JPH04121291A - Method for sucking surface and running - Google Patents
Method for sucking surface and runningInfo
- Publication number
- JPH04121291A JPH04121291A JP2239394A JP23939490A JPH04121291A JP H04121291 A JPH04121291 A JP H04121291A JP 2239394 A JP2239394 A JP 2239394A JP 23939490 A JP23939490 A JP 23939490A JP H04121291 A JPH04121291 A JP H04121291A
- Authority
- JP
- Japan
- Prior art keywords
- suction
- fluid
- negative pressure
- opening
- suctioning
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 13
- 239000012530 fluid Substances 0.000 claims abstract description 42
- 230000007246 mechanism Effects 0.000 claims description 21
- 230000007423 decrease Effects 0.000 claims 1
- 230000006837 decompression Effects 0.000 abstract description 7
- -1 i.e. Substances 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 12
- 238000001179 sorption measurement Methods 0.000 description 10
- 230000000694 effects Effects 0.000 description 6
- 239000003595 mist Substances 0.000 description 6
- 239000003973 paint Substances 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 5
- 238000010422 painting Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 238000004381 surface treatment Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 230000003746 surface roughness Effects 0.000 description 2
- 230000003749 cleanliness Effects 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 235000021190 leftovers Nutrition 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
Landscapes
- Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)
Abstract
Description
【発明の詳細な説明】
（イ）〔産業上の利用分野〕
本発明は床、壁、天井等の母材の寿命を維持し美観、清
潔感等を保つために施す表面処理作業の、機械化、自動
化に利用する面に吸引して走行する技術に関する。[Detailed Description of the Invention] (a) [Industrial Application Field] The present invention aims to mechanize surface treatment work performed to maintain the lifespan of base materials such as floors, walls, ceilings, etc., and maintain aesthetic appearance and cleanliness. , related to technology for driving by suction to a surface used for automation.
面に対して真空状態の部屋を吸着させるのではなく、開
放の状態で流体が吸引されて、面を吸引するため、吸引
される面の粗さや、温度に関係なく吸引走行が可能であ
り、鉄でなければ吸着しない磁石や、真空吸着式のもの
と異なり、利用範囲は広い。Rather than adsorbing a vacuum chamber to a surface, the fluid is sucked in an open state and the surface is suctioned, so suction travel is possible regardless of the roughness or temperature of the surface to be suctioned. Unlike magnets, which only attract iron, and vacuum adsorption types, they can be used in a wide range of applications.
（ロ）〔従来の技術〕
面を吸引して走行する従来技術に、面の粗さや温度を無
視できる技術は見当たらず、必ず密閉室を減圧し、真空
状態にして吸着する方法であるため、密閉室を安定した
状態で移動する構成技術に、シールが磨耗損失しないよ
うな満足なものがなく、真空保持状態が不充分ながら、
構造は複雑、且つ高価であった。(B) [Conventional technology] Among the conventional technologies for traveling by suctioning a surface, there is no technology that can ignore surface roughness and temperature, and the method of adsorption is always to reduce the pressure in a closed chamber and create a vacuum state. There is no satisfactory construction technology for moving in a sealed room in a stable state that prevents seals from being worn out, and although the vacuum retention state is insufficient,
The structure was complex and expensive.
この不完全な吸着走行技術を使用した先願は、以下の通
りであり、公開もされている。Prior applications using this incomplete adsorption traveling technology are as follows and have also been published.
特公昭４７−４２７９８号「真空吸着式垂直面走行作業
車」、実公昭５７−５６９４３号「壁面に吸若し且つそ
れに沿って移動可能な装置」、特開昭５８−１２０４６
７号「真空吸着自走作業機」、特開昭０ｆ−４６７７８
号「壁面吸着式自走装置」等々であるが、吸着性、吸着
力を左右する面の粗さと温度の条件を満足に解決してい
るものは一つもない。Japanese Patent Publication No. 47-42798 ``Vacuum adsorption type vertical surface traveling work vehicle'', Japanese Publication No. 57-56943 ``A device that can suck on a wall surface and move along it'', Japanese Patent Publication No. 58-12046
No. 7 "Vacuum suction self-propelled work machine", Japanese Patent Application Publication No. 0f-46778
No. ``Wall Surface Adsorption Self-propelled Device,'' etc., but none of them satisfactorily solves the surface roughness and temperature conditions that affect adsorption properties and adsorption power.
（ハ）〔発明が解決しようとする問題点〕本発明が解決
しようとする問題点は、従来技術の密閉室を構成して、
真空吸着し移動する方法における、密閉室の複雑な構成
、且つ不安定な、密閉移動走行技術と、吸着面の条件に
直接左右される欠点としての問題点を解決する発明に関
する。(c) [Problems to be solved by the invention] The problems to be solved by the present invention are as follows:
The present invention relates to an invention that solves problems in a method of vacuum suction and movement, such as a complicated structure of a closed chamber, an unstable closed movement traveling technique, and drawbacks that are directly influenced by the conditions of the suction surface.
つまり、吸着面の粗さや温度に関係なく、面を吸引して
走行する技術を提供することにある。In other words, the object is to provide a technology that allows the vehicle to travel by attracting suction surfaces, regardless of the roughness or temperature of the suction surfaces.
（ニ）〔問題点を解決するための手段〕以上の問題点を
解決するために、本発明は、特許請求の範囲にも記載の
通り、従来技術の、密閉室を構成して、その中を真空状
態し、吸着する方法を改良し、流体が運動状態に於いて
発生する負圧を、吸着力として利用し、負圧の発生以降
に、高速吸引で構成される減圧状態を、更に吸着力に付
加し利用する、二重吸着力発生機構の手段に於いて解決
した。(d) [Means for Solving the Problems] In order to solve the above problems, the present invention, as described in the claims, consists of a closed chamber according to the prior art, We created a vacuum state and improved the adsorption method, using the negative pressure generated when the fluid is in motion as adsorption force, and after the generation of negative pressure, we can further adsorb The problem was solved by means of a double adsorption force generation mechanism that is used in addition to the force.
つまり、車輪がキャタピラ−の様な走行機能で、面に対
して、直接接触したり、密告しないようにした流体吸引
装置に吸引開口部を構成して、流体の吸引力と、その開
口部で発生する運動流体の負圧を付加し１面を吸引して
走行せしめる方法なのである。In other words, the wheels have a caterpillar-like running function, and a suction opening is configured in the fluid suction device that prevents direct contact or contact with the surface, and the suction force of the fluid and the opening This is a method of applying negative pressure to the generated moving fluid to attract one side and make it run.
図面により本発明を更に詳細に説明する。The present invention will be explained in more detail with reference to the drawings.
図面は、本発明の実施例を示すものであるが、第１図は
１面吸引走行機構の車輪走行駆動方式による一部断面の
縦側面図であり、第２図は、その正面図、第３図は一部
断面の横側面図である。The drawings show an embodiment of the present invention, and FIG. 1 is a partially sectional longitudinal side view of the single-plane suction traveling mechanism using a wheel traveling drive system, and FIG. 2 is a front view thereof, and FIG. FIG. 3 is a partially sectional side view.
第４図は１面吸引走行機構のキャタピラ−走行駆動方式
による一部断面の縦側面図であり、第５図は、その正面
図である。FIG. 4 is a partially sectional vertical side view of the one-plane suction traveling mechanism using a caterpillar traveling drive system, and FIG. 5 is a front view thereof.
第６．７図は、流体吸引装置の要部断面図であり、第８
図は１本発明の吸引走行機構を複数並列に構成した装置
の正面図である。FIG. 6.7 is a sectional view of the main part of the fluid suction device, and FIG.
The figure is a front view of a device in which a plurality of suction traveling mechanisms of the present invention are arranged in parallel.
図中符号１は、吸引する処理面であり、符号２は、吸引
面に対向する負圧構成面で、車輪又は、キャタピラ−な
どの走行機能により、吸引面と適当に距離を隔て一１装
置が移動走行しても、開口状態を常に構成するようにな
っている。In the figure, reference numeral 1 is a suction processing surface, and reference numeral 2 is a negative pressure forming surface opposite to the suction surface. Even when the vehicle is moving and traveling, it is always configured to be in an open state.
符号３は、特許請求の範囲（３）に記載の流速が弛緩す
る部屋で、負圧は発生しないが、開口吸引部が抵抗とな
り、符号４の吸引ブロアーの吸引容量差によって、真空
吸引と同様の減圧吸引が作用する。Reference numeral 3 is a room in which the flow velocity is relaxed as described in claim (3), and although negative pressure is not generated, the opening suction part acts as resistance, and due to the difference in the suction capacity of the suction blower shown in reference numeral 4, it is similar to vacuum suction. vacuum suction is applied.
この様な吸引効果を助長するために、特許請求の範囲に
は記載していないが、符号１の吸着面と符号２の対向面
の開口部に流体の抵抗になるような、ブラシや堰を固設
して負圧を増大し、合わせてその抵抗増大の効果が、吸
引容量差を更に大きくシ、符号３の部屋の減圧量も増大
せしめて、吸引力を強化する方法がある。In order to promote such a suction effect, although not described in the claims, brushes or weirs are provided at the openings of the suction surface 1 and the opposing surface 2 to provide resistance to the fluid. There is a method of increasing the negative pressure by installing it permanently, and in addition, the effect of increasing the resistance further increases the difference in suction capacity, and the amount of pressure reduction in the room 3 is also increased, thereby strengthening the suction force.
この方法は、特公昭４７−４２７９８号「真空吸着式垂
直壁面走行作業車」のような、ブラシで、移動する減圧
室の真空性を保持するような、実際には密閉状態を構成
することができないのに、敢えてその減圧室の真空性を
確保するためのシールとして、又、ついでにその密閉構
造が説明上、理論的には移動走行可能なようにブラシを
構成した、実効のない先願公知の技術とは、明らかに相
違するものである。In this method, it is possible to maintain the vacuum of a moving decompression chamber using brushes, as in the case of ``Vacuum suction type vertical wall traveling vehicle'' published in Japanese Patent Publication No. 47-42798, which actually creates a sealed state. Even though it is not possible to do so, the prior patent application, which is ineffective, uses a brush as a seal to ensure the vacuum property of the decompression chamber, and in addition, the sealed structure is theoretically movable. This technology is clearly different from that of .
符号４は、流体吸引のブロアーであり、吸引側に流量調
整のダンパー符号１１を固設する。Reference numeral 4 denotes a fluid suction blower, and a damper 11 for flow rate adjustment is fixedly installed on the suction side.
符号５は、構成フレームで、吸引機構や、符号６の走行
車輪、符号７〜１０の走行駆動装置、符号１３〜１６及
び符号１８〜２１の壁面作業機構などを構成している。Reference numeral 5 denotes a structural frame, which constitutes a suction mechanism, traveling wheels 6, traveling drive devices 7 to 10, wall working mechanisms 13 to 16 and 18 to 21, and the like.
符号７は、走行駆動モーター、符号８〜１０は、走行駆
動伝達機構である。Reference numeral 7 is a travel drive motor, and reference numbers 8 to 10 are travel drive transmission mechanisms.
符号１３は、本発明の一実施例として、たまたま、垂直
壁面の処理作業を、塗装に特定して表示したものであり
、実願平２−７８６０９号「壁面処理作業の仕残し防止
機構」の技術を具備するもので。Reference numeral 13, as an embodiment of the present invention, happens to indicate the vertical wall treatment work specifically for painting, and is based on Utility Application No. 2-78609 ``Mechanism for preventing unfinished work in wall treatment work''. It is equipped with technology.
塗装ミスト飛散防止の無公害機能を具えた塗装ノズル、
符号１４は、ミスト飛散防止フード、符号１５は、ノズ
ル首振り機能を具えた単独横行走行トロリー、符号１６
は、その走行レールである。A paint nozzle with a pollution-free function that prevents paint mist from scattering.
Reference numeral 14 is a mist scattering prevention hood, reference numeral 15 is a solo traveling trolley equipped with a nozzle swinging function, and reference numeral 16 is a trolley that runs independently.
is the running rail.
矢印Ｃは、壁面処理作業の仕残し防止機構としての作動
状態を表示するものであり、全体の横行走行の行き届か
ない部分をノズルヘッドが単独で移動走行し、不届き部
分をカバーするのである。Arrow C indicates the operating state of the mechanism for preventing unfinished work during wall treatment work, and the nozzle head moves independently to cover areas that cannot be reached by the entire traverse movement.
符号１７は、垂直壁面を吸引しながら走行して塗装作業
をする装置全体を吊り下げて、その装置を上下に移動せ
しめる。壁面の上部に構成された巻き上げウィンチのワ
イヤーローブである。Reference numeral 17 hangs the entire apparatus that travels and performs painting work while suctioning vertical walls, and moves the apparatus up and down. This is the wire lobe of the hoisting winch that is constructed at the top of the wall.
符号１８は、塗装ポンプ、符号１９は、平成２年８月１
０日実願「ミスト分離回収装置」の技術を具備した、塗
料ミスト分離回収装置である。Code 18 is the paint pump, code 19 is August 1, 1990.
This is a paint mist separation and recovery device equipped with the technology of the ``mist separation and recovery device'' that was applied for on the 0th.
符号２０は、塗料自動供給ホース、符号２１はミスト回
収フレキシブルダクトホースである。Reference numeral 20 is an automatic paint supply hose, and reference numeral 21 is a mist collection flexible duct hose.
符号１２は、キャタピラ一方式の走行機構であり、この
走行の駆動は、常にキャタピラ−の張り側を走行駆動面
に接触させなければならないから、符号７′〜１０′の
駆動及びその伝達機構を別に構成するものである。Reference numeral 12 denotes a caterpillar one-type traveling mechanism, and this traveling drive requires that the stretched side of the caterpillar always be in contact with the traveling drive surface, so the drives and their transmission mechanisms 7' to 10' are It is configured separately.
矢印Ａは、外部流体が吸引される状態を現わすものであ
り、矢印Ｂは装置内部の流体の流状を示すものである。Arrow A indicates a state in which external fluid is sucked, and arrow B indicates a flow state of fluid inside the device.
符号２２は、内部流体吸引口、符号２３は、流体の流状
抵抗を少なくし、滑らかにする曲面である。Reference numeral 22 denotes an internal fluid suction port, and reference numeral 23 denotes a curved surface that reduces fluid flow resistance and smoothes the fluid.
記号Ｈは、符号１の吸引面と符号２の対向面の間隙を示
すものであり、実用上、実験の結果から必要な吸引力を
確保出来て、スムーズに移動走行できる大きさは、５〜
３０ｍｍが有効であり、適当である。Symbol H indicates the gap between the suction surface with symbol 1 and the opposing surface with symbol 2. Practically, from the results of experiments, the size that can secure the necessary suction force and allow smooth movement is 5 to 5.
30 mm is effective and appropriate.
（ホ）〔作用及び実施例〕
図に於いて、符号４の流体吸引ブロアーを駆動し流体を
矢印Ｂの如く吸引すると、外部の流体即ち実施例では空
気となるが、その空気は矢印Ａのように、符号１と符号
２で構成される開口吸引部の隘路から侵入しようとする
が、通過断面積が小さいため、流速は極度に増大し、ベ
ルヌーイの効果で、この部分に大きな負圧が発生する。(E) [Operations and Examples] In the figure, when the fluid suction blower 4 is driven and fluid is sucked as shown by arrow B, the external fluid, that is, air in the example, becomes air. It tries to enter from the bottleneck of the opening suction part consisting of numerals 1 and 2, but because the passage cross section is small, the flow velocity increases extremely, and due to the Bernoulli effect, a large negative pressure is created in this part. Occur.
この負圧発生の大きさは、ベルヌーイの定理から１通過
速度の二乗に比例して大きくなるため符号１と２が構成
する断面積と、符号４のブロアーの吸引容量は函数関係
にあり、従って、符号１と２が構成する断面積が小さく
、符号４のブロアーの吸引容量が大きい様な関係、つま
り双方の容量差が大きい程、吸引力が大きくなることは
、容易に理解される筈である。According to Bernoulli's theorem, the magnitude of this negative pressure generation increases in proportion to the square of the passing speed. Therefore, the cross-sectional area constituted by symbols 1 and 2 and the suction capacity of the blower 4 are in a functional relationship. It should be easily understood that the cross-sectional area constituted by symbols 1 and 2 is small and the suction capacity of the blower 4 is large, that is, the greater the difference in capacity between the two, the greater the suction force. be.
従って、ブラシがこの流体通過断面積を小さくし 抵抗
を付与するように存在したら、負圧は更に大きくなる。Therefore, if the brush is present to reduce this fluid passage cross-sectional area and provide resistance, the negative pressure will further increase.
この負圧発生域の後ろに符号３の減圧室を設けると２従
来技術の減圧室真空吸首方法のような密閉構造は不要と
なるが、流体は吸引されているから その部分での吸引
力は、負圧吸引力とは別に、追加された状態で符号１に
対して作用する。If a decompression chamber 3 is provided behind this negative pressure generation area, a sealed structure like the conventional decompression chamber vacuum suction method will not be necessary, but since the fluid is being suctioned, the suction force at that part will be increased. acts on the reference numeral 1 in addition to the negative pressure suction force.
さて第６図は、符号１と２の間を負圧の発生だけによる
吸引構造を示しているが、符号２２の内部流体吸引口は
、符号２３の曲面で構成されていて、負圧発生後におけ
る矢印Ｂで表示する流体の流れは、抵抗なく符号４のブ
ロアーに吸引される。Now, FIG. 6 shows a suction structure that only generates negative pressure between numerals 1 and 2, but the internal fluid suction port numeral 22 is composed of a curved surface numeral 23, and after the generation of negative pressure, The fluid flow indicated by arrow B in is drawn into the blower 4 without resistance.
面を吸引して走行する方法は、この負圧発生による吸引
力だけでも充分であり、符号２３の曲面が構成されてい
なくても、その機能は出せるが、抵抗ロスが大きくて、
エネルギー損失が多く、ブロアーが大きくなり１合理的
でない。In the method of traveling by suctioning a surface, the suction force generated by this negative pressure generation is sufficient, and even if the curved surface 23 is not configured, the function can be achieved, but the resistance loss is large.
There is a lot of energy loss and the blower becomes large, which is not reasonable.
符号２３の曲面化の効果は、実験上の数値ではあるが、
およそ３０％にも達し効果は大きい。Although the effect of curved surface 23 is an experimental value,
The effect is significant, reaching approximately 30%.
第７図は、符号３の流速弛緩の減圧室を追加した、面を
吸引して走行する方法の、要部断面を汗すものであるが
、前述の通り、このような構成り二於いて、二種類の吸
引力が作用し、符号４の吸引ブロアーの負担は著しく軽
減されるので、その容量をコンパクト化することができ
る。Figure 7 shows a cross-section of the main part of the method of traveling by suctioning a surface, which includes the addition of a decompression chamber for flow velocity relaxation (reference numeral 3), but as mentioned above, in such a configuration, , two types of suction forces act, and the burden on the suction blower 4 is significantly reduced, so that its capacity can be made compact.
（へ）〔発明の効果〕
以上説明の通り、密閉構造がいらない、流体を面に対し
開放状態で、常時運動させながら、効尊良く面を吸引し
、走行できる技術は、吸引する笛の粗さや、温度に関係
がなく、流体吸引ブロアーの駆動の０Ｎ−ＯＦＦで、面
吸引作用は即座に詑答する極めて優れた特性を具えてい
る。(f) [Effects of the invention] As explained above, the technology that does not require a closed structure and allows the fluid to effectively suction the surface and travel while constantly moving is based on the roughness of the suction flute. The surface suction action has extremely excellent characteristics that are independent of temperature and can be immediately resolved by turning the fluid suction blower ON and OFF.
この特徴のある本発明の技術を、とりわけ重重壁面と、
仰向けになる天井面の処理作業の機械什自動化に、第１
〜３図、第４．５図及び、第８区に示すような構成にし
て、利用することにより決現可能となる。This characteristic technique of the present invention can be applied especially to heavy wall surfaces,
The first step is to automate the processing work on ceiling surfaces where people lie on their backs.
This can be realized by using the configurations shown in Figures 3, 4.5, and Section 8.
垂直面、天井面の表面処理作業の機械化、自重Ｊ化に面
処理作業機構が吸引する機能を要する理由は、良く知ら
れていることであるが、念のために記述すると１機械作
業は、作業条件を如何に均一に保てるかによって０作業
の機械化、自動化の度合いが決定されるからであり、処
理面と作業機が吸引状態にあることは、風や重力等の外
力の影響を受けないと言うことであり５作業距離や速度
が均一に保持できる機能を持っていることにほかならな
いからである。The reason why the surface treatment mechanism requires a suction function to mechanize surface treatment work on vertical surfaces and ceiling surfaces and reduce its own weight is well known, but just to be sure, one machine work is: This is because the degree of mechanization and automation of zero work is determined by how uniform the work conditions can be maintained, and the fact that the processing surface and work equipment are in a suction state means that they are not affected by external forces such as wind and gravity. This is because it has the function of maintaining uniform working distance and speed.
つまり、このような面の処理作業を機械化し、自動化す
るには、その面を吸引して走行する技術は欠かすことが
できず、それを如何に機能的にシンブル化するかに、か
−っているのである。In other words, in order to mechanize and automate the processing work of such surfaces, the technology to suction and drive the surface is essential, and the question is how to make it functionally simple. -ing
図面は１本発明の実施例を示すものであり、第１図は１
面を吸引して走行する機構の車輪走行駆動方式による一
部断面の縦側面図であり、第２図は、その正面図、第３
図は、一部断面の横側面図である。
第４図は、面を吸引して走行する機構のキャタピラ−走
行駆動方式による一部断面の縦側面図であり、第５図は
、その正面図である。第６．７図は、流体吸引装置の要
部断面図であり、第８図は。
本発明の面を吸引して走行する機構を複数、並列に構成
した装置の正面図である。
図中主な符号の名称は、１・・吸引される面、２・・対
向面、３・・流速弛緩の減圧室、４・流体吸引ブロア
−、５・・構成フレーム、６・・走行車輪、７〜１０・
・走行駆動伝達装置、１１・・流量調整ダンパー、工２
・・キャタピラ−走行装置、１３〜１６・・仕残し防止
機構を具備した無公害自動塗装機構、１７・・吊り下げ
ワイ’？−，１８・・自動塗装ポンプ、１９・・ミスト
分離回収装置、 ２０・・塗料自動供給ホース、２１
・・ミスト回収フレキシブルホース、２２・・内部流体
吸引口、２３・・曲面である。The drawings show an embodiment of the present invention, and FIG.
FIG. 2 is a partially cross-sectional longitudinal side view of a wheel running drive system of a mechanism that moves by suctioning a surface; FIG. 2 is a front view thereof, and FIG.
The figure is a partially sectional side view. FIG. 4 is a longitudinal side view, partially in section, of a caterpillar traveling drive system of a mechanism for traveling by suctioning a surface, and FIG. 5 is a front view thereof. Figure 6.7 is a sectional view of the main part of the fluid suction device, and Figure 8 is. FIG. 2 is a front view of a device in which a plurality of mechanisms for suctioning and running a surface according to the present invention are configured in parallel. The names of the main symbols in the diagram are: 1. Suction surface, 2. Opposing surface, 3. Decompression chamber for flow rate relaxation, 4. Fluid suction blower.
-, 5... Constituent frame, 6... Running wheels, 7-10...
・Traveling drive transmission device, 11...Flow rate adjustment damper, work 2
... Caterpillar traveling device, 13-16.. Non-polluting automatic painting mechanism equipped with a mechanism to prevent leftovers, 17.. Hanging wire? -, 18...Automatic painting pump, 19...Mist separation and collection device, 20...Paint automatic supply hose, 21
... Mist collection flexible hose, 22 ... Internal fluid suction port, 23 ... Curved surface.
Claims (6)
て、直接接触したり、密着しないようにした流体吸引装
置に吸引開口部を構成して、流体の吸引力と、その開口
部で発生する運動流体の負圧を付加し、面を吸引して走
行する方法。(1) A suction opening is configured in a fluid suction device that has a running function such as wheels or caterpillars and does not come into direct contact or close contact with a surface, and the suction force of the fluid and the opening A method of moving by applying negative pressure to the generated moving fluid and suctioning the surface.
に対する断面形状が、曲線状に漸減して流速を加速する
ような、流体吸引装置を構成する、面を吸引して走行す
る機構。(2) In the scope of the preceding claim, a mechanism that runs by suctioning a surface, constituting a fluid suction device whose cross-sectional shape in the direction of fluid flow gradually decreases in a curved manner to accelerate the flow velocity. .
後に流体の流速が、弛緩するような部屋を流体吸引装置
に構成した、面を吸引して走行する機構。(3) In claim (1), a mechanism for traveling by suctioning a surface, in which the fluid suction device has a chamber in which the flow velocity of the fluid is relaxed immediately after the suction opening.
流体の流動方向に対する断面形状が、一定の長さで連続
しながら、流速が弛緩する部屋に連なる様な流体吸引装
置を構成する、面を吸引して走行する機構。(4) In claim (1), the suction opening is
A mechanism that runs by suctioning a surface, which constitutes a fluid suction device whose cross-sectional shape in the fluid flow direction is continuous over a constant length and connected to a chamber where the flow velocity is slow.
る断面形状が、特許請求の範囲（２）、（３）、（４）
の形状を（４）、（３）、（２）の順序で連続して形成
する流体吸引装置を構成する、面を吸引して走行する機
構。(5) In claim (1), the cross-sectional shape in the flow direction is as defined in claims (2), (3), and (4).
A mechanism that runs by suctioning a surface, which constitutes a fluid suction device that successively forms the shapes of (4), (3), and (2) in the order of (4), (3), and (2).
引して走行する機構を複数配列した装置。(6) A device according to claims (1) to (5), in which a plurality of mechanisms for suctioning and running a surface are arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2239394A JPH04121291A (en) | 1990-09-10 | 1990-09-10 | Method for sucking surface and running |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2239394A JPH04121291A (en) | 1990-09-10 | 1990-09-10 | Method for sucking surface and running |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH04121291A true JPH04121291A (en) | 1992-04-22 |
Family
ID=17044130
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2239394A Pending JPH04121291A (en) | 1990-09-10 | 1990-09-10 | Method for sucking surface and running |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH04121291A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100448072B1 (en) * | 2001-08-17 | 2004-09-10 | 한국과학기술연구원 | Sliding vacuum pad |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6341285A (en) * | 1986-08-05 | 1988-02-22 | Fukashi Uragami | Device capable of being adsorbed to wall surface |
-
1990
- 1990-09-10 JP JP2239394A patent/JPH04121291A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6341285A (en) * | 1986-08-05 | 1988-02-22 | Fukashi Uragami | Device capable of being adsorbed to wall surface |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100448072B1 (en) * | 2001-08-17 | 2004-09-10 | 한국과학기술연구원 | Sliding vacuum pad |
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