JPH0664570A - Vacuum cup type self-traveling robot - Google Patents
Vacuum cup type self-traveling robotInfo
- Publication number
- JPH0664570A JPH0664570A JP4241209A JP24120992A JPH0664570A JP H0664570 A JPH0664570 A JP H0664570A JP 4241209 A JP4241209 A JP 4241209A JP 24120992 A JP24120992 A JP 24120992A JP H0664570 A JPH0664570 A JP H0664570A
- Authority
- JP
- Japan
- Prior art keywords
- pad
- wheels
- type self
- vacuum cup
- cup type
- 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.)
- Withdrawn
Links
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- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、主に筒身の検査や塗装
用として使用するバキュームカップ式自走ロボットに関
する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vacuum cup type self-propelled robot mainly used for inspecting and painting a barrel.
【０００２】[0002]
【従来の技術】壁面を移動しながら塗装，ブラスト，肉
厚検査，表面状況の観察等を行うロボットには下記する
ように種々の構造のものが知られている。まず、磁石方
式のものとしては、図４側面図に示すように、磁石２，
２を用いて壁面に吸着し、モーター７によりチェーン８
を介して車輪５を回転して走行する方式のものである。
ここで３は磁石２の押付用エア圧シリンダー、４はフレ
ーム、６は磁石２の前後退用エア圧シリンダー、６′は
ロボットである。このロボットは、磁石２，２を交互に
励磁消磁し、エア圧シリンダー６にてこれを移動して車
輪５にて全体移動する構造であり、いわば磁石２の歩行
式ともいえる。しかしながら、この種の磁石式のものは
壁面が磁性体でないと吸着しないため使用できない欠点
があり、また磁性体壁面の場合でも、塗膜が厚かった
り、サビが多量に発生していると、所要の吸着力が作用
しないこともある。次に、バキュームパッド方式のもの
としては、図５平面図及び縦断面図に示すように、複数
個の例えばゴム硬度Ｈｓ６５〜７０の硬質ゴム製パッド
２０を設け、このパッド２０内の空気を真空引きするこ
とにより壁面１に吸着する構造である。この構造は壁面
が非磁性体であっても吸着可能となる。ここで、２１は
バキュームホース、２２，２５はフレーム、２３は車輪
駆動用モーター、２４は車輪を示す。このように複数個
の吸着パッド２０を配設するのは、図６に示すように段
差部１８の移動時に有利なためであり、同図（Ａ）平面
図及び同図（Ｂ）側面図に示すように、硬質ゴム製パッ
ド２０が壁面１に付設されている段差部１８を横切って
移動する場合、一般に、パッド２０が十分段差部１８に
なじまずに空間部１９が発生し、この空間部１９よりパ
ッド２０内に空気が侵入し、負圧が減少して吸着力が低
下する。この現象に対処するため複数個のパッドとし、
数個のパッド２０が段差部１８を移動中は、他の平面部
１のパッド２０による吸着力でロボット全体を保持する
ものである。この種のロボットは、広い壁面には有効で
あるが、狹い場所では装置自体が大きいため不向きであ
り、また製作コストも高い。そこで、図７平面図及び縦
断面図に示すように、大径のバキュームパッド９により
負圧を発生させて吸着する方式も知られている。ここで
パッド本体９は鋼製とし、外周にパッド内の負圧力が減
少しないように、ゴム製で花びら状のカーテン１０を設
けてあり、１１はフレーム、１２は車輪、１４はチェー
ン、１５は車輪駆動用モーターを示す。この種の構造の
場合は、１ヶのバキュームカップ９で壁面の段差を移動
する場合、花びら状のカーテン１０が柔らかいため段差
部になじみやすく、真空もれが少なくなるので、必要吸
着力を保持しながら比較的容易に段差を横切って移動で
きるのであるが、花びら状カーテン１０をカップ９の外
周に、多数枚取付けるため製作コストが高くなる。2. Description of the Related Art Robots having various structures as described below are known for performing painting, blasting, thickness inspection, surface condition observation, etc. while moving a wall surface. First, as the magnet type, as shown in the side view of FIG.
Adsorb to the wall surface using 2 and chain 8 by motor 7.
It is a system of traveling by rotating the wheel 5 via.
Here, 3 is an air pressure cylinder for pressing the magnet 2, 4 is a frame, 6 is an air pressure cylinder for retracting the front of the magnet 2, and 6'is a robot. This robot has a structure in which the magnets 2 and 2 are alternately excited and demagnetized, and the pneumatic cylinders 6 move the magnets 2 to move the wheels 5 as a whole. However, this type of magnet type has the disadvantage that it cannot be used unless the wall surface is magnetic unless it is magnetic.In addition, even in the case of a magnetic wall surface, if the coating film is thick or a lot of rust is generated, it is necessary. The adsorption force of may not work. Next, as the vacuum pad type, as shown in the plan view and vertical sectional view of FIG. 5, a plurality of hard rubber pads 20 having, for example, rubber hardness Hs65 to 70 are provided, and the air in the pads 20 is vacuumed. It has a structure in which it is attracted to the wall surface 1 by being pulled. This structure enables adsorption even if the wall surface is a non-magnetic material. Here, 21 is a vacuum hose, 22 and 25 are frames, 23 is a wheel drive motor, and 24 is wheels. The reason why the plurality of suction pads 20 are arranged in this manner is that it is advantageous when the step portion 18 is moved as shown in FIG. 6, and the plan view and the side view of FIG. As shown in the drawing, when the hard rubber pad 20 moves across the step portion 18 attached to the wall surface 1, generally, the pad 20 does not sufficiently adapt to the step portion 18 and the space portion 19 is generated. Air intrudes into the pad 20 from 19 to reduce the negative pressure and the suction force. To deal with this phenomenon, use multiple pads,
While the several pads 20 are moving on the step portion 18, the entire robot is held by the suction force of the pads 20 on the other plane portion 1. This kind of robot is effective on a wide wall surface, but is unsuitable in a narrow place because the device itself is large, and the manufacturing cost is high. Therefore, as shown in a plan view and a vertical sectional view of FIG. 7, a method is also known in which a vacuum pad 9 having a large diameter is used to generate a negative pressure and to suck the negative pressure. Here, the pad body 9 is made of steel, and a rubber petal-shaped curtain 10 is provided on the outer periphery so that the negative pressure in the pad is not reduced. 11 is a frame, 12 is wheels, 14 is a chain, and 15 is A wheel drive motor is shown. In the case of this type of structure, when moving a step on the wall surface with one vacuum cup 9, the petal-shaped curtain 10 is soft, so that it easily fits in the step and the vacuum leakage is reduced, so that the required suction force is maintained. Although it is relatively easy to move across the steps, the number of petal-shaped curtains 10 mounted on the outer circumference of the cup 9 increases the manufacturing cost.
【０００３】[0003]
【発明が解決しようとする課題】以上述べたように、従
来の電磁石方式の場合は非磁性体には使用できず、バキ
ュームカップ方式の場合は製作コストが高くなり、また
狹い場所には不向きとなる欠点がある。As described above, the conventional electromagnet method cannot be used for a non-magnetic material, and the vacuum cup method increases the manufacturing cost, and is not suitable for a narrow place. There is a drawback that becomes.
【０００４】本発明は、このような事情に鑑みて提案さ
れたもので、製作コストが安く、構造が簡単で段差移動
もスムースに行えるバキュームカップ式自走ロボットを
提供することを目的とする。The present invention has been proposed in view of the above circumstances, and an object thereof is to provide a vacuum cup type self-propelled robot which has a low manufacturing cost, has a simple structure, and can smoothly move between steps.
【０００５】[0005]
【課題を解決するための手段】そのために、本発明は、
前後左右端に配設された回頭自在の２ヶの駆動車輪及び
２ヶの遊動車輪により支持される水平長方形の機枠と、
遠隔操作により上記４ヶの車輪を連動的に回頭する操舵
手段と、上記機枠の中央に固着され下方へ向かって拡開
する大径円錐状をなし剛性を有する上部と、これに連続
し先端にゆくにつれて薄肉となる下端部を形成する可撓
性裾端部とよりなり、上記上部の中心孔に真空引きホー
スの下端が嵌着されるバキュームパッドと、上記裾端部
に等間隔で内向半径方向の所定長にわたって加工された
複数のカットにより形成された複数の花弁片の下面にそ
れぞれ貼着された低摩擦係数の高分子樹脂製摺接膜材と
を具えたことを特徴とする。To this end, the present invention provides
A horizontal rectangular machine frame supported by two freely rotatable turning drive wheels and two idler wheels arranged at the front, rear, left and right ends,
Steering means for turning the four wheels in an interlocking manner by remote control, an upper portion fixed to the center of the machine frame and having a large-diameter conical shape that expands downward, and having rigidity, and a tip continuous with this. A vacuum pad having a flexible hem end portion that forms a lower end portion that becomes thinner toward the lower end portion of the vacuum hose, and a vacuum pad into which the lower end portion of the vacuum hose is fitted in the center hole of the upper portion, and an inward facing portion at the hem end portion. It is characterized in that it comprises a polymer resin sliding contact film material having a low friction coefficient, which is adhered to the lower surfaces of a plurality of petal pieces formed by a plurality of cuts processed over a predetermined length in the radial direction.
【０００６】[0006]
【作用】このような構成において、機枠の中央に下方へ
向かって突設された末広円錐状パッドの上部は剛性に富
んだゴム等よりなり、これに連続する裾野部は先端へゆ
くにつれて薄肉となる可撓性裾端部をなし、さらにその
外周には等間隔で内向半径方向の一定長のカットが加工
されて花弁状をなし、各花弁の下面には小摩擦係数を有
する高分子樹脂膜がそれぞれ貼着されている。それ故、
パッドの上部は剛性が十分あり、裾端部は先端にゆくに
つれて十分な可撓性を有し、しかも下端外周は全体的に
花弁状に複数の花弁片に形成されている故、各花弁片が
それぞれ相手壁面上の凸凹になじんで変形することで、
十分な気密性を発揮し、小段差を円滑に越えることが可
能となる。In such a structure, the upper part of the divergent conical pad projecting downward in the center of the machine frame is made of rubber or the like having a high rigidity, and the skirt part continuing to this is thinned toward the tip. Polymer resin with a flexible hem end that has a small coefficient of friction on the lower surface of each petal. Membranes are attached respectively. Therefore,
The upper part of the pad has sufficient rigidity, the hem end part has sufficient flexibility as it goes to the tip, and the outer periphery of the lower end is formed into a plurality of petal pieces in a petal-like shape. Each deforms by conforming to the unevenness on the opposite wall surface,
Sufficient airtightness is exhibited, and it is possible to smoothly cross small steps.
【０００７】[0007]
【実施例】本発明の一実施例を図面について説明する
と、図１はその概略縦断面図、図２は図１のII−II矢視
底面図、図３は図１の全体正面図及び平面図である。1 is a schematic vertical sectional view, FIG. 2 is a bottom view taken along the line II--II of FIG. 1, and FIG. 3 is a front view and a plan view of FIG. It is a figure.
【０００８】まず、図１〜図３において、その全体構造
を説明すると、前後１対の平行横材及び左右１対の平行
縦材よりなるII字型フレーム４０で構成された本体の前
後左右端に後記するリンク機構でステアリング可能とし
た４ヶの車輪４５を配設し、左右１対のモーター５０に
て駆動するものである。走行方向の変更はエア圧シリン
ダー７０の作用によりロッド７１が横方向へ移動し、こ
れにより各車輪４５に設けてあるリンク機構６０，６
１，６２，６５，６６，６７，６８が作動して各回転軸
５５を回転させ４ヶの車輪４５の方向を連動的に回頭す
るようにし、モーター５０の正逆転との組合せにより本
ロボットは自在に走行できる。First, referring to FIGS. 1 to 3, the overall structure will be described. The front and rear left and right ends of a main body composed of a II-shaped frame 40 composed of a pair of front and rear parallel horizontal members and a pair of left and right parallel vertical members. The four wheels 45 which can be steered by the link mechanism described later are provided and driven by a pair of left and right motors 50. To change the traveling direction, the rod 71 is moved laterally by the action of the pneumatic cylinder 70, whereby the link mechanisms 60, 6 provided on the wheels 45 are provided.
1, 62, 65, 66, 67, 68 are actuated to rotate the respective rotary shafts 55 so that the directions of the four wheels 45 are interlocked with each other. You can run freely.
【０００９】次に、吸着パッドについて説明すると、図
１（Ａ）は吸着前の状態を、同図（Ｂ）は吸着時の状態
をそれぞれ断面図的に示し、図２は吸着パッドの正面図
を示す。上図において、駆動車輪４５を設けたフレーム
４０に位置調整及び固定治具３６，３９で大径パッド３
０が固定され、このパッド３０は上部中央に吸引用のホ
ース３８が接続され、このホース３８からパッド内の空
気を吸引し、パッド内を負圧にする。パッド３０自体は
軟質ゴム材で一体成形されており、図１に示すように、
上部から先端部にかけて肉厚が次第に薄くなっており、
壁面１に接する裾部分ｌは柔らかくし、壁面凹凸になじ
みやすくなっている。このｌ0 部の剛性として例えばパ
ッド外径φ４００ｍｍ程度で３〜５ｋｇ／ｍｍとしてあ
る。このような軟質ゴムの場合、変形しやすいので吸着
性は良いが、反面パッド内外の圧力差によりパッド３０
自体が変形してしまう惧れもある。そこで、本発明では
パッド内面に補強用の倒置皿状の鋼板リング３５を内面
に添着してあり、これにより負圧を大きくしても、パッ
ド３０は先端ｌS 部のみ変形し、上部は変形しないので
安定した吸着力が得られる。さらに、このパッド先端ｌ
S 部の壁面接地部分には図２に示すように、円周方向全
面にわたって半径方向のスリット４１により等間隔に切
断されたほぼ長方形のテープ４２を貼りつけてある。こ
のテープ４２はパッド３０と壁面１との摩擦係数を低下
させ、移動しやすくするためであり、例えば０．１〜
０．３ｍｍ厚のテープ等を用いる。スリット４１により
それぞれ切断してあるのは、パッド３０の先端部ｌS の
剛性がテープ４２を貼ることにより増加するのを防止す
るためである。Next, the suction pad will be described. FIG. 1 (A) is a sectional view showing a state before suction, FIG. 1 (B) is a sectional view showing a state during suction, and FIG. 2 is a front view of the suction pad. Indicates. In the above figure, the large-diameter pad 3 is attached to the frame 40 provided with the drive wheels 45 by the position adjusting and fixing jigs 36 and 39.
0 is fixed, and a suction hose 38 is connected to the center of the upper portion of the pad 30, and the air in the pad is sucked from the hose 38 to make the inside of the pad a negative pressure. The pad 30 itself is integrally formed of a soft rubber material, and as shown in FIG.
The wall thickness gradually decreases from the top to the tip,
The hem portion 1 in contact with the wall surface 1 is made soft so that it easily fits into the wall surface unevenness. The rigidity of the l 0 portion is, for example, 3 to 5 kg / mm when the pad outer diameter is about 400 mm. In the case of such soft rubber, since it is easily deformed, the adsorbability is good, but on the other hand, the pressure difference between the inside and the outside of the pad 30
There is a fear that it will transform itself. Therefore, in the present invention, the inverted dish-shaped steel plate ring 35 for reinforcement is attached to the inner surface of the pad, so that even if the negative pressure is increased, the pad 30 is deformed only at the tip l S portion and the upper portion is deformed. Since it does not, a stable adsorption force can be obtained. Furthermore, this pad tip l
As shown in FIG. 2, a substantially rectangular tape 42, which is cut at equal intervals by radial slits 41, is attached to the wall surface grounding portion of the S portion as shown in FIG. This tape 42 reduces the coefficient of friction between the pad 30 and the wall surface 1 and makes it easier to move.
A 0.3 mm thick tape or the like is used. The slits 41 are cut to prevent the rigidity of the tip portion l S of the pad 30 from increasing due to the tape 42 being stuck.
【００１０】このような構造において、図１（Ｂ）に示
すように、車輪４５を壁面１に接地させ、吸引用ホース
３８でパッド内の空気を吸引し、パッド３０内に負圧を
発生させると、吸着力ＰF が発生し、この吸着力ＰF は
吸着時のパッド内径と負圧Ｐより計算される。この吸着
力はＰF は吸着パッド部の押付力ＰP と車輪４５の押付
力ＰT に分かれ、両者には摩擦力が発生する。つまり車
輪４５と壁面の間には摩擦力ＦR が、吸着パッド３０と
壁面１の間には摩擦力ＦS がそれぞれ発生する。ロボッ
トの全体重量をＷとし、移動装置が垂直な壁面を上昇す
る場合、ＦR ＞ＦS ＋Ｗの条件とすれば、車輪駆動によ
り走行可能となる。つまり吸着パッド３０の摩擦力ＦS
と自重Ｗが小さい程、移動しやすくなる。そのため本発
明では、パッド３０の先端部ｌS の剛性を小さくし、吸
着力ＰFによって生じるパッド部の押付力ＰP を小さく
するとともに、四弗化エチレン，超高分子ポリエチレン
樹脂等のテープの貼付けにより、摩擦係数を小さくし、
摩擦力ＦS の減少を図っている。また、吸着パッド３０
は１ヶとし、自重Ｗの減量をも図っている。In such a structure, as shown in FIG. 1B, the wheel 45 is grounded on the wall surface 1 and the suction hose 38 sucks the air in the pad to generate a negative pressure in the pad 30. Then, a suction force P F is generated, and this suction force P F is calculated from the pad inner diameter and the negative pressure P at the time of suction. This attraction force P F is divided into a pushing force P P of the suction pad portion and a pushing force P T of the wheel 45, and a friction force is generated between them. That is, a frictional force F R is generated between the wheel 45 and the wall surface, and a frictional force F S is generated between the suction pad 30 and the wall surface 1. The total weight of the robot and is W, when the mobile device is raised to vertical wall, if the condition of F R> F S + W, allows travel through the wheel drive. That is, the frictional force F S of the suction pad 30
Thus, the smaller the own weight W, the easier the movement. Therefore, in the present invention, the rigidity of the tip portion l S of the pad 30 is reduced, the pressing force P P of the pad portion generated by the suction force P F is reduced, and the tape of tetrafluoroethylene, ultra-high molecular weight polyethylene resin, or the like is used. By sticking, the friction coefficient is reduced,
The frictional force F S is reduced. Also, the suction pad 30
The number is 1 and the weight W is reduced.
【００１１】このような構造によれば、吸着パッドは吸
着移動が容易であり、しかも壁面１の凹凸や段差に沿っ
てパッド部の先端部が容易に変形し、なじみやすく負圧
減少が防止できるので、安定した装置移動が可能とな
る。With such a structure, the suction pad can be easily moved by suction, and the tip portion of the pad portion is easily deformed along the unevenness or the step of the wall surface 1 so that the suction pad easily fits and the negative pressure can be prevented from decreasing. Therefore, stable device movement is possible.
【００１２】[0012]
【発明の効果】本発明の吸着パッドによれば、下記の効
果が奏せられる。 （１）吸着パッド部の押付力は小さく、吸着力のほとん
どを車輪に伝えるので、吸着効果が大きい。 （２）またパッド先端部は柔らかく、しかもテープ貼付
けにより摩擦係数も小さいことから、壁面の凹凸や段差
になじみやすく、外部空気の侵入量が減少し、吸着力低
下が防止でき、装置の安定走行が確保できる。 （３）１ヶの大径パッドでロボット全体を支持すること
ができるので、装置の簡易化，軽量化が行えるととも
に、狹い場所への適応も可能であり、製造コスト及び作
業コスト等の低減化も図れる。According to the suction pad of the present invention, the following effects can be obtained. (1) The pressing force of the suction pad portion is small, and most of the suction force is transmitted to the wheels, so the suction effect is large. (2) In addition, since the tip of the pad is soft and the coefficient of friction is small due to tape attachment, it easily fits into irregularities and steps on the wall surface, the amount of external air entering is reduced, and it is possible to prevent a decrease in adsorption force and ensure stable operation of the device. Can be secured. (3) Since the entire robot can be supported by one large-diameter pad, the device can be simplified and the weight can be reduced, and it can be applied to a narrow place to reduce manufacturing cost and work cost. It can be realized.
【００１３】要するに本発明によれば、前後左右端に配
設された回頭自在の２ヶの駆動車輪及び２ヶの遊動車輪
により支持される水平長方形の機枠と、遠隔操作により
上記４ヶの車輪を連動的に回頭する操舵手段と、上記機
枠の中央に固着され下方へ向かって拡開する大径円錐状
をなし剛性を有する上部と、これに連続し先端にゆくに
つれて薄肉となる下端部を形成する可撓性裾端部とより
なり、上記上部の中心孔に真空引きホースの下端が嵌着
されるバキュームパッドと、上記裾端部に等間隔で内向
半径方向の所定長にわたって加工された複数のカットに
より形成された複数の花弁片の下面にそれぞれ貼着され
た低摩擦係数の高分子樹脂製摺接膜材とを具えたことに
より、製作コストが安く、構造が簡単で段差移動もスム
ーズに行えるバキュームカップ式自走ロボットを得るか
ら、本発明は産業上極めて有益なものである。In short, according to the present invention, a horizontal rectangular machine frame supported by two freely rotatable turning drive wheels and two idler wheels disposed at the front, rear, left and right ends, and the above four units by remote control. Steering means for turning the wheels in an interlocking manner, an upper portion that is fixed to the center of the machine frame and has a large-diameter conical shape that expands downward, and has rigidity, and a lower end that is continuous with this and becomes thinner toward the tip. A vacuum pad that is formed of a flexible hem end that forms a portion, and the lower end of a vacuuming hose is fitted in the center hole of the upper portion, and the hem end portion is processed at equal intervals over a predetermined length in the inward radial direction. Since it has a low friction coefficient polymer resin sliding contact film material attached to the lower surface of each petal piece formed by multiple cuts, the manufacturing cost is low and the structure is simple Baki that can be moved smoothly Since obtaining Mukappu type self-propelled robot, the present invention is extremely useful industrially.
【図１】本発明の一実施例を示す概略縦断面図である。FIG. 1 is a schematic vertical sectional view showing an embodiment of the present invention.
【図２】図１の吸着パッドを示すII−II矢視底面図であ
る。FIG. 2 is a bottom view taken along the line II-II of the suction pad of FIG.
【図３】図１の全体正面図及び平面図である。3A and 3B are an overall front view and a plan view of FIG.
【図４】従来の磁石方式のロボットを示す側面図であ
る。FIG. 4 is a side view showing a conventional magnet type robot.
【図５】従来の吸着パッド方式のロボットを示す平面図
及び縦断面図である。5A and 5B are a plan view and a vertical sectional view showing a conventional suction pad type robot.
【図６】図５におけるパッドの段差部での吸着状況を示
す説明図である。6 is an explanatory diagram showing a suction state at a step portion of the pad in FIG.
【図７】図５とは異なる従来の吸着パッド方式のロボッ
トを示す同じく平面図及び縦断面図である。7A and 7B are a plan view and a vertical sectional view showing a conventional suction pad type robot different from FIG.
１，２ 壁面 １８ 段差 ３０ パッド ３５ 鋼板リング ３６ 固定治具 ３８ ホース ３９ 固定治具 ４０Ｌ 縦材 ４０Ｔ 横材 ４１ スリット ４２ テープ ４５ 車輪 ５０ モーター ５５ 回転軸 ６０ 縦ロッド ６１ 縦ロッド ６２ 横ロッド ６５ クランクアーム ６６ クランクアーム ６７ リンク ６８ クランクアーム ７０ エア圧シリンダー 1, 2 Wall surfaces 18 Steps 30 Pads 35 Steel plate rings 36 Fixing jigs 38 Hose 39 Fixing jigs 40L Vertical members 40T Horizontal members 41 Slits 42 Tapes 45 Wheels 50 Motors 55 Rotating shafts 60 Vertical rods 61 Vertical rods 62 Horizontal rods 65 Crank arms 66 crank arm 67 link 68 crank arm 70 pneumatic cylinder
Claims (1)
の駆動車輪及び２ヶの遊動車輪により支持される水平長
方形の機枠と、遠隔操作により上記４ヶの車輪を連動的
に回頭する操舵手段と、上記機枠の中央に固着され下方
へ向かって拡開する大径円錐状をなし剛性を有する上部
と、これに連続し先端にゆくにつれて薄肉となる下端部
を形成する可撓性裾端部とよりなり、上記上部の中心孔
に真空引きホースの下端が嵌着されるバキュームパッド
と、上記裾端部に等間隔で内向半径方向の所定長にわた
って加工された複数のカットにより形成された複数の花
弁片の下面にそれぞれ貼着された低摩擦係数の高分子樹
脂製摺接膜材とを具えたことを特徴とするバキュームカ
ップ式自走ロボット。1. A horizontal rectangular machine frame supported by two freely rotatable turning drive wheels and two idler wheels disposed at the front, rear, left and right ends, and the four wheels are interlocked by remote control. It is possible to form a turning means for steering, an upper part having a large-diameter cone shape that is fixed to the center of the machine frame and expands downward, and has rigidity, and a lower end part that is continuous with this and becomes thinner toward the tip. A vacuum pad consisting of a flexible hem end and a lower end of a vacuuming hose is fitted in the center hole of the upper part, and a plurality of cuts formed on the hem end part at equal intervals over a predetermined length in the inward radial direction. A vacuum cup type self-propelled robot, characterized in that it comprises a low-friction polymer resin sliding contact film material adhered to the lower surfaces of a plurality of petal pieces formed by.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4241209A JPH0664570A (en) | 1992-08-18 | 1992-08-18 | Vacuum cup type self-traveling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4241209A JPH0664570A (en) | 1992-08-18 | 1992-08-18 | Vacuum cup type self-traveling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0664570A true JPH0664570A (en) | 1994-03-08 |
Family
ID=17070826
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4241209A Withdrawn JPH0664570A (en) | 1992-08-18 | 1992-08-18 | Vacuum cup type self-traveling robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0664570A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100888861B1 (en) * | 2007-10-23 | 2009-03-17 | 성균관대학교산학협력단 | Wall climbing robot using impeller force |
| CN104071245A (en) * | 2014-05-15 | 2014-10-01 | 苏州工业园区职业技术学院 | Sucking disk for wall climbing robot |
| JP2015519093A (en) * | 2012-04-05 | 2015-07-09 | エコバクス ロボティクス カンパニー リミテッド | Suction device with suction cup and its glass wiping device |
| CN114234018A (en) * | 2021-12-20 | 2022-03-25 | 河北大唐国际王滩发电有限责任公司 | Disconnect-type pipeline inspection robot |
-
1992
- 1992-08-18 JP JP4241209A patent/JPH0664570A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100888861B1 (en) * | 2007-10-23 | 2009-03-17 | 성균관대학교산학협력단 | Wall climbing robot using impeller force |
| JP2015519093A (en) * | 2012-04-05 | 2015-07-09 | エコバクス ロボティクス カンパニー リミテッド | Suction device with suction cup and its glass wiping device |
| CN104071245A (en) * | 2014-05-15 | 2014-10-01 | 苏州工业园区职业技术学院 | Sucking disk for wall climbing robot |
| CN114234018A (en) * | 2021-12-20 | 2022-03-25 | 河北大唐国际王滩发电有限责任公司 | Disconnect-type pipeline inspection robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A300 | Withdrawal of application because of no request for examination |
Free format text: JAPANESE INTERMEDIATE CODE: A300 Effective date: 19991102 |