を
壁面（ｉ）の凹凸に応じ変形させて（矢印Ａ参照），吸
着パツド本体（ａ）と各可撓性シール部材（ｂ）との間
に形成された減圧空間部（ｈ）内を真空状態に保持する
ようになっている。This conventional example will be described with reference to FIGS. 5, 6, and 7. (a) is a suction pad main body having a circular shape in a plan view, and (b) is protruding radially outward from an outer peripheral portion of the suction pad main body (a). a plurality of flexible seal member, (c) a vacuum source vacuum suction hose extending from (not shown), (f 1) supporting Frame (f 2) is attached to the suction pads body (a), ( d 1) ~ (d 4) is the support Frame (f 1) (driving wheels mounted on both end portions of the f 2), (e 1)
(E 2 ) is a drive motor mounted on the support frame (f 1 ) (f 2 ), and (g 1 ) and (g 2 ) are sprockets of the drive motor (e 1 ) and the traveling wheels (d 1 ) g 2) drive chain that KakaSo between sprockets (or drive belt), (g 3)
(G 4 ) is a drive chain suspended between the sprocket of the driving motor (e 2 ) and the sprockets of the traveling wheels (d 3 ) and (d 4 ), and (h) is the driving chain (a) A decompression space formed between the flexible seal members (b) and (h 1 ) is provided at the center of the suction pad body (a) and is a vacuum suction port communicating with the decompression space. , the vacuum suction hose (c) is attached to the vacuum suction port (h 1).
Also, (i) is a wall surface, (j) is a support member of each of the above flexible seal members (b), (k) is a partition member for preventing excessive deformation of each of the flexible seal members (b), (l) Are attached to the vacuum suction port (h 1 ) by attaching a vacuum suction hose (c) extending from a vacuum source to a vacuum suction port (h 1 ) with bolts for fixing the respective flexible seal members (b) to the support member (j). Activate to suck the air in the decompression space (h) formed between the suction pad body (a) and each flexible seal member (b), and suction the wall suction device to the wall (i). And then drive motors (e 1 ) (e 2 )
And its rotation is transmitted through the driving chains (g 1 ) (g 2 ) and (g 3 ) (g 4 ) to the running wheels (d 1 ) (d 2 ) and (d 3 )
(D 4 ), and the traveling wheels (d 1 ), (d 2 ) and (d 3 )
By rotating (d 4 ), the wall surface adsorbing device is caused to travel along the wall surface (i). At this time, each flexible seal member (b) is deformed according to the unevenness of the wall surface (i) (see arrow A), and the space between the suction pad body (a) and each flexible seal member (b) is formed. The inside of the formed decompression space (h) is maintained in a vacuum state.
（発明が解決しようとする課題） 前記第5,6,7図に示す従来の壁面吸着装置では，原則
的に平面状の壁面（ｉ）を吸着対象面としている。その
ため，吸着対象面が円筒状構造物のように円筒状の場
合には，吸着パツド本体（ａ）の径を小さくして，こ
の吸着パツド本体（ａ）と各可撓性シール部材（ｂ）と
により，円筒状吸着対象面への吸着を可能にするか，
吸着パツド本体（ａ）の形状を円筒状の吸着対象面に合
わせて変えて，円筒状吸着対象面への吸着を可能にする
か，何れかの対策を講じる必要があるが，の場合に
は，吸着パッド本体（ａ）が小型化して，大型の作業機
器を搭載できない。またの場合には，壁面吸着装置を
大幅に改造しなければならなくて，経費が嵩むという問
題があった。(Problems to be Solved by the Invention) In the conventional wall surface suction device shown in FIGS. 5, 6, and 7, the flat wall surface (i) is basically used as the suction target surface. Therefore, when the suction target surface is cylindrical, such as a cylindrical structure, the diameter of the suction pad body (a) is reduced so that the suction pad body (a) and each flexible seal member (b) Whether to enable adsorption to the cylindrical adsorption target surface,
It is necessary to change the shape of the suction pad body (a) according to the cylindrical suction target surface to enable suction to the cylindrical suction target surface, or to take any measures. In addition, the suction pad body (a) is reduced in size, and large-sized working equipment cannot be mounted. In such a case, there has been a problem that the wall adsorbing device has to be largely remodeled, and the cost increases.
本発明は前記の問題点に鑑み提案するものであり，そ
の目的とする処は，壁面吸着装置本体の径を円筒状吸着
対象面に合わせて小さくしたり，壁面吸着装置本体の形
状を円筒状吸着対象面に合わせて変えたりしなくても，
円筒状吸着対象面への吸着を確実に行うことができる壁
面吸着装置を提供しようとする点にある。The present invention has been made in view of the above problems, and its object is to reduce the diameter of the main body of the wall suction device to match the cylindrical suction target surface, or to reduce the shape of the main body of the wall suction device to a cylindrical shape. Even if it does not change according to the suction target surface,
It is an object of the present invention to provide a wall surface suction device that can reliably perform suction on a cylindrical suction target surface.
（課題を解決するための手段） 上記の目的を達成するために，本発明は，円筒状の壁
面に吸着する壁面吸着装置において，壁面に接して減圧
領域を形成する可撓性シール部材がリング状に且つ加圧
流体の内部への注入が可能な中空状に形成され，前記可
撓性シール部材内部の加圧流体の圧力を壁面吸着装置外
側の圧力より高く調節する圧力調整手段が吸着装置本体
に設けられ，該吸着装置本体が，自在ジョイントにより
走行装置に取付角度可変に接続され，前記可撓性シール
部材と前記走行装置の走行車輪との吸着力の負荷分担比
率が設定可能とした。(Means for Solving the Problems) In order to achieve the above object, the present invention relates to a wall adsorbing device for adsorbing on a cylindrical wall, wherein a flexible seal member which forms a decompression region in contact with the wall has a ring shape. A pressure adjusting means for adjusting the pressure of the pressurized fluid inside the flexible seal member to be higher than the pressure outside the wall suction device; The suction device main body is provided on the main body, and the suction device main body is connected to the traveling device by a universal joint so as to be variably mounted at an angle, so that the load sharing ratio of the adsorption force between the flexible seal member and the traveling wheels of the traveling device can be set. .
（作用） 本発明の壁面吸着装置は前記のように構成されてお
り，中空・リング状可撓性シール部材を円筒状の壁面に
接触させ，次いで真空源を作動し，中空・リング状可撓
性シール部材の内方に形成された減圧空間部内の空気を
吸引して，壁面吸着装置を円筒状の壁面に吸着させ，こ
のとき，中空・リング状可撓性シール部材内の圧力を圧
力制御手段により計測し，ここで得られた制御信号を加
圧流体供給源へ送り，同加圧流体供給源から中空・リン
グ状可撓性シール部材内へ送る加圧流体の供給量を調整
して，同中空・リング状可撓性シール部材の形状を円筒
状の壁面の凹凸に応じ変形させ，同中空・リング状可撓
性シール部材を円筒状の壁面に密着させて，可撓性シー
ル部材の内方に形成された減圧空間部内を真空状態に保
持する。また，リング状可撓性シール部材が円筒状の壁
面に密着した状態で，自在ジョイントにより円筒状の壁
面に沿って走行する走行装置と吸着装置本体との角度が
変化しても，リング状可撓性シール部材の円筒状の壁面
への密着を維持する。さらに，前記可撓性シール部材と
前記走行装置の走行車輪との壁面に対する位置を設定す
ることにより，可撓性シール部材が円筒状の壁面に密着
して変形した場合でも，これら可撓性シール部材と走行
装置の走行車輪との吸着力の負荷分担比率を設定する。(Operation) The wall suction device of the present invention is configured as described above, and the hollow / ring-shaped flexible sealing member is brought into contact with the cylindrical wall surface, and then the vacuum source is operated to activate the hollow / ring-shaped flexible sealing member. The air in the depressurized space formed inside the flexible seal member is sucked, and the wall suction device is suctioned to the cylindrical wall surface. At this time, the pressure in the hollow / ring-shaped flexible seal member is pressure controlled. The control signal obtained here is sent to the pressurized fluid supply source, and the amount of pressurized fluid supplied from the pressurized fluid supply source into the hollow / ring-shaped flexible seal member is adjusted. The shape of the hollow / ring-shaped flexible seal member is deformed according to the unevenness of the cylindrical wall surface, and the hollow / ring-shaped flexible seal member is brought into close contact with the cylindrical wall surface to form a flexible seal member. Is maintained in a vacuum state in the decompression space formed inside. Also, with the ring-shaped flexible seal member in close contact with the cylindrical wall surface, even if the angle between the traveling device and the suction device main body traveling along the cylindrical wall surface by the universal joint changes, the ring-shaped flexible sealing member can be used. The close contact of the flexible seal member with the cylindrical wall surface is maintained. Further, by setting the positions of the flexible seal member and the traveling wheels of the traveling device with respect to the wall surface, even if the flexible seal member is in close contact with the cylindrical wall surface and is deformed, these flexible seal members are deformed. The load sharing ratio of the attraction force between the member and the traveling wheels of the traveling device is set.
（実施例） 次に本発明の壁面吸着装置を第１図ないし第３図に示
す一実施例より説明する。本実施例の壁面吸着装置部分
は，（13）が可撓性シール部材で，同可撓性シール部材
（13）は，リング状に且つ加圧流体の内部への注入が可
能な中空状（16）参照）に形成されている。また（14）
が同中空・リング状可撓性シール部材（13）に嵌合した
ホイール状部材，（17）が円板状の吸着装置本体で，同
円板状の吸着装置本体（17）と上記中空・リング状可撓
性シール部材（13）とにより減圧空間部（８）が形成さ
れている。また（15）が上記ホイール状部材（14）を貫
通した加圧流体導入用ポートで，同加圧流体導入用ポー
ト（15）が加圧流体供給用ホース（図示せず）を介して
加圧流体供給源（図示せず）に連通している。また（2
0）が上記吸着装置本体（17）の中心部に固定した取付
台，（18）が同取付台（20）を貫通して上記減圧空間部
（８）に開口した真空吸引口で，同真空吸引口（18）が
真空吸引ホース（図示せず）を介して真空源に連通して
いる。また（19）が上記取付台（20）を貫通して上記減
圧空間部（８）に開口した圧力調整手段の真空度測定口
（壁面への吸着力に比例した真空度を測定する真空度測
定口）で，同真空度測定口（19）が圧力制御装置（可撓
性シール部材（13）内の圧力を調整する圧力制御装置）
（図示せず）に連通している。また（21）が上記取付台
（20）に設けた自在ジョイントで，本吸着装置の操作杆
（図示せず）が同自在ジョイント（21）を介して取付台
（20）に取付けられる。(Embodiment) Next, a wall surface adsorbing device of the present invention will be described with reference to one embodiment shown in FIGS. In the wall suction device portion of the present embodiment, (13) is a flexible seal member, and the flexible seal member (13) is a ring-shaped hollow member capable of injecting pressurized fluid into the inside ( 16)). Also (14)
Is a wheel-shaped member fitted to the hollow / ring-shaped flexible sealing member (13), (17) is a disk-shaped suction device main body, and the disk-shaped suction device main body (17) is connected to the hollow / ring-shaped flexible sealing member (13). A reduced pressure space (8) is formed by the ring-shaped flexible seal member (13). Also, (15) is a port for introducing a pressurized fluid through the wheel-shaped member (14), and the port (15) for introducing the pressurized fluid is pressurized via a hose (not shown) for supplying a pressurized fluid. It is in communication with a fluid supply (not shown). Also (2
Reference numeral 0) denotes a mounting base fixed to the center of the suction device main body (17), and reference numeral (18) denotes a vacuum suction port which penetrates the mounting base (20) and opens to the decompression space (8). A suction port (18) communicates with a vacuum source via a vacuum suction hose (not shown). Further, (19) a vacuum measuring port (a vacuum measuring device for measuring a vacuum proportional to an adsorbing force on a wall surface) of a pressure adjusting means opened through the mounting base (20) to the decompression space (8). Port), the vacuum measurement port (19) is a pressure control device (a pressure control device that adjusts the pressure in the flexible seal member (13))
(Not shown). Reference numeral (21) denotes a universal joint provided on the mounting base (20), and an operating rod (not shown) of the present adsorption device is mounted on the mounting base (20) via the universal joint (21).
次に前記第１図に示す壁面への吸着装置の作用を具体
的に説明する。中空・リング状可撓性シール部材（13）
を円筒状の壁面（９）に接触させ，次いで真空源から延
びた真空吸引ホースを真空吸引口（18）に取付けて，真
空源を作動し，円板状の吸着装置本体（17）と中空・リ
ング状可撓性シール部材（13）との間に形成された減圧
空間部（８）内の空気を吸引して，吸着装置を円筒状の
壁面（９）に吸着させる。このとき，中空・リング状可
撓性シール部材（13）内の圧力を真空度測定口（19）を
経て圧力制御装置により計測し，ここで得られた制御信
号を加圧流体供給源へ送り，同加圧流体供給源から加圧
流体導入用ポート（15）を経て中空・リング状可撓性シ
ール部材（13）内へ送るる加圧流体の供給量を調整し
て，同中空・リング状可撓性シール部材（13）の形状を
円筒状の壁面（９）の凹凸に応じ変形させ，同中空・リ
ング状可撓性シール部材（13）を円筒状の壁面（９）に
密着させて，吸着装置本体体（17）と可撓性シール部材
（13）との間に形成された減圧空間部（８）内を真空状
態に保持する。Next, the operation of the suction device on the wall surface shown in FIG. 1 will be specifically described. Hollow / ring-shaped flexible sealing member (13)
Is brought into contact with the cylindrical wall surface (9), and then a vacuum suction hose extending from the vacuum source is attached to the vacuum suction port (18). The air in the decompression space (8) formed between the ring-shaped flexible seal member (13) and the ring-shaped flexible seal member (13) is sucked, and the suction device is sucked on the cylindrical wall surface (9). At this time, the pressure in the hollow / ring-shaped flexible seal member (13) is measured by the pressure control device through the vacuum measurement port (19), and the control signal obtained here is sent to the pressurized fluid supply source. The amount of pressurized fluid to be sent from the pressurized fluid supply source to the hollow / ring-shaped flexible seal member (13) through the pressurized fluid introduction port (15) is adjusted, The shape of the flexible seal member (13) is deformed according to the irregularities of the cylindrical wall surface (9), and the hollow and ring-shaped flexible seal member (13) is brought into close contact with the cylindrical wall surface (9). Thus, the inside of the decompression space (8) formed between the suction device main body (17) and the flexible seal member (13) is maintained in a vacuum state.
次に本発明の壁面吸着装置を第2,3図に示すようにさ
らに詳細に説明すると，（13）が可撓性シール部材で，
同可撓性シール部材（13）は，リング状に且つ加圧流体
の内部への注入が可能な中空状（（16）参照）に形成さ
れている。また（14）が同中空・リング状可撓性シール
部材（13）に嵌合したホイール状部材，（17）が吸着装
置本体で，同吸着装置本体（17）と上記可撓性シール部
材（13）とにより減圧空間部（８）が形成されている。
また（20）が上記吸着装置本体（17）の中心部に固定し
た取付台，（18）が上記吸着装置本体（17）を貫通して
上記減圧空間部（８）に開口した真空吸引口で，同真空
吸引口（18）が真空吸引ホース（図示せず）を介して真
空源に連通している。また（19）が上記吸着装置本体
（17）を貫通して上記減圧空間部（８）に開口した真空
度測定口（壁面への吸着力に比例した真空度を測定する
真空度測定口）で，同真空度測定口（19）が吸着制御装
置（図示せず）に連通している。また（21）が上記取付
台（20）に設けた自在ジヨイント，（22）が同自在ジヨ
イント（21）のねじ部に螺合した高さ調整ねじ，（23）
が同高さ調整ねじ（22）に固定した受台，（26）（26）
が同受台（23）に固定した架台，（26′）（26′）が同
架台（26）（26）に両端部に交差状態に固定した別の架
台で，同架台（26′）（26′）の両端部に走行車輪（24
a）とそれを駆動する駆動モータ（25a）とが取り付けら
れており，これら架台（26′）（26′）と，走行車輪
（24a）（24a）と，駆動モータ（25a）（25a）とは走行
装置を構成する。Next, the wall suction device of the present invention will be described in more detail as shown in FIGS. 2 and 3. (13) is a flexible seal member,
The flexible seal member (13) is formed in a ring shape and in a hollow shape (see (16)) capable of injecting the pressurized fluid into the inside. Further, (14) is a wheel-shaped member fitted to the hollow / ring-shaped flexible seal member (13), (17) is a suction device main body, and the suction device main body (17) and the flexible seal member ( 13) forms a reduced pressure space (8).
Reference numeral (20) denotes a mounting table fixed to the center of the suction device main body (17), and (18) denotes a vacuum suction port which penetrates through the suction device main body (17) and opens to the decompression space (8). The vacuum suction port (18) communicates with a vacuum source via a vacuum suction hose (not shown). Further, (19) is a vacuum measuring port (a vacuum measuring port for measuring a vacuum proportional to an adsorbing force on a wall surface) which is penetrated through the suction device main body (17) and opened to the decompression space (8). , The vacuum measurement port (19) communicates with an adsorption control device (not shown). Also, (21) is a universal joint provided on the mounting base (20), (22) is a height adjusting screw screwed into the thread portion of the universal joint (21), (23)
Pedestal fixed to height adjustment screw (22), (26) (26)
Is a stand fixed to the receiving stand (23), and (26 ') (26') is another stand fixed to the same stand (26) (26) at both ends in an intersecting state, and the stand (26 ') ( 26 ') on both ends of running wheels (24
a) and a drive motor (25a) for driving it are mounted, and these gantry (26 ') (26'), running wheels (24a) (24a), drive motors (25a) (25a) and Constitutes a traveling device.
次に前記第2,3図に示す壁面への吸着装置の作用を具
体的に説明する。中空・リング状可撓性シール部材（1
3）及び走行車輪（24a）〜（24d）を壁面（９）に接触
させ，次いで真空源から延びた真空吸引ホースを真空吸
引口（18）に取付けて，真空源を作動し，円板状の吸着
装置本体（17）と中空・リング状可撓性シール部材（1
3）との間に形成された減圧空間部（８）内の空気を吸
引して，吸着装置を円筒状の壁面（９）に吸着させる。
このとき，中空・リング状可撓性シール部材（13）内の
圧力を真空度測定口（19）を経て圧力制御装置により計
測し，ここで得られた制御信号を加圧流体供給源へ送
り，同加圧流体供給源から加圧流体導入用ポート（15）
を経て中空・リング状可撓性シール部材（13）内へ送る
加圧流体の供給量を調整して，同中空・リング状可撓性
シール部材（13）の形状を円筒状の壁面（９）の凹凸に
応じ変形させ，同中空・リング状可撓性シール部材（1
3）を円筒状の壁面（９）に密着させて，吸着装置本体
体（17）と中空・リング状可撓性シール部材（13）との
間に形成された減圧空間部（８）内を真空状態に保持す
る。またこのとき，駆動モータ（25a）〜（25d）を起動
して，その回転を走行車輪（24a）〜（24d）に伝え，こ
れらの走行車輪（24a）〜（24d）を回転させて，壁面吸
着装置を壁面（９）に沿って走行させる。Next, the operation of the suction device on the wall surface shown in FIGS. 2 and 3 will be specifically described. Hollow / ring-shaped flexible sealing member (1
3) The running wheels (24a) to (24d) are brought into contact with the wall surface (9), and then a vacuum suction hose extending from the vacuum source is attached to the vacuum suction port (18). Suction device body (17) and a hollow / ring-shaped flexible sealing member (1
The air in the decompression space (8) formed between 3) is sucked, and the adsorption device is adsorbed on the cylindrical wall surface (9).
At this time, the pressure in the hollow / ring-shaped flexible seal member (13) is measured by the pressure control device through the vacuum measurement port (19), and the control signal obtained here is sent to the pressurized fluid supply source. , Port for pressurized fluid introduction from the pressurized fluid supply source (15)
The supply amount of the pressurized fluid to be sent into the hollow / ring-shaped flexible seal member (13) through the above is adjusted to change the shape of the hollow / ring-shaped flexible seal member (13) into the cylindrical wall surface (9). ), The hollow and ring-shaped flexible seal member (1
3) is brought into close contact with the cylindrical wall surface (9), and the inside of the decompression space (8) formed between the suction device main body (17) and the hollow / ring-shaped flexible seal member (13) is removed. Hold in vacuum. In addition, at this time, the drive motors (25a) to (25d) are started, and the rotation is transmitted to the traveling wheels (24a) to (24d), and the traveling wheels (24a) to (24d) are rotated, and The suction device is moved along the wall surface (9).
また第４図は，中空・リング状可撓性シール部材（1
3）の内周面にチユーブ（28）を添設して，同中空・リ
ング状可撓性シール部材（13）を補強し，また走行時の
中空・リング状可撓性シール部材（13）と壁面（９）と
の間の摩擦抵抗を減少させるために，中空・リング状可
撓性シール部材（13）の低摩擦係数の膜材料（29）をコ
ーテイグした他の実施例である。FIG. 4 shows a hollow / ring-shaped flexible sealing member (1).
A tube (28) is attached to the inner peripheral surface of (3) to reinforce the hollow / ring-shaped flexible sealing member (13), and a hollow / ring-shaped flexible sealing member (13) for traveling. This is another embodiment in which a film material (29) having a low coefficient of friction of a hollow / ring-shaped flexible sealing member (13) is coated in order to reduce frictional resistance between the wall and the wall (9).
なお本壁面吸着装置の吸着力及び作業機器搭載能力は
次の通りである。The suction power and the work equipment mounting capacity of the wall suction device are as follows.
吸着力Ｆは，可撓性シール部材（13）の中心部の直径
をＤ（＝35cm），本吸着装置の周りの圧力をP0（１気圧
（760Torr），減圧空間部（８）内の圧力をP1（0.5気圧
（380Torr）），可撓性シール部材（13）内の圧力をP2
（２気圧）とすると， また作業機器搭載能力（吸着装置が壁面（９）から滑
り落ちない限界装置重量Ｗは，可撓性シール部材（13）
と壁面（９）との間の摩擦係数をμ０（＝0.3），ゴム
製走行車輪（24）と壁面（９）との間の摩擦係数をμ１
（＝0.3），可撓製シール部材（13）にコーテイングし
た膜材料（29）と壁面（９）との間の摩擦係数をμ
２（＝0.1）とすると， 第１図の吸着装置の作業機器搭載能力Ｗは， 第４図の吸着装置の作業機器搭載能力Ｗは， になる。The suction force F is D (= 35 cm) at the center of the flexible seal member (13), the pressure around the suction device is P 0 (1 atm (760 Torr)), and the pressure in the decompression space (8) is The pressure is P 1 (0.5 atm (380 Torr)) and the pressure in the flexible seal member (13) is P 2
(2 atm) The working equipment mounting capacity (the limit device weight W at which the suction device does not slide down from the wall (9) is the flexible sealing member (13)
The coefficient of friction between the wall and the wall (9) is μ 0 (= 0.3), and the coefficient of friction between the rubber running wheel (24) and the wall (9) is μ 1
(= 0.3), the friction coefficient between the film material (29) coated on the flexible sealing member (13) and the wall surface (9) is expressed as μ
2 (= 0.1), the working equipment mounting capacity W of the suction device in FIG. The working equipment mounting capacity W of the suction device in FIG. become.
また第2,3図の場合，吸着力Ｆの負荷分担比率を走行
車輪（24a）〜（24d）側が70％，可撓性シール部材（1
3）側が30％だとすると，高さ調整ねじ（22）を回転
し，走行車輪（24a）〜（24d）の可撓性シール部材（1
3）に対する高さ位置を変えて，これら走行車輪（24a）
〜（24d）と中空・リング状可撓性シール部材（13）と
の吸着力Ｆの負荷分担比率を上記数値に合うように調整
する。2 and 3, the load sharing ratio of the suction force F is 70% on the traveling wheels (24a) to (24d) side, and the flexible sealing member (1
3) Assuming that the side is 30%, the height adjustment screw (22) is rotated, and the flexible sealing members (1) of the traveling wheels (24a) to (24d) are rotated.
3) Change the height position with respect to these traveling wheels (24a).
(24d) and the load sharing ratio of the attraction force F between the hollow / ring-shaped flexible seal member (13) are adjusted to meet the above-mentioned numerical values.
以上のように第１図または第４図に示す中空・リング
状可撓性シール部材（13）を使用して，第2,3図の装置
構成にした場合，その何れにおいても,100kg以上の装置
＋作業機器の重量を吸着できる能力を持つことになり，
視覚装置，加工工具，マニピレータ等を使用して，作業
員が容易に近づき難い高所，例えば大型構造物の上等で
定期点検，補修，清掃，塗装等の作業を行うことが可能
になる。As described above, when the hollow / ring-shaped flexible sealing member (13) shown in FIG. 1 or FIG. 4 is used and the apparatus configuration shown in FIGS. It has the ability to absorb the weight of equipment + working equipment,
Using a visual device, a processing tool, a manipulator, and the like, it is possible to perform operations such as periodic inspection, repair, cleaning, and painting on a high place where an operator is not easily accessible, for example, on a large structure.
（発明の効果） 本発明の壁面吸着装置は前記のように中空・リング状
可撓性シール部材を壁面に接触させ，次いで真空源を作
動し，中空・リング状可撓性シール部材の内方に形成さ
れた減圧空間部内の空気を吸引して，壁面吸着装置を円
筒状の壁面に吸着させ，このとき，中空・リング状可撓
性シール部材内の圧力を圧力制御手段により計測し，こ
こで得られた制御信号を加圧流体供給源へ送り，同加圧
流体供給源から中空・リング状可撓性シール部材内へ送
る加圧流体の供給量を調整して，同中空・リング状可撓
性シール部材の形状を壁面の凹凸に応じ変形させ，同中
空・リング状可撓性シール部材を壁面に密着させて，可
撓性シール部材の内方に形成された減圧空間部内を真空
状態に保持すると同時に，吸着装置本体を，自在ジョイ
ントにより，円筒状の壁面を走行する走行装置に追従し
て取付角度可変に接続し，さらに，前記可撓性シール部
材と前記走行装置の走行車輪との吸着力の負荷分担比率
を設定することにより，移動時にも円筒状の壁面に可撓
性シール部材を密着するので，壁面吸着装置本体の径を
円筒状吸着対象面に合わせて小さくしたり，壁面吸着装
置本体の形状を円筒状吸着対象面に合わせて変えたりし
なくても，円筒状吸着対象面への吸着を確実に行うこと
ができる効果がある。(Effect of the Invention) As described above, the wall suction device of the present invention brings the hollow / ring-shaped flexible seal member into contact with the wall surface, and then operates the vacuum source to inward the hollow / ring-shaped flexible seal member. The air in the depressurized space formed in the space is sucked, and the wall suction device is sucked on the cylindrical wall surface. At this time, the pressure in the hollow / ring-shaped flexible seal member is measured by the pressure control means. To the pressurized fluid supply source, and adjust the amount of pressurized fluid to be sent from the pressurized fluid supply source into the hollow / ring-shaped flexible seal member. The shape of the flexible seal member is deformed according to the unevenness of the wall surface, and the hollow and ring-shaped flexible seal member is brought into close contact with the wall surface, and the inside of the depressurized space formed inside the flexible seal member is evacuated. While maintaining the state, the suction device body By following the running device running on the cylindrical wall surface, the connection angle can be changed and the connection angle can be changed. Further, the load sharing ratio of the attraction force between the flexible seal member and the running wheels of the running device can be set. Since the flexible seal member adheres tightly to the cylindrical wall surface even when moving, the diameter of the wall surface suction device main body can be reduced to match the cylindrical suction target surface, or the wall suction device main body shape can be changed to the cylindrical suction target surface. Therefore, there is an effect that the suction to the cylindrical suction target surface can be surely performed without changing according to the condition.
【図面の簡単な説明】 第１図は本発明に係わる壁面吸着装置の吸着部分の一実
施例を示す縦断側面図，第２図は本発明に係わる壁面吸
着装置の一実施例を示す横断側面図，第３図はその平面
図，第４図はさらに他の実施例を示す縦断側面図，第５
図は従来の壁面吸着装置を示す平面図，第６図は第５図
の矢視VI−VI線に沿う縦断側面図，第７図は第６図の矢
印VII部分の拡大縦断側面図である。 （９）……壁面，（８）……減圧領域，（13）……中空
・リング状可撓性シール部材，（15）（18）（19）……
圧力調整手段，（17）（20）……吸着装置本体。BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a longitudinal sectional side view showing one embodiment of a suction portion of a wall suction device according to the present invention, and FIG. 2 is a transverse side view showing one embodiment of a wall suction device according to the present invention. FIG. 3 is a plan view, FIG. 4 is a vertical sectional side view showing still another embodiment, and FIG.
FIG. 6 is a plan view showing a conventional wall suction device, FIG. 6 is a vertical sectional side view taken along the line VI-VI of FIG. 5, and FIG. 7 is an enlarged vertical sectional side view of an arrow VII portion of FIG. . (9) ... wall surface, (8) ... decompression area, (13) ... hollow / ring-shaped flexible sealing member, (15) (18) (19) ...
Pressure adjusting means, (17) (20) ... Suction device main body.
───────────────────────────────────────────────────── フロントページの続き (72)発明者 井上 繁夫 広島県広島市西区観音新町４丁目６番22 号 三菱重工業株式会社広島研究所内 (72)発明者 和田 宏一 広島県広島市西区観音新町４丁目６番22 号 三菱重工業株式会社広島研究所内 (72)発明者 竹内 詔 広島県広島市西区観音新町４丁目６番22 号 三菱重工業株式会社広島製作所内 (72)発明者 湯川 暢宏 広島県広島市西区観音新町４丁目６番22 号 三菱重工業株式会社広島製作所内 (56)参考文献 特開 昭64−28064（ＪＰ，Ａ) 特開 平１−104367（ＪＰ，Ａ) 特開 昭60−144461（ＪＰ，Ａ) 特開 昭63−13858（ＪＰ，Ａ) (58)調査した分野(Int.Cl.6，ＤＢ名) B62D 57/028 B63B 59/00 B25J 5/00 F16B 47/00──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Shigeo Inoue 4-6-22 Kannon Shinmachi, Nishi-ku, Hiroshima City, Hiroshima Prefecture Inside the Hiroshima Research Laboratory, Mitsubishi Heavy Industries, Ltd. (72) Inventor Koichi Wada 4-chome Kannon Shinmachi, Nishi-ku, Hiroshima City, Hiroshima Prefecture No. 6-22 Mitsubishi Heavy Industries, Ltd.Hiroshima Research Laboratory (72) Inventor Shouchi Takeuchi, 4-4-2 Kannon Shinmachi, Nishi-ku, Hiroshima, Hiroshima Prefecture Mitsubishi Heavy Industries, Ltd.Hiroshima Factory (72) Inventor Nobuhiro Yukawa Nishi-ku, Hiroshima-shi, Hiroshima 4-6-22 Kannon Shinmachi Mitsubishi Heavy Industries, Ltd. Hiroshima Works (56) References JP-A 64-28064 (JP, A) JP-A-1-104367 (JP, A) JP-A 60-144461 (JP) , A) JP-A-63-13858 (JP, A) (58) Fields investigated (Int. Cl. 6 , DB name) B62D 57/028 B63B 59/00 B25J 5/00 F16B 47/00
Claims (1)
いて、壁面に接して減圧領域を形成する可撓性シール部
材がリング状に且つ加圧流体の内部への注入が可能な中
空状に形成され、前記可撓性シール部材内部の加圧流体
の圧力を壁面吸着装置外側の圧力より高く調節する圧力
調整手段が吸着装置本体に設けられ、該吸着装置本体
が、自在ジョイントにより走行装置に取付角度可変に接
続され、前記可撓性シール部材と前記走行装置の走行車
輪との吸着力の負荷分担比率が設定可能であること特徴
とした壁面吸着装置。In a wall surface adsorption device for adsorbing on a cylindrical wall surface, a flexible sealing member which is in contact with the wall surface to form a decompression region is formed in a ring shape and a hollow shape capable of injecting a pressurized fluid into the interior. A pressure adjusting means is provided on the suction device main body for adjusting the pressure of the pressurized fluid inside the flexible seal member higher than the pressure outside the wall suction device, and the suction device main body is connected to the traveling device by a universal joint. A wall suction device which is connected to a variable mounting angle and is capable of setting a load sharing ratio of a suction force between the flexible seal member and a traveling wheel of the traveling device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2290655A JP2836947B2 (en) | 1990-10-30 | 1990-10-30 | Wall adsorption device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2290655A JP2836947B2 (en) | 1990-10-30 | 1990-10-30 | Wall adsorption device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH04166480A JPH04166480A (en) | 1992-06-12 |
| JP2836947B2 true JP2836947B2 (en) | 1998-12-14 |
Family
ID=17758782
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2290655A Expired - Lifetime JP2836947B2 (en) | 1990-10-30 | 1990-10-30 | Wall adsorption device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2836947B2 (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06245878A (en) * | 1993-02-26 | 1994-09-06 | Y K Giken:Kk | Sucker to adhere to the wall used for a building external wall cleaning apparatus |
| JP2000006860A (en) * | 1998-06-23 | 2000-01-11 | Fukashi Uragami | Device movable by adsorbing surface |
| US6053267A (en) * | 1998-06-25 | 2000-04-25 | Technical Mechanical Resource Associates, Inc. | Coating removal vehicle with inflatable suction ring |
| US6102145A (en) * | 1998-06-25 | 2000-08-15 | Technical Mechanical Resource Associates, Inc. | Coating removal vehicle with resilient suction ring |
| JP2005518511A (en) * | 2002-02-26 | 2005-06-23 | ファロ テクノロジーズ インコーポレーテッド | Stable vacuum adapter |
| JP7176918B2 (en) * | 2018-10-05 | 2022-11-22 | 東京計器株式会社 | adsorption device |
| CN109572848A (en) * | 2019-01-15 | 2019-04-05 | 北京史河科技有限公司 | Climbing robot |
| RU2734679C1 (en) * | 2020-03-25 | 2020-10-21 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Кубанский государственный технологический университет" (ФГБОУ ВО "КубГТУ") | Drive propulsor |
-
1990
- 1990-10-30 JP JP2290655A patent/JP2836947B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH04166480A (en) | 1992-06-12 |
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