JPH03581A - Vacuum attracting travel device - Google Patents
Vacuum attracting travel deviceInfo
- Publication number
- JPH03581A JPH03581A JP1134664A JP13466489A JPH03581A JP H03581 A JPH03581 A JP H03581A JP 1134664 A JP1134664 A JP 1134664A JP 13466489 A JP13466489 A JP 13466489A JP H03581 A JPH03581 A JP H03581A
- Authority
- JP
- Japan
- Prior art keywords
- attracting
- cover
- suction
- wall surface
- belts
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000003028 elevating effect Effects 0.000 claims abstract description 3
- 230000007246 mechanism Effects 0.000 claims description 4
- 230000002146 bilateral effect Effects 0.000 abstract 1
- 238000000638 solvent extraction Methods 0.000 abstract 1
- 238000001179 sorption measurement Methods 0.000 description 9
- 230000009467 reduction Effects 0.000 description 4
- 238000007796 conventional method Methods 0.000 description 3
- 239000003973 paint Substances 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 239000011247 coating layer Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012634 fragment Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 239000003566 sealing material Substances 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
「産業上の利用分野」
本発明は、大型構造物の高所など、人が容易に近づき難
い場所での点検やその他作業を行なうための壁面吸着移
動装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a wall suction and movement device for inspecting and performing other work in places where it is difficult for people to easily access, such as in high places of large structures. be.
「従来の技術」
従来、煙突、大型タンク、橋梁など高所に壁面や格点部
を有するものはその定期点検、清掃補修などのために高
所作業用の自走車が必要となりこのためこの種装置が種
々あった。``Conventional technology'' Conventionally, structures with walls or fixed points located at high places, such as chimneys, large tanks, and bridges, require self-propelled vehicles for work at heights for periodic inspection, cleaning, and repair. There were various seed devices.
この中に第１０図および第１１図に示す連続真空吸着構
造のクローラを備えた壁面吸着自走装置がある。Among these, there is a self-propelled wall suction device equipped with a crawler having a continuous vacuum suction structure as shown in FIGS. 10 and 11.
この自走装置を説明すると、０１は吸着ベルト（無端履
帯）で、０２は吸着室、０３は真空室、０４体フィルタ
、０５はエジェクタ（真空発生器）、０６は圧縮空気、
ｏ７は排気、ｏ８は外枠、０９は壁面、０１０は吸着パ
ッド（中心部に配役）、０１１は吸着ベルト駆動用モー
タ、０１２は固定枠である。To explain this self-propelled device, 01 is an adsorption belt (endless crawler belt), 02 is an adsorption chamber, 03 is a vacuum chamber, 04 is a body filter, 05 is an ejector (vacuum generator), 06 is compressed air,
o7 is an exhaust, o8 is an outer frame, 09 is a wall surface, 010 is a suction pad (positioned in the center), 011 is a motor for driving the suction belt, and 012 is a fixed frame.
本装置は圧縮空気０６をエジェクタ０５に供給し、真空
を発生させる。これをフィルタ０４を介して真空室０３
を吸引し、同時に真空室０３と隣接する吸着室０２と壁
面０９で作られる室の内部を負圧にし、大気圧との差圧
で壁面ｏ９に吸着する。この吸着ベルト０１を駆動−［
−−タ０１１で駆動させることにより、壁面０９を吸着
走行するものである。This device supplies compressed air 06 to the ejector 05 to generate a vacuum. This is passed through the filter 04 to the vacuum chamber 03.
At the same time, the inside of the chamber formed by the vacuum chamber 03, the adjoining adsorption chamber 02, and the wall 09 is made negative pressure, and the vacuum is adsorbed to the wall 09 due to the pressure difference from the atmospheric pressure. Drive this suction belt 01 - [
--By being driven by the motor 011, it adsorbs and travels on the wall surface 09.
ここで走行方向に対し直角方向に平行移動するため吸着
バッド０１０を備えている。さらにこの吸着バッド０１
０を中心に回転できる機能を有している。Here, a suction pad 010 is provided for parallel movement in a direction perpendicular to the running direction. Furthermore, this suction pad 01
It has the ability to rotate around 0.
「発明が解決しようとする課題」
（１） 従来法では自走装置本体の移動方向を変える
とき（横への平行移動あるいは旋回）には走行用の吸着
ベルト０１を壁面０９より離脱させ、中心部の小さい吸
着室０２のバンドのみで装置全体を吸着保持する必要が
ある。“Problems to be Solved by the Invention” (1) In the conventional method, when changing the moving direction of the self-propelled device body (lateral parallel movement or turning), the running suction belt 01 is separated from the wall surface 09, and the center It is necessary to suction and hold the entire device only with the band of the suction chamber 02, which has a small size.
（２） また従来法では壁面０９からはがれた塗膜片
などは吸着室０２より、吸引され、直接フィルタ０４に
捕捉されるため、短期間で吸弓能力が低下しフィルタ０
４の交換・メンテナンスが必要である。(2) In addition, in the conventional method, paint film fragments that have peeled off from the wall surface 09 are sucked from the adsorption chamber 02 and directly captured by the filter 04, which reduces the suction ability in a short period of time.
4. Replacement/maintenance is required.
（３） さらに従来法では左右一対の吸着ベルト０１
は固定枠０１’２に固定されており、例えば対象が円筒
などの場合、吸着ベルト０１と壁面０９の間に隙間が生
じて吸着できない。(3) Furthermore, in the conventional method, a pair of left and right suction belts 01
is fixed to a fixed frame 01'2, and if the object is a cylinder, for example, a gap is created between the suction belt 01 and the wall surface 09, and the suction cannot be performed.
等の課題があった。There were other issues.
「課題を解決するための手段」
本発明は前記従来の課題を解決したもので、内部に壁面
吸着走行手段を収納し、壁面とｑ壁面との間に減圧空間
を画成するカバーを、壁面吸着走行手段に昇降および旋
回機構を介して取り付けた真空吸着走行装置である。"Means for Solving the Problems" The present invention solves the above-mentioned conventional problems, and includes a cover that houses a wall suction traveling means inside and defines a depressurized space between the wall surface and the q wall surface. This is a vacuum suction traveling device that is attached to the suction traveling means via an elevating and rotating mechanism.
すなわち、前項（１）については、吸着ベルト（一対）
全体をおわん状のカバーで内包してこのカバーを壁面に
密着させ、内部を真空引きして大面積の室で吸着できる
ようにした。さらに作業傳止時に吸着ベルトとおわん状
カバーを同時に吸着させることにより、大きな吸着力が
得られるため、従来反力が大き〈実施できなかった研掃
やその他補修作業などが可能となった。In other words, regarding the previous item (1), suction belts (pair)
The whole thing was enclosed in a bowl-shaped cover, which was attached tightly to the wall, and the interior was evacuated to allow suction to be carried out in a large-area chamber. Furthermore, by simultaneously suctioning the suction belt and the bowl-shaped cover when stopping work, a large suction force can be obtained, making it possible to perform cleaning and other repair work that was previously impossible due to the large reaction force.
また前項（２）については、また、吸着室の中にフィル
タを配設しており、これにより粗いゴミが除去できるた
め吸引能力が長時間維持できる（このフィルタに付いた
粗いゴミは走行により吸着ベルトが壁面より離れると外
れる）さらに前項（３）については、この左右の吸着ヘ
ルドを蝶番状に角度変更可能にしており前記問題が解決
できる。Regarding (2) above, a filter is installed inside the adsorption chamber, which allows coarse dust to be removed and the suction ability to be maintained for a long time. (When the belt separates from the wall surface, it comes off.) Furthermore, regarding the previous item (3), the left and right suction healds are made hinge-like so that the angle can be changed, thereby solving the above problem.
「作用」
本発明は前記のような構成・機能を有するので、比較的
搭載重量を大きくできる他、反力の大きい作業も可能で
用途が広がった。"Function" Since the present invention has the above-described configuration and functions, it is possible to carry a relatively large weight, and it is also possible to carry out work with a large reaction force, resulting in a wide range of applications.
さらに、円筒構造物の昇降も可能で、かつフィルタが２
段に付いているため、吸着性能が低下せず、長時間使用
が可能となった。Furthermore, the cylindrical structure can be raised and lowered, and there are two filters.
Because it is attached to a stage, the adsorption performance does not deteriorate and it can be used for a long time.
「実施例」 本発明の一実施例を第１図ないし第９図に示す。"Example" An embodiment of the present invention is shown in FIGS. 1 to 9.
１は吸着ベルトにして、環状で多数の吸着室２を有し、
吸着室２には真空吸引用の複数筒の穿孔３が穿けられて
おり、真空室４により真空吸引され、壁面５に吸着する
。1 is a suction belt, which is annular and has a large number of suction chambers 2;
The adsorption chamber 2 is provided with a plurality of perforations 3 for vacuum suction, and is vacuum-suctioned by the vacuum chamber 4 and adsorbed onto the wall surface 5 .
６は筒状のフィルタ、７は駆動モータ、８は駆動用かさ
歯車ユニット、９は駆動用プーリ、１０は駆動力を受け
るタイミングベルトで、吸着ベルト１の両側に配設され
、吸着ベルト１は駆動モータ７にて駆動用かさ歯車ユニ
ット８を介し、駆動用プーリ９にて吸着ベルト１の支持
を行ないつつ、ギアプーリ１１により駆動力を受ける。6 is a cylindrical filter, 7 is a drive motor, 8 is a drive bevel gear unit, 9 is a drive pulley, and 10 is a timing belt that receives driving force, which are arranged on both sides of the suction belt 1. A drive motor 7 receives a driving force from a gear pulley 11 through a driving bevel gear unit 8 while supporting the suction belt 1 with a driving pulley 9.
即ち、吸着ヘルド１は駆動モータ７により駆動され、吸
着しつつ走行する。１２は吸着ベルト１の張力調整ねし
である。That is, the suction heald 1 is driven by the drive motor 7 and travels while adsorbing. 12 is a tension adjustment screw for the suction belt 1.
１３はカバー１４を旋回させる減速ギア付モータユニッ
ト、１５はカバー１４の昇降用エアシリンダである。13 is a motor unit with a reduction gear for rotating the cover 14, and 15 is an air cylinder for raising and lowering the cover 14.
走行方向の変更時には、壁面５にカバー１４を密接させ
、カバ−１４内部を真空吸引し、その後吸着ベルト１を
左右共工了シリンダ１５にて離脱させ（この際吸着ヘル
ド１の吸引は停止する。）、減速ギア付モータユニット
１３で旋回させ、所定角度になったら吸着ベルト１の密
接、真空吸引、カバー１４の上昇の順で操作し、方向転
換が完了する。When changing the running direction, the cover 14 is brought into close contact with the wall surface 5, the inside of the cover 14 is vacuum-suctioned, and then the suction belt 1 is separated by the left and right cylinders 15 (at this time, the suction of the suction heald 1 is stopped). ), it is rotated by the motor unit 13 with a reduction gear, and when a predetermined angle is reached, the suction belt 1 is brought into close contact, vacuum suction is performed, and the cover 14 is raised in this order to complete the direction change.
ここで１６はカバー１４の周縁に装着されたスポンジ状
のシール材である。Here, 16 is a sponge-like sealing material attached to the periphery of the cover 14.
１７は走行（昇降）時の沈み込みを防出（前部が沈み込
むと、後部が浮きぎみになり、吸着力が弱まる）するた
めのエアシリンダ付の車輪である。１８は点キ★監視用
の小型カメラで、１９はマニプレータである。２０は左
右の吸着ヘルドの角度を調整する蝶番機構である。Reference numeral 17 denotes a wheel equipped with an air cylinder to prevent the vehicle from sinking when the vehicle is traveling (ascending and descending) (if the front section sinks, the rear section will float and the suction force will be weakened). 18 is a small camera for monitoring the points, and 19 is a manipulator. 20 is a hinge mechanism that adjusts the angle of the left and right suction healds.
なお、第２図中の１゛は円筒曲面５゛に角度調整された
吸着ベルトである。Note that 1'' in FIG. 2 is a suction belt whose angle is adjusted to a cylindrical curved surface 5''.
第４図ないし第８図は真空吸着走行装置の吸着ベルト詳
細図である。4 to 8 are detailed views of the suction belt of the vacuum suction traveling device.
（摩擦抵抗）を軽減するために処理したコーティング層
である。（真空室４は固定、吸着ベルト１は移動する）
２３は、吸着室２の中に嵌め込まれた連泡スポンジ製フ
ィルタで、塗膜片などが吸引作用により、捕捉される。This is a coating layer treated to reduce (frictional resistance). (The vacuum chamber 4 is fixed, and the suction belt 1 is movable.) 23 is an open-cell sponge filter fitted into the suction chamber 2, and paint film pieces and the like are captured by the suction action.
その後、走行により当該部が壁面５より離れると塗膜片
は離脱するため、蓄積による吸引能力の低下がない。Thereafter, when the part moves away from the wall surface 5 due to running, the paint film pieces separate, so there is no reduction in suction ability due to accumulation.
第９図は本実施例の真空吸着走行装置の配管系統図で、
２４は真空室４内部の圧力指示計、２４゛はカバー１４
の内部の圧力指示計である。Figure 9 is a piping system diagram of the vacuum suction traveling device of this embodiment.
24 is a pressure indicator inside the vacuum chamber 4, 24゛ is a cover 14
This is the internal pressure indicator.
２５は各種エアシリンダのＯＮ、ＯＦＦや吸着ヘル）ｌ
の吸引の人・切やカバー１４の吸引の入・切を制御する
制御ユニ、トで、−ｔａ的な配管５電磁バルブ等で構成
されているため詳述しない。25 is for ON/OFF of various air cylinders and suction help)
The control unit for controlling the suction on/off of the suction switch and the cover 14 is not described in detail because it is composed of the -ta-like piping 5 solenoid valve and the like.
なお、制御ユニ、トと真空吸着走行装置本体間は、エア
ホースおよび電気ケーブルで接続される。２６．２６″
はフィルタ、２７．２７はエジェクタである。Note that the control unit and the main body of the vacuum suction traveling device are connected by an air hose and an electric cable. 26.26″
is a filter, and 27.27 is an ejector.
本発明の構成１作動等をクローラ式の壁面走行装置によ
って説明したが、本発明はこの方式に限定するものでは
なく、吸引バンド式、または電磁石のキャタピラを使用
したものにも適用可能である。Although the configuration 1 of the present invention has been explained using a crawler-type wall traveling device, the present invention is not limited to this type, and can also be applied to a suction band type or one using an electromagnetic caterpillar.
「発明の効果」
本発明は前記装置であるので、大型構造物の高所などの
作業の範囲、内容が広くなり、かつ長時間連続して走行
・移動ができ、作業の自由度が増加するため産業上極め
て有益なものである。"Effects of the Invention" Since the present invention is the above-mentioned device, the scope and content of work on large structures at high places can be expanded, and it can run and move continuously for long periods of time, increasing the degree of freedom of work. Therefore, it is extremely useful for industry.
デ
第１図ないし第に）圓は本発明の一実施例で、第１図は
平面図、第２図は正面図、第３図は側細を示したもので
、第４図は縦断面図、第５図１錠へ第６図はそれぞれ第
４図のＡ矢視図およびＢ矢視図、第７図は第４図のＣ部
詳細図、第８図は第５図の側面図、第９図は配管系統図
、第１θ図および第１１図は従来の壁面吸着走行装置で
、第１θ図は側面図、第１１図は平面図である。
１：吸着ベルト ２：吸着室
３：孔 ４：真空室
４° ：真空室隔壁 ５：壁面
６：筒状フィルタ ７：駆動用モータ８；駆動用かさ
歯車ユニット
９：駆動用プーリ １０：タイミングヘルト１１：ギ
アプーリ １２：調整ねし
１３：減速ギア付モータユニット
１４：カバ−１５：エアシリンダ
１６；シール材 １７：車輪
１８：小型カメラ １９；マニプレータＯ：蝶番機構
２１：基材
２：コーティング層 ２３；フィルタ
４：圧力指示計 ２５：制御ユニット６．２６’
：フィルり
７．２７° ：エジエクタFigures 1 to 1) Figure 1 is an embodiment of the present invention; Figure 1 is a plan view, Figure 2 is a front view, Figure 3 is a side view, and Figure 4 is a longitudinal section. Fig. 5 to 1 lock Fig. 6 is a view in the direction of arrow A and arrow B in Fig. 4, respectively, Fig. 7 is a detailed view of section C in Fig. 4, and Fig. 8 is a side view of Fig. 5. , FIG. 9 is a piping system diagram, FIG. 1θ and FIG. 11 are conventional wall suction traveling devices, FIG. 1θ is a side view, and FIG. 11 is a plan view. 1: Adsorption belt 2: Adsorption chamber 3: Hole 4: Vacuum chamber 4°: Vacuum chamber partition 5: Wall surface 6: Cylindrical filter 7: Drive motor 8; Drive bevel gear unit 9: Drive pulley 10: Timing helmet 11: Gear pulley 12: Adjustment screw 13: Motor unit with reduction gear 14: Cover 15: Air cylinder 16; Seal material 17: Wheel 18: Small camera 19; Manipulator O: Hinge mechanism 21: Base material 2: Coating layer 23 ; Filter 4: Pressure indicator 25: Control unit 6.26'
: Fill 7.27° : Ejector
Claims (1)
圧空間を画成するカバーを、前記壁面吸着走行手段に昇
降および旋回機構を介して取り付けたことを特徴とする
真空吸着走行装置。1. A vacuum suction traveling device, characterized in that a wall suction traveling means is housed therein, and a cover defining a depressurized space between the wall suction traveling means and the wall surface is attached to the wall suction traveling means via an elevating and rotating mechanism. .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1134664A JP2824276B2 (en) | 1989-05-30 | 1989-05-30 | Vacuum suction traveling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1134664A JP2824276B2 (en) | 1989-05-30 | 1989-05-30 | Vacuum suction traveling device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH03581A true JPH03581A (en) | 1991-01-07 |
| JP2824276B2 JP2824276B2 (en) | 1998-11-11 |
Family
ID=15133672
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1134664A Expired - Fee Related JP2824276B2 (en) | 1989-05-30 | 1989-05-30 | Vacuum suction traveling device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2824276B2 (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5366038A (en) * | 1992-08-25 | 1994-11-22 | Nishiguchi Hidetsugu | Robot traveling on wall face |
| JPH0752844A (en) * | 1993-08-11 | 1995-02-28 | Hideji Nishiguchi | Falling preventive mechanism for wall surface traveling rovot |
| US5487440A (en) * | 1993-05-18 | 1996-01-30 | Seemann; Henry R. | Robotic apparatus |
| US5839532A (en) * | 1995-03-22 | 1998-11-24 | Honda Giken Kogyo Kabushiki Kaisha | Vacuum wall walking apparatus |
| JP2011230673A (en) * | 2010-04-28 | 2011-11-17 | Tokyu Construction Co Ltd | Crawler type travelling apparatus |
| JP2016516625A (en) * | 2013-03-22 | 2016-06-09 | フォース テクノロジー | Wall suction crawler |
| JP2018202177A (en) * | 2017-06-08 | 2018-12-27 | 林儀文Ｙｉ−Ｗｅｎ ＬＩＮ | Automatic wall surface washing mechanism and wall surface suction device |
| JPWO2018128194A1 (en) * | 2017-01-07 | 2019-11-07 | インダストリーネットワーク株式会社 | Adsorption traveling device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58132787U (en) * | 1982-03-02 | 1983-09-07 | アジア石油株式会社 | Wall suction traveling device |
| JPS62279176A (en) * | 1986-05-27 | 1987-12-04 | Fuji Electric Co Ltd | Vacuum attraction running device |
-
1989
- 1989-05-30 JP JP1134664A patent/JP2824276B2/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58132787U (en) * | 1982-03-02 | 1983-09-07 | アジア石油株式会社 | Wall suction traveling device |
| JPS62279176A (en) * | 1986-05-27 | 1987-12-04 | Fuji Electric Co Ltd | Vacuum attraction running device |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5366038A (en) * | 1992-08-25 | 1994-11-22 | Nishiguchi Hidetsugu | Robot traveling on wall face |
| US5487440A (en) * | 1993-05-18 | 1996-01-30 | Seemann; Henry R. | Robotic apparatus |
| JPH0752844A (en) * | 1993-08-11 | 1995-02-28 | Hideji Nishiguchi | Falling preventive mechanism for wall surface traveling rovot |
| US5839532A (en) * | 1995-03-22 | 1998-11-24 | Honda Giken Kogyo Kabushiki Kaisha | Vacuum wall walking apparatus |
| JP2011230673A (en) * | 2010-04-28 | 2011-11-17 | Tokyu Construction Co Ltd | Crawler type travelling apparatus |
| JP2016516625A (en) * | 2013-03-22 | 2016-06-09 | フォース テクノロジー | Wall suction crawler |
| JPWO2018128194A1 (en) * | 2017-01-07 | 2019-11-07 | インダストリーネットワーク株式会社 | Adsorption traveling device |
| JP2021138370A (en) * | 2017-01-07 | 2021-09-16 | インダストリーネットワーク株式会社 | Suction traveling device |
| JP2018202177A (en) * | 2017-06-08 | 2018-12-27 | 林儀文Ｙｉ−Ｗｅｎ ＬＩＮ | Automatic wall surface washing mechanism and wall surface suction device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2824276B2 (en) | 1998-11-11 |
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