JPH0672364A - Robot for wall surface running - Google Patents
Robot for wall surface runningInfo
- Publication number
- JPH0672364A JPH0672364A JP4250816A JP25081692A JPH0672364A JP H0672364 A JPH0672364 A JP H0672364A JP 4250816 A JP4250816 A JP 4250816A JP 25081692 A JP25081692 A JP 25081692A JP H0672364 A JPH0672364 A JP H0672364A
- Authority
- JP
- Japan
- Prior art keywords
- suction
- wall surface
- fixed
- moving
- wheels
- 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
Landscapes
- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】この発明は、ビル，橋梁などの建
造物の壁面あるいは天井面などを走行する壁面走行用ロ
ボットに関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wall surface traveling robot which travels on a wall surface or a ceiling surface of a building, a bridge or the like.
【０００２】[0002]
【従来の技術】周知のように、この種の壁面走行用ロボ
ットは、ビル，橋梁，トンネル等の建造物の壁面の清
掃，検査，コーティングなどのように従来は人が危険を
伴いながら行っていた作業に代わって種々利用されるに
至っている。このような壁面走行用ロボットとしては、
特開昭64-5798 号や実開平01-128475 号公報に開示され
るものがある。2. Description of the Related Art As is well known, this type of wall-mounting robot has conventionally been performed by a person with danger while cleaning, inspecting, or coating the wall surface of a building, bridge, tunnel, or other structure. It has come to be used in various ways instead of the work. As such a wall-mounting robot,
There are those disclosed in JP-A-64-5798 and Japanese Utility Model Laid-Open No. 01-128475.
【０００３】特開昭64-5798 号のものは、壁面走行用ロ
ボットに取り付けた液体ジェット切断装置に関するもの
であるが、ここで使用される壁面走行用ロボットは、ク
ローラ表面に複数の吸盤を形成した１対のクローラ式走
行体によって走行されるもので、この吸盤に発生する吸
引は、コンプレッサから配管を介して圧縮空気が供給さ
れたものをエゼクタの原理で吸盤および壁により形成さ
れた空間に生じさせた負圧による構造である。Japanese Unexamined Patent Publication No. 64-5798 relates to a liquid jet cutting device attached to a wall surface traveling robot. The wall surface traveling robot used here has a plurality of suction cups formed on the crawler surface. It is driven by a pair of crawler type traveling bodies, and the suction generated in this suction cup is the one that compressed air is supplied from the compressor through the pipe to the space formed by the suction cup and the wall by the ejector principle. It is a structure due to the generated negative pressure.
【０００４】又、実開平01-128475 号のものは、クロー
ラ式壁面移動ロボットの吸着盤の改良に関し、吸着盤に
呼込み用の吸引部を設けたことを特徴とするものである
が、この吸着壁の吸引をどのようにするかは開示がない
ので定かではない。[0004] In addition, Japanese Utility Model No. 01-128475 relates to the improvement of the suction plate of the crawler type wall surface moving robot, which is characterized in that the suction plate is provided with a suction portion for invoking. It is unclear how to perform suction on the wall because there is no disclosure.
【０００５】[0005]
【発明が解決しようとする課題】前記特開昭64-5798 号
に開示のものは、クローラ表面に複数の吸盤を形成した
１対のクローラ式走行体によって走行する形式のもので
あるので、２つのクローラが必要であると共に、この２
つのクローラの間の空間は吸盤が位置していないことか
ら、吸着面が少くなり、その結果吸着力が弱いという問
題点がある。The device disclosed in Japanese Unexamined Patent Publication No. Sho 64-5798 is a type in which a pair of crawler type traveling bodies having a plurality of suction cups formed on the surface of the crawler are used for traveling. Two crawlers are needed and this two
Since the suction cup is not located in the space between the two crawlers, there is a problem in that the suction surface becomes small and as a result, the suction force is weak.
【０００６】又、実開平01-128475 号に開示のものは、
その吸引の形式についての開示がないので、吸引方法に
ついては定かでないが、図面及び明細書の記載から２つ
のクローラを使用していると推測でき、前記と同様の問
題点を有している。The one disclosed in Japanese Utility Model Publication No. 01-128475 is
Since there is no disclosure about the form of the suction, it is not clear about the suction method, but it can be inferred that two crawlers are used from the description in the drawings and the description, and there are the same problems as described above.
【０００７】[0007]
【課題を解決するための手段】この発明はこのような問
題点を解決することを目的としてなされたものであっ
て、その手段とするところは、請求項１においては、枠
体の一端側に所定距離を開けて相対向するように設けた
１対の駆動輪と従動輪と、枠体の他端側に前記駆動輪と
従動輪の位置を逆にして所定距離を開けて相対向するよ
うにして設けたもう１対の駆動輪と従動輪と、これら枠
体の一端側と他端側にそれぞれ位置する２対の駆動輪と
従動輪に巻回されて回転する１つの回転帯と、該回転帯
の外周面に固定された複数の移動吸着盤と、該移動吸着
盤と真空発生装置とを接続する吸引管と、該吸引管の配
管途中に設けられ前記移動吸着盤の接壁面時に真空発生
装置と接続し離反時に真空発生装置と切断する制御部と
からなるところにある。SUMMARY OF THE INVENTION The present invention has been made for the purpose of solving such a problem, and the means therefor is, in claim 1, on one end side of the frame body. A pair of driving wheel and driven wheel provided to face each other with a predetermined distance therebetween, and the driving wheel and the driven wheel are opposite to each other on the other end side of the frame body with a predetermined distance therebetween so as to face each other. The other pair of drive wheels and driven wheels provided in the above, and two rotation wheels wound around the two pairs of drive wheels and driven wheels respectively located on one end side and the other end side of these frame bodies and rotating. A plurality of moving suction plates fixed to the outer peripheral surface of the rotary band, a suction pipe connecting the moving suction plate and a vacuum generator, and a suction pipe provided in the middle of the pipe of the suction pipe when contacting the wall surface of the moving suction plate. It is connected to the vacuum generator and consists of a control unit that disconnects the vacuum generator when it is separated. .
【０００８】請求項２においては、前記枠体に方向転換
自在に支持された回転アームと、該回転アームの両端に
設けた上下動シリンダと、該上下動シリンダに固定した
固定吸着盤と、該固定吸着盤と真空発生装置とを接続す
る吸引管と、該吸引管の配管途中に設けられて真空発生
装置と固定吸着盤の接続を入切する切換弁とを具備した
ところにある。According to a second aspect of the present invention, there is provided a rotary arm rotatably supported by the frame body, vertical moving cylinders provided at both ends of the rotary arm, a fixed suction plate fixed to the vertical moving cylinder, It is provided with a suction pipe that connects the fixed suction plate and the vacuum suction device, and a switching valve that is provided in the middle of the suction pipe and that connects and disconnects the connection between the vacuum generation device and the fixed suction disk.
【０００９】請求項３においては、前記請求項１の移動
吸着盤の吸引室の底に滑り止め材を固定したことにあ
る。According to a third aspect of the present invention, an anti-slip material is fixed to the bottom of the suction chamber of the movable suction plate of the first aspect.
【００１０】請求項４においては、前記請求項２の固定
吸着盤の吸引室の底に滑り止め材を固定したことにあ
る。According to a fourth aspect of the present invention, the non-slip member is fixed to the bottom of the suction chamber of the fixed suction plate of the second aspect.
【００１１】[0011]
【作用】上記手段によると、回転帯の回転は、２対の駆
動輪と従動輪に巻回されており、しかも、２つの駆動輪
の位置は枠体の一端側と他端側に別々に、且つ、逆の位
置にあるので、丁度２対の駆動輪と従動輪が形成する四
角形の対角線の位置にあることになる。これによって駆
動輪が正逆いずれの方向へ回転した場合でも、常に回転
帯にテンションが得られるので、壁面との距離を一定に
保つことができ、壁面に対する接着性が良好となる。
又、従来のクローラ型式の左右２つのクローラを有する
ものとは異なり、広巾な１つの回転帯のみを有し、且
つ、この回転帯の外周に複数の移動吸着盤を固定したも
のであるので、移動吸着盤の横巾は駆動輪と従動輪の間
隔距離以上にも拡張して設けることが可能となり、これ
によって壁面との吸着面積の拡大を図ることができ、ひ
いては、ロボットと壁面の吸着力が大になってロボット
の作業能力の拡大を期待できることとなる。According to the above means, the rotation of the rotary band is wound around the two pairs of driving wheels and the driven wheels, and the positions of the two driving wheels are separately provided on one end side and the other end side of the frame body. And, since it is located at the opposite position, it is located exactly on the diagonal line of the quadrangle formed by the two pairs of drive wheels and driven wheels. As a result, regardless of whether the drive wheel rotates in the forward or reverse direction, tension is always obtained in the rotation band, so that the distance from the wall surface can be kept constant and the adhesion to the wall surface becomes good.
Also, unlike a conventional crawler type having two right and left crawlers, it has only one wide rotating band, and a plurality of movable suction plates are fixed to the outer periphery of this rotating band. The width of the movable suction plate can be extended more than the distance between the driving wheel and the driven wheel, and the suction area between the suction wheel and the wall surface can be increased. It will be possible to expect the robot's work capacity to expand as the size increases.
【００１２】又、枠体に回転アームを設け、この回転ア
ームの両端に上下動シリンダ及び固定吸着盤を設けたこ
とによって、ロボットの進行方向転換の際には、回転ア
ームの両端に設けた上下動シリンダを伸長させて固定吸
着盤を壁面に当て、次いで切換弁を切換えて真空ポンプ
等からなる真空発生装置と吸引管を介して接続し固定吸
着盤に負圧を生じさせることによって、固定吸着盤を壁
面に堅固に吸着させてから、移動吸着盤と真空発生装置
との接続を切って上下動シンリダを更に伸長させて移動
吸着盤を壁面から離反させ、その後に、ロボット本体を
回転アームに対して進行方向へ回転させる。そして、上
下動シリンダを縮小させて移動吸着盤を壁面に当ててか
ら真空発生装置と移動吸着盤を接続して吸着力を生じさ
せて壁面に吸着させてから、切換弁によって真空発生装
置との接続を切断し、その後、上下動シリンダを更に縮
小して固定吸着盤を壁面から離反し、以後は回転帯を正
又は逆回転させることによって、目的方向へ進行する。
これによって、ロボットの進行方向へ自在に操作するこ
とができる。Further, since the frame is provided with the rotary arm, and the vertical movement cylinder and the fixed suction plate are provided at both ends of the rotary arm, the vertical arm provided at the both ends of the rotary arm is provided at the time of changing the traveling direction of the robot. The movable suction cylinder is extended to bring the fixed suction plate into contact with the wall surface, and then the switching valve is switched to connect it to a vacuum generator such as a vacuum pump via a suction pipe to generate a negative pressure on the fixed suction plate, thereby fixing the fixed suction plate. After the board is firmly adsorbed on the wall surface, the moving suction board and the vacuum generator are disconnected to further extend the vertical motion Synrida to separate the moving suction board from the wall surface, and then the robot body is turned to the rotating arm. In contrast, rotate in the direction of travel. Then, the vertical movement cylinder is contracted and the moving suction plate is applied to the wall surface, and then the vacuum generating device and the moving suction plate are connected to each other to generate the suction force so that the suction force is applied to the wall surface. After disconnecting the connection, the vertical movement cylinder is further contracted to separate the fixed suction plate from the wall surface, and thereafter, the rotation band is normally or reversely rotated to proceed in the target direction.
As a result, the robot can be operated freely in the traveling direction.
【００１３】前記移動吸着盤や固定吸着盤の吸引室の底
に滑り止め材を固定した場合には、吸引時において移動
吸着盤や固定吸着盤を構成する部材が収縮したときに、
滑り止め部材が壁面に密着することによって、当該ロボ
ットが壁面より滑り落ちることを防止できる。When a non-slip material is fixed to the bottom of the suction chamber of the moving suction plate or the fixed suction plate, when the members constituting the moving suction plate or the fixed suction plate contract during suction,
When the anti-slip member is in close contact with the wall surface, it is possible to prevent the robot from sliding down from the wall surface.
【００１４】[0014]
【実施例】この発明の実施例について以下図に基づいて
説明する。この発明の実施例の壁面走行用ロボット１
は、図１に示すように、該枠体２の一端側に枠体２の横
巾の距離を開けて相対向するようにして設けた１対の駆
動輪３と従動輪４と、枠体２の他端側に前記１対の駆動
輪３と従動輪４の位置を逆にして相対向するようにして
設けたもう１対の駆動輪３と従動輪４と、これら枠体２
の一端側と他端側にそれぞれ位置する前記２対の駆動輪
３と従動輪４に巻回されて回転する１つの回転帯５と、
該回転帯５の外周面に固定された複数の移動吸着盤６
と、該移動吸着盤６と図外の真空発生装置とを接続する
吸引管７と、該吸引管７の配管途中に設けられ前記移動
吸着盤６の接壁面時に前記真空発生装置と接続し離反時
に真空発生装置と切断される制御部８とから構成され
る。Embodiments of the present invention will be described below with reference to the drawings. The wall surface traveling robot 1 according to the embodiment of the present invention
As shown in FIG. 1, a pair of driving wheels 3 and driven wheels 4 provided on one end side of the frame body 2 so as to face each other with a lateral width of the frame body 2 provided therebetween, and a frame body. Another pair of drive wheel 3 and driven wheel 4 provided on the other end side of 2 so as to face each other by reversing the positions of the pair of drive wheel 3 and driven wheel 4, and these frame bodies 2
A pair of drive wheels 3 and driven wheels 4 located at one end side and the other end side, respectively, of which one rotation band 5 rotates and is rotated.
A plurality of movable suction disks 6 fixed to the outer peripheral surface of the rotary belt 5.
And a suction pipe 7 for connecting the movable suction plate 6 and a vacuum generator (not shown), and a suction pipe 7 provided in the middle of the suction pipe 7 and connected to the vacuum generator when the movable suction plate 6 is in contact with a wall surface of the suction pipe 7. It is composed of a vacuum generator and a control unit 8 which is disconnected at times.
【００１５】前記枠体２は矩形状をなし、この枠体の一
端側に設けたモータ９から枠体２の一側に設けた駆動歯
車１０，第１中間歯車１１及び第２中間歯車１２を介し
て前記駆動輪３を駆動させると共に該駆動輪３と同軸に
設けた前記第２中間歯車１２及び第３中間歯車１３を介
して制御輪１４を駆動させる。又、枠体２の他端側に設
けたモータ９からは、枠体２の他側に設けた駆動歯車１
０，第１中間歯車１１及び第２中間歯車１２を介して前
記もう１つの駆動輪３を駆動させると共に該駆動輪３と
同軸に設けた前記第２中間歯車１２及び第３中間歯車１
３を介して制御輪１４を駆動させる。The frame 2 has a rectangular shape and includes a motor 9 provided at one end of the frame 2 and a drive gear 10, a first intermediate gear 11 and a second intermediate gear 12 provided at one side of the frame 2. The drive wheel 3 is driven via the control wheel 14, and the control wheel 14 is driven via the second intermediate gear 12 and the third intermediate gear 13 provided coaxially with the drive wheel 3. Further, from the motor 9 provided on the other end side of the frame body 2 to the drive gear 1 provided on the other side of the frame body 2.
The second intermediate gear 12 and the third intermediate gear 1 which drive the other drive wheel 3 via the 0, the first intermediate gear 11 and the second intermediate gear 12 and are provided coaxially with the drive wheel 3.
The control wheel 14 is driven via 3.
【００１６】前記回転帯５は、その内周面に形成した噛
合歯型１５が枠体２の一端側と他端側においてそれぞれ
相対向するように設けた前記２対の駆動輪３と従動輪４
の歯に噛み合うように巻回されているので、回転帯５は
両巻回端の異なる側から回転駆動が与えられる。このた
め、回転帯５の正逆いずれの回転時又は回転切換時にお
いても、回転帯５のテンションは緊張した状態を維持し
弛むことがないので、壁面走行時において、該ロボット
１は壁面Ａに常に密着した状態を持続でき、吸着力の大
きい安定走行ができる。The rotating band 5 is provided with two pairs of driving wheels 3 and driven wheels provided so that meshing tooth molds 15 formed on the inner peripheral surface thereof face each other on one end side and the other end side of the frame body 2. Four
Since it is wound so as to mesh with the teeth of, the rotary belt 5 is rotationally driven from different sides of both winding ends. For this reason, the tension of the rotating belt 5 is maintained in a tensioned state and does not loosen when the rotating belt 5 is rotated forward or backward, or when the rotation is switched. You can maintain a close contact state at all times and perform stable driving with a large suction force.
【００１７】前記移動吸着盤６は、図２，図３によく現
われているように、合成ゴムなどの弾性を有する部材か
らなり、中央が凹んだ横長な矩形状をなしており、その
内部は仕切壁１６によって複数の吸引室１７に分割さ
れ、それぞれの吸引室１７は吸引穴１８を通じて分岐吸
引管１９に接続されている。吸引室１７を複数個設ける
理由は、壁面Ａの凹凸部を走行する時に吸引漏れが生じ
ても、その漏れを最小限に押えて全体としての吸着力を
落さないようにするためであるが、平坦な壁面Ａを限定
して走行する種類のロボットの場合には敢えて吸引室１
７を複数設ける必要はない。このような移動吸着盤６と
回転帯５の接続固定は、突出しているシール面２０が外
周方向を向くように且つその長手方向が回転帯５の巾方
向を向くようにして、ねじなどによって回転帯５に固定
する。移動吸着盤６の長手方向の長さを回転帯５の巾方
向の長さ以上とした場合には、その両端は、２対の駆動
輪３と従動輪４の上方を移動するようになるので、駆動
力が伝達し易く、且つ、壁面Ａへの押えも強くなるので
好ましい。吸着力を更に強めるためには、回転帯５の巾
方向を越えて長くする程よい。As shown in FIGS. 2 and 3, the movable suction plate 6 is made of an elastic member such as synthetic rubber and has a horizontally long rectangular shape with a recessed center, and the inside thereof is It is divided into a plurality of suction chambers 17 by the partition wall 16, and each suction chamber 17 is connected to a branch suction pipe 19 through a suction hole 18. The reason why a plurality of suction chambers 17 are provided is that even if suction leakage occurs when traveling on the uneven portion of the wall surface A, the leakage is suppressed to a minimum and the suction force as a whole is not reduced. In the case of a robot of a type that runs on a limited flat wall A, the suction chamber 1
It is not necessary to provide a plurality of 7. The movable suction plate 6 and the rotary belt 5 are connected and fixed in such a manner that the protruding sealing surface 20 faces the outer peripheral direction and the longitudinal direction thereof faces the width direction of the rotary belt 5, and is rotated by a screw or the like. Secure to band 5. When the length of the movable suction plate 6 in the longitudinal direction is equal to or greater than the length of the rotary band 5 in the width direction, both ends of the movable suction plate 6 move above the two pairs of the drive wheels 3 and the driven wheels 4. It is preferable that the driving force is easily transmitted and the pressing force to the wall surface A becomes strong. In order to further increase the suction force, it is better to extend the rotation belt 5 beyond the width direction.
【００１８】更に移動吸着盤６は、図３によく表われて
いるように、前記吸引室１７の底２１に木などの材質か
らなる滑り止め材２２を固定していると共に該滑り止め
材２２と、底２１の裏面に固定した支え板２３及び回転
帯５を貫通して吸引穴１８が開口し、この吸引穴１８が
分岐吸引管１９と接続されている。１つの移動吸着盤６
の各々の吸引室１７は、１つの移動吸引管２４から分岐
された前記分岐吸引管１９と接続されており、この分岐
吸引管１９の移動吸引管２４と吸引室１７の途中には安
全弁２５が設けられて、吸引室１７の圧力が所定圧以上
になった時には自動的に吸引を止めるようになっている
ので、吸引室１７の１つまたは複数が壁面Ａの凹凸状況
によって壁面Ａとの間に隙間が生じて大量の空気を吸引
するような時には直ちにその吸引室１７からの吸引を中
止して真空発生装置の負担を少なくし、且つ、他の吸引
室１７の吸引力を弱めないようにしている。Further, as shown in FIG. 3, the movable suction plate 6 has a non-slip member 22 made of a material such as wood fixed to the bottom 21 of the suction chamber 17, and the non-slip member 22. Then, a suction hole 18 is opened through the support plate 23 fixed to the back surface of the bottom 21 and the rotary band 5, and the suction hole 18 is connected to the branch suction pipe 19. One moving suction plate 6
Each suction chamber 17 is connected to the branch suction pipe 19 branched from one moving suction pipe 24, and a safety valve 25 is provided in the middle of the moving suction pipe 24 of this branch suction pipe 19 and the suction chamber 17. Since the suction chamber 17 is provided so as to automatically stop the suction when the pressure in the suction chamber 17 exceeds a predetermined pressure, one or more of the suction chambers 17 may be separated from the wall surface A depending on the unevenness of the wall surface A. When a large amount of air is sucked due to a gap in the suction chamber, the suction from the suction chamber 17 is immediately stopped to reduce the load on the vacuum generating device and prevent the suction force of other suction chambers 17 from being weakened. ing.
【００１９】又、前記１つの移動吸引管２４は、１つの
移動吸着盤６に対応しているが、その他端は前記制御輪
１４に形成した貫通孔２６に接続されている。この実施
例では、同心円上に９個の貫通孔２６を有する制御輪１
４が枠体２の両側に相対向して２つ設けられているの
で、合計１８個の貫通孔２６及びこれに接続する１８本
の移動吸引管２４を有している。そして、それぞれの移
動吸引管２４は１つの移動吸着盤６に対応しているの
で、移動吸着盤６の数も１８個になっている。更に、枠
体２の一側に設けた制御輪１４の９個の貫通孔２６と他
側に設けた制御輪１４の９個の貫通孔２６は、移動吸引
管２４を介してそれぞれ１つ置きに交互に１８個の移動
吸着盤６と接続されているので、万一、一方の制御輪１
４からの吸引が止んだ時でも、他方の制御輪１４からの
吸引により少くとも壁面Ａに接している半分の移動吸着
盤６の吸引はできるので、当該ロボット１は壁面Ａから
外れ落ちないようになっている。The one moving suction pipe 24 corresponds to one moving suction plate 6, but the other end is connected to a through hole 26 formed in the control wheel 14. In this embodiment, the control wheel 1 having nine through holes 26 concentrically
Since two 4 are provided on both sides of the frame body 2 so as to face each other, a total of 18 through holes 26 and 18 moving suction pipes 24 connected thereto are provided. Since each moving suction pipe 24 corresponds to one moving suction plate 6, the number of moving suction plates 6 is also 18. Further, the nine through holes 26 of the control wheel 14 provided on one side of the frame body 2 and the nine through holes 26 of the control wheel 14 provided on the other side are placed one by one via the moving suction pipe 24. Since it is connected to 18 moving suction plates 6 alternately, one control wheel 1
Even when the suction from 4 is stopped, the suction from the other control wheel 14 can suck at least half of the moving suction plate 6 in contact with the wall surface A, so that the robot 1 does not fall off the wall surface A. It has become.
【００２０】前記相対向する２つの制御輪１４は、前記
歯車機構によって同一方向に同速度で回転するようにな
っているが、安全のために両端を枠体２に回転自在に支
持された軸２７にそれぞれ固定されて強制的にも同一方
向、同速度に回転できるようにもなっている。更に、こ
の２つの制御輪１４と回転帯５の回転方向は同方向で且
つ制御輪１４が回転すると回転帯５も１回転するように
同期しているのに加えて、相向い合う駆動輪３と従動輪
４の間には軸が存在しないことから、各々の制御輪１４
の貫通孔２６と移動吸着盤６を接続する１８本の移動吸
引管２４同志は互いにもつれることなく回転移動する。The two control wheels 14 facing each other are designed to rotate in the same direction and at the same speed by the gear mechanism. For safety reasons, both ends are rotatably supported by the frame body 2. Each of them is fixed to 27 so that they can be forcibly rotated in the same direction and at the same speed. Further, the two control wheels 14 and the rotary belt 5 are rotating in the same direction, and when the control wheel 14 is rotated, the rotary belt 5 is synchronized with one rotation. Since there is no shaft between the driven wheel 4 and the driven wheel 4, each control wheel 14
The 18 movable suction tubes 24 connecting the through holes 26 and the movable suction plate 6 are rotationally moved without being entangled with each other.
【００２１】又、前記制御輪１４の移動吸引管２４を接
続した反対側面すなわち外側面には、前記制御輪１４の
貫通孔２６と同心状となるように円弧状の吸引貫通孔２
８を形成した制御板２９が制御輪１４に摺接して枠体２
に設けられると共に、更にこの吸引貫通孔２８と連通す
る吸引穴部３０を有する取付板３１が制御板２９と接す
るようにして枠体２にビス３２等によって固定されてい
る。従って、この吸引穴部３０の制御板２９と反対側か
ら真空発生装置に接続している吸引管７を介して吸引し
た時には、円弧状の吸引貫通孔２８内も吸引されるの
で、この吸引貫通孔２８に位置する制御輪１４の３つの
貫通孔２６も吸引され、従って、この３つの貫通孔２６
と接続している３本の移動吸引管２４及びこれと接続し
ている３個の移動吸引盤６も吸引され、この結果、当該
ロボット１が壁面Ａに吸着されるのである。前記取付板
３１，制御板２９及び制御輪１４は各々相向い合う位置
に２つあるので、合計６個の移動吸着盤６が壁面Ａに常
時位置するように設置され、且つ、この位置にある時に
同時に真空発生装置から吸引されるように、円弧状の吸
引貫通孔２８が形成されているのである。従って、前記
した制御部８は、制御輪１４，制御板２９及び取付板３
１からなるものである。On the opposite side of the control wheel 14 to which the moving suction pipe 24 is connected, that is, on the outer side, the suction through hole 2 having an arc shape is formed so as to be concentric with the through hole 26 of the control wheel 14.
The control plate 29 forming 8 slides on the control wheel 14 and the frame 2
And a mounting plate 31 having a suction hole portion 30 communicating with the suction through hole 28 is fixed to the frame body 2 by a screw 32 or the like so as to be in contact with the control plate 29. Therefore, when suction is performed from the side opposite to the control plate 29 of the suction hole portion 30 through the suction pipe 7 connected to the vacuum generator, the suction suction hole 28 having an arc shape is also suctioned. The three through-holes 26 of the control wheel 14 located in the holes 28 are also sucked, and thus the three through-holes 26.
The three moving suction pipes 24 connected to and the three moving suction plates 6 connected to this are also sucked, and as a result, the robot 1 is attracted to the wall surface A. Since the mounting plate 31, the control plate 29, and the control wheel 14 are located at two positions facing each other, a total of six moving suction plates 6 are installed so that they are always located on the wall surface A, and at this position. At the same time, an arc-shaped suction through hole 28 is formed so as to be sucked from the vacuum generator at the same time. Therefore, the control unit 8 described above includes the control wheel 14, the control plate 29, and the mounting plate 3.
It consists of 1.
【００２２】尚、前記真空発生装置は、真空ポンプであ
っても圧縮空気を供給してエゼクタの原理で吸引する形
式のもののいずれであってもよい。又、この真空発生装
置の設置場所は壁面Ａを形成する建造物の屋上などの高
所であっても、地上であっても、更には当該ロボット１
に積載していてもよい。高所に設置した場所には、真空
発生装置と当該ロボット１の間が吸引管７で接続される
ので、万一、移動吸着盤６の吸引力が著るしく低下し当
該ロボット１を壁面Ａに吸着できなくなった場合でもこ
の吸引管７を命綱の代りに利用して落下を防止できる利
点が生ずる。The vacuum generator may be either a vacuum pump or a type that supplies compressed air and sucks it by the ejector principle. Further, the installation location of this vacuum generator may be a high place such as a roof of a building forming the wall surface A, or on the ground, and further, the robot 1
It may be loaded on. At a place installed at a high place, the vacuum generator and the robot 1 are connected by a suction pipe 7, so that the suction force of the moving suction plate 6 is significantly reduced, and the robot 1 is placed on the wall surface A. Even if the suction tube 7 is no longer adsorbed, the suction tube 7 can be used in place of the lifeline to prevent falling.
【００２３】以上の基本構成からなるこの壁面走行用ロ
ボット１を建造物の壁面Ａに沿って進行させる場合に
は、最初は壁面Ａに壁面走行用ロボット１の下方に位置
する６つの移動吸着盤６のシール面２０を壁面Ａに当接
して、図外の真空発生装置と接続するだけでよい。する
と、吸引管７から２つの取付板３１の吸引穴部３０、２
つの制御板２９の円弧状の吸引貫通孔２８、この２つの
吸引貫通孔２８にそれぞれ位置している２つの制御輪１
４の合計６つの貫通孔２６及び該６つの貫通孔２６と移
動吸引管２４を通じて接続され壁面Ａに接している６つ
の移動吸着盤６が吸引されるので、移動吸着盤６の吸引
室１７が減圧され、シール面２０と壁面Ａとが密着状態
を維持し、壁面走行用ロボット１が壁面Ａから落下しな
い。又、吸引室１７の底２１に木などの材質からなる滑
り止め材２２を固定した場合には、吸引時において移動
吸着盤６が収縮した時に、この滑り止め材２２が壁面Ａ
に密着し、壁面Ａとの摩擦力を増大させて、当該ロボッ
ト１が壁面Ａから滑り落ちにくくなる利点が生ずる。
尚、移動吸着盤６に複数の吸引室１７を設けた場合に
は、この個々の吸引室１７から吸引するため、移動吸引
管６から分岐した分岐吸引管１９が吸引穴１８を通じて
吸引室１７と接続される。When the wall surface traveling robot 1 having the above-described basic structure is advanced along the wall surface A of the building, first, the six movable suction plates on the wall surface A are located below the wall surface traveling robot 1. It suffices to bring the sealing surface 20 of 6 into contact with the wall surface A and connect it to a vacuum generator (not shown). Then, the suction holes 7, 2 of the two mounting plates 31 from the suction pipe 7
Arc-shaped suction through holes 28 of one control plate 29, and two control wheels 1 respectively located in these two suction through holes 28.
Since a total of 6 through holes 26 and 6 moving suction plates 6 connected to the 6 through holes 26 and the moving suction pipe 24 and in contact with the wall surface A are sucked, the suction chambers 17 of the moving suction plate 6 are The pressure is reduced and the seal surface 20 and the wall surface A are kept in close contact with each other, and the wall surface traveling robot 1 does not drop from the wall surface A. Further, when a non-slip material 22 made of a material such as wood is fixed to the bottom 21 of the suction chamber 17, the non-slip material 22 is formed on the wall surface A when the movable suction plate 6 contracts during suction.
And the frictional force with the wall surface A is increased, so that the robot 1 is less likely to slip off the wall surface A.
In addition, when a plurality of suction chambers 17 are provided in the moving suction plate 6, since suction is performed from the individual suction chambers 17, the branch suction pipe 19 branched from the moving suction pipe 6 is connected to the suction chambers 17 through the suction holes 18. Connected.
【００２４】次に、壁面走行用ロボット１を走行させる
場合には、真空発生装置に接続する吸引管７と一緒に束
ねられるなどして電源に接続されている電線に通電して
２つのモータ９を同時に正又は逆方向に駆動させること
によって、２つの駆動輪３を同時回転駆動させて、回転
帯５を回動させる。これによって、回転帯５と同期して
いる２つの制御輪４も同時に回転するので、制御板２９
の円弧状の吸引貫通孔２８には壁面Ａに新しく接壁面し
た移動吸着盤６の移動吸引管２４を接続した制御輪１４
の貫通孔２６が位置し、これによって吸引力が新たに与
えられる。同時に、壁面Ａから離れる移動吸着盤６の移
動吸引管２４を接続した制御輪１４の貫通孔２６は吸引
貫通孔２８から外れるので吸引しなくなる。このよう
に、次々と接壁面する移動吸着盤６からは吸引し、離反
する移動吸着盤６には吸引を止める制御を制御部８を通
じて行わせしめることで、前後進できるようになってい
る。Next, when the wall-mounting robot 1 is run, the electric wires connected to the power source are energized by bundling together with the suction tube 7 connected to the vacuum generator, and the two motors 9 are connected. Are simultaneously driven in the forward or reverse directions to simultaneously drive the two drive wheels 3 to rotate the rotary band 5. As a result, the two control wheels 4 synchronized with the rotary band 5 also rotate at the same time.
The control wheel 14 in which the moving suction pipe 24 of the moving suction plate 6 newly contacting the wall surface A is connected to the arc-shaped suction through hole 28 of
The through hole 26 is located, and suction force is newly given. At the same time, the through hole 26 of the control wheel 14 connected to the moving suction pipe 24 of the moving suction plate 6 which is separated from the wall surface A is disengaged from the suction through hole 28 and therefore does not suck. In this way, the control is performed by the control unit 8 so that suction is performed from the moving suction disks 6 that come into contact with the wall surface one after another and that suction is stopped for the moving suction disks 6 that are separated from each other, so that the vehicle can move forward and backward.
【００２５】以上のような構成の壁面走行用ロボット１
の枠体２には、使用用途に応じて、壁面Ａの塗装装置，
清掃装置，検査装置，コーティング装置などを固定して
作業を行うが、このような作業は壁面走行用ロボット１
が単に前後進する以外にも作業途中で方向転換できる
と、その作業能率が著るしく向上するため、方向転換用
の装置を具備している。The wall surface traveling robot 1 having the above-mentioned configuration
The frame 2 has a coating device for the wall A depending on the intended use,
The cleaning device, the inspection device, the coating device, etc. are fixed to perform the work.
In addition to simply moving forward and backward, if the direction can be changed during the work, the work efficiency is remarkably improved. Therefore, a device for changing the direction is provided.
【００２６】この方向転換用の装置は、図１，図２に示
すように、枠体２の上方に固定アーム３３を介して、モ
ータ３４及び歯車３５，３６によって方向転換自在に支
持された回転アーム３７と、該回転アーム３７の両端に
設けた上下動シリンダ３８と、該上下動シリンダ３８の
ロッド３９に固定した固定吸着盤４０と、該固定吸着破
砕４０と図外の真空発生装置を接続する吸引管７と、外
吸引管７の配管途中に設けられて真空発生装置と固定吸
着盤４０との接続を入切する図外の切換弁とを具備して
いる。As shown in FIG. 1 and FIG. 2, this device for changing the direction of rotation is rotatably supported by the motor 34 and the gears 35, 36 above the frame 2 via the fixed arm 33. An arm 37, a vertical movement cylinder 38 provided at both ends of the rotary arm 37, a fixed suction plate 40 fixed to a rod 39 of the vertical movement cylinder 38, the fixed adsorption crushing 40, and a vacuum generator (not shown) are connected. And a switching valve (not shown) which is provided in the middle of the outer suction pipe 7 and which connects and disconnects the connection between the vacuum generator and the fixed suction plate 40.
【００２７】前記上下動シリンダ３８はシリンダ内を吸
引することで上下方向にロッド３９をコントロールでき
るように吸引管７と接続されている。又、前記固定吸着
盤４０は移動吸着盤６と同じ構成をなし、両方の固定吸
着盤４０にはそれぞれ１本の吸着管７が接続されると共
に、該吸引管７は分岐して複数の分岐吸引管４１とな
り、これら分岐吸引管４１は固定吸着盤４０を区切って
形成した吸引室４２とそれぞれ接続している。そして、
吸引管７と各吸引室４２の間の分岐吸引管４１には安全
弁４３が設けられ、吸引室４２の１つが壁面Ａの凹凸状
況によって壁面Ａとの間に間隙が生じて大量の空気を吸
引する時には当該吸引室４２からの吸引も中止して、真
空発生装置の負担を少くし、且つ、他の吸引室４２の吸
引力を弱めないようにしている。The vertical cylinder 38 is connected to the suction pipe 7 so that the rod 39 can be controlled in the vertical direction by sucking the inside of the cylinder. Further, the fixed suction plate 40 has the same structure as the movable suction plate 6, and one suction pipe 7 is connected to each of the fixed suction plates 40, and the suction pipe 7 is branched into a plurality of branches. The suction pipes 41 serve as suction pipes 41, and these branch suction pipes 41 are connected to suction chambers 42 formed by dividing the fixed suction plate 40. And
A safety valve 43 is provided in the branch suction pipe 41 between the suction pipe 7 and each suction chamber 42, and one of the suction chambers 42 has a gap between the suction wall 7 and the wall surface A due to the unevenness of the wall surface A to suck a large amount of air. At this time, the suction from the suction chamber 42 is also stopped to reduce the load on the vacuum generator and not to weaken the suction force of the other suction chamber 42.
【００２８】このような方向転換用の装置によって、当
該ロボット１の進行方向を変える時には、回転アーム３
７の両端に設けた上下動シリンダ３８を伸長させて固定
吸着盤４０を壁面Ａに当接させ、次いで図外の切換弁を
切換えて真空発生装置と吸引管７，分岐吸引管４１を介
して接続した固定吸着盤４０の各吸引室４２に負圧を生
じさせて、固定吸着盤４０を壁面Ａに堅固に吸着させて
から、移動吸着盤６と真空発生装置の接続を切って上下
動シリンダ３８のロッド３９を更に伸長させて６つの移
動吸着盤６を壁面Ａから離反させ、その後に、当該ロボ
ット１を回転アーム３７に対して新しく進行しようとす
る方向へ回転させる。このとき、モータ３４を駆動させ
ることによって、２つの歯車３５，３６に回転力が伝わ
って回転する。次に、上下動シリンダ３８のロッド３９
を縮小させて６つの移動吸着盤６を壁面Ａに当ててから
真空発生装置と移動吸着盤６を接続して吸着力を生じさ
せて壁面Ａに吸着させてから、切換弁によって真空発生
装置と固定吸着盤４０との接続を切断し、その後、上下
動シリンダ３８のロッド３９を更に縮小して固定吸着盤
４０を壁面Ａから離反し、以後は２つのモータ９を駆動
させて回転帯５を正又は逆回転させることによって、目
的方向進行させる。When the traveling direction of the robot 1 is changed by such a device for changing direction, the rotating arm 3 is used.
The vertical moving cylinders 38 provided at both ends of 7 are extended to bring the fixed suction disk 40 into contact with the wall surface A, and then a switching valve (not shown) is switched to switch the vacuum generator, the suction pipe 7, and the branch suction pipe 41. A negative pressure is generated in each suction chamber 42 of the connected fixed suction disc 40 to firmly adsorb the fixed suction disc 40 to the wall surface A, and then the moving suction disc 6 and the vacuum generator are disconnected to move the vertical moving cylinder. The rod 39 of 38 is further extended to separate the six movable suction disks 6 from the wall surface A, and thereafter, the robot 1 is rotated with respect to the rotation arm 37 in a direction in which the robot 1 is about to newly advance. At this time, by driving the motor 34, the rotational force is transmitted to the two gears 35 and 36 to rotate. Next, the rod 39 of the vertical movement cylinder 38
, The six movable suction plates 6 are applied to the wall surface A, and then the vacuum generator and the movable suction plate 6 are connected to each other to generate an adsorption force to cause the wall surface A to be adsorbed, and then the switching valve is connected to the vacuum generation device. The connection with the fixed suction plate 40 is cut off, then the rod 39 of the vertical movement cylinder 38 is further reduced to separate the fixed suction plate 40 from the wall surface A, and thereafter, the two motors 9 are driven to rotate the rotary band 5. By rotating in the forward or reverse direction, the target direction is advanced.
【００２９】尚、図４に示すように、移動吸着盤６の底
２１及び支え板２３の端を延長した端部を、枠体２に固
定した押え板４４で回転帯５の方向へ圧接するようにし
ておけば、壁面Ａに吸着している移動吸着盤６のうち特
に壁面Ａの上方位置にあるものが壁面Ａから離反する方
向へ大きな力が作用した場合でも、この押え板４４によ
ってその力を他の移動吸着盤６に分散することができる
ので、剥れにくくなる利点が生ずる。この場合、延長し
た端部と押え板４４の間に生じる摩擦力を緩和するこめ
にフラットベアリング４５を介在させることが望まし
い。As shown in FIG. 4, the bottom 21 of the movable suction plate 6 and the end of the support plate 23, which are extended, are pressed against the rotation band 5 by a holding plate 44 fixed to the frame 2. By doing so, even if a large force is exerted in the direction of moving away from the wall surface A of the movable suction plate 6 that is sucked onto the wall surface A, in particular in the direction above the wall surface A, this holding plate 44 Since the force can be dispersed to the other movable suction plate 6, there is an advantage that it is hard to peel off. In this case, it is desirable to interpose the flat bearing 45 to reduce the frictional force generated between the extended end portion and the pressing plate 44.
【００３０】[0030]
【発明の効果】以上の説明からも明らかなように、この
発明の壁面走行用ロボットは、枠体の一端側に所定距離
を開けて相対向するように設けた１対の駆動輪と従動輪
と、枠体の他端側に前記駆動輪と従動輪の位置を逆にし
て相対向するようにして設けたもう１対の駆動輪と従動
輪と、これら２対の駆動輪と従動輪に巻回されて回転す
る１つの回転帯に移動吸着盤を取付けて構成したので、
回転帯は巻回される両方からの駆動力を得ることができ
るために、より確実に安定した走行を得ることができ
る。As is apparent from the above description, in the wall surface traveling robot of the present invention, a pair of driving wheel and driven wheel are provided on one end side of the frame body so as to face each other with a predetermined distance. And another pair of drive wheels and driven wheels provided on the other end side of the frame body so as to face each other by reversing the positions of the drive wheels and the driven wheels, and these two pairs of drive wheels and driven wheels. Since the movable suction plate is attached to one rotating band that is wound and rotated,
Since the rotary band can obtain the driving force from both of the windings, more reliable and stable running can be obtained.
【００３１】又、回転帯は１つで且つこの外周面に移動
吸着盤を固定するようにしたので、移動吸着盤の接壁面
の面積を多く取ることができ、この結果、壁面に対する
吸着力が高くなり、多くの作業用装置を積載できる利点
がある。Further, since there is only one rotation band and the movable suction plate is fixed to the outer peripheral surface of the movable suction plate, a large area of the contacting wall surface of the moving suction plate can be taken. As a result, the suction force to the wall surface is increased. It has the advantage that it is expensive and can be loaded with many working devices.
【００３２】更に、枠体に方向転換自在に支持された回
転アームと、この回転アームの両端に設けた上下動シリ
ンダ及び該上下動シリンダに固定した固定吸着盤によっ
て、ロボットの進行方向を自在に転向することができる
ので、作業の能率がより一層向上する利点がある。Further, the rotating arm supported by the frame so as to be capable of changing direction, the vertically moving cylinders provided at both ends of the rotating arm, and the fixed suction cups fixed to the vertically moving cylinders allow the robot to freely move in the moving direction. Since it is possible to turn around, there is an advantage that work efficiency is further improved.
【００３３】更に又、移動吸着盤や固定吸着盤の吸引室
の底に滑り止め材を設けた時には、尚一層、摩擦力が増
して、当該ロボットの壁面の滑りを有効に防止できる。Furthermore, when a non-slip material is provided on the bottom of the suction chamber of the moving suction plate or the fixed suction plate, the frictional force is further increased, and the sliding of the wall surface of the robot can be effectively prevented.
【図１】この発明の実施例の全体斜視図。FIG. 1 is an overall perspective view of an embodiment of the present invention.
【図２】図１のＡ−Ａ線断面図。FIG. 2 is a sectional view taken along line AA of FIG.
【図３】制御部の要部分解説明図。FIG. 3 is an exploded view of essential parts of a control unit.
【図４】図１のＢ−Ｂ線一部省略断面説明図。FIG. 4 is an explanatory cross-sectional view with a part of line BB in FIG. 1 omitted.
【図５】制御輪と枠体の取付部分の拡大説明図。FIG. 5 is an enlarged explanatory view of a mounting portion of a control wheel and a frame body.
【図６】走行状態説明図。FIG. 6 is an explanatory diagram of a traveling state.
１ 壁面走行用ロボット ２ 枠体 ３ 駆動輪 ４ 従動輪 ５ 回転帯 ６ 移動吸着盤 ７ 吸引管 ８ 制御部 ２２ 滑り止め材 ３７ 回転アーム ３８ 上下動シリンダ ４０ 固定吸着盤 1 Wall-running robot 2 Frame 3 Drive wheel 4 Driven wheel 5 Rotating band 6 Moving suction board 7 Suction tube 8 Control section 22 Anti-slip material 37 Rotating arm 38 Vertical movement cylinder 40 Fixed suction board
Claims (4)
するように設けた１対の駆動輪と従動輪と、枠体の他端
側に前記駆動輪と従動輪の位置を逆にして所定距離を開
けて相対向するようにして設けたもう１対の駆動輪と従
動輪と、これら枠体の一端側と他端側にそれぞれ位置す
る２対の駆動輪と従動輪に巻回されて回転する１つの回
転帯と、該回転帯の外周面に固定された複数の移動吸着
盤と、該移動吸着盤と真空発生装置とを接続する吸引管
と、該吸引管の配管途中に設けられ前記移動吸着盤の接
壁面時に真空発生装置と接続し離反時に真空発生装置と
切断する制御部とからなる壁面走行用ロボット。1. A pair of driving wheels and driven wheels provided on one end side of the frame body so as to face each other with a predetermined distance therebetween, and the positions of the driving wheel and the driven wheel are reversed on the other end side of the frame body. And another pair of driving wheels and driven wheels which are provided so as to face each other with a predetermined distance therebetween, and two pairs of driving wheels and driven wheels respectively located on one end side and the other end side of these frame bodies. One rotating band that is rotated and rotated, a plurality of moving suction plates fixed to the outer peripheral surface of the rotating band, a suction pipe that connects the moving suction plate and the vacuum generator, and a middle of the suction pipe. A robot for wall surface traveling, comprising: a control unit which is connected to a vacuum generating device when the movable suction plate is in contact with the wall surface and is disconnected from the vacuum generating device when separated from each other.
転アームと、該回転アームの両端に設けた上下動シリン
ダと、該上下動シリンダに固定した固定吸着盤と、該固
定吸着盤と真空発生装置とを接続する吸引管と、該吸引
管の配管途中に設けられて真空発生装置と固定吸着盤の
接続を入切する切換弁とを具備したことを特徴とする請
求項１に記載の壁面走行用ロボット。2. A rotating arm rotatably supported by the frame body, vertical moving cylinders provided at both ends of the rotating arm, a fixed suction plate fixed to the vertical moving cylinder, and the fixed suction plate. The suction pipe which connects with a vacuum generator, and the switching valve which connects and disconnects the connection of a vacuum generator and a fixed adsorption disk provided in the piping of this suction pipe were provided. Robot for wall running.
材を固定したことを特徴とする請求項１に記載の壁面走
行用ロボット。3. The wall surface traveling robot according to claim 1, wherein a non-slip material is fixed to the bottom of the suction chamber of the movable suction plate.
材を固定したことを特徴とする請求項２に記載の壁面走
行用ロボット。4. The wall surface traveling robot according to claim 2, wherein a non-slip material is fixed to the bottom of the suction chamber of the fixed suction plate.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4250816A JP2520351B2 (en) | 1992-08-25 | 1992-08-25 | Robot for wall traveling |
| US08/080,948 US5366038A (en) | 1992-08-25 | 1993-06-24 | Robot traveling on wall face |
| KR1019930012842A KR100200288B1 (en) | 1992-08-25 | 1993-07-08 | Robot traveling on a wall |
| EP93111478A EP0584520B1 (en) | 1992-08-25 | 1993-07-16 | Robot travelling on a wall |
| DE69310458T DE69310458T2 (en) | 1992-08-25 | 1993-07-16 | Robot moving on a wall |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4250816A JP2520351B2 (en) | 1992-08-25 | 1992-08-25 | Robot for wall traveling |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0672364A true JPH0672364A (en) | 1994-03-15 |
| JP2520351B2 JP2520351B2 (en) | 1996-07-31 |
Family
ID=17213467
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4250816A Expired - Fee Related JP2520351B2 (en) | 1992-08-25 | 1992-08-25 | Robot for wall traveling |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2520351B2 (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015088235A1 (en) * | 2013-12-13 | 2015-06-18 | 박종원 | Caterpillar traveling using suction |
| KR20150143526A (en) * | 2013-03-22 | 2015-12-23 | 포스 테크놀로지 | Vacuum wall crawler |
| CN109620045A (en) * | 2018-12-13 | 2019-04-16 | 淮南师范学院 | A kind of cleaning glass machine people and its control circuit |
| CN111196325A (en) * | 2018-11-19 | 2020-05-26 | 南京农业大学 | Ship rust removal and paint spraying integrated wall climbing robot |
| CN112937712A (en) * | 2021-03-05 | 2021-06-11 | 河海大学 | Bridge crack detection wall-climbing robot |
| CN114475834A (en) * | 2022-01-21 | 2022-05-13 | 江苏英拓动力科技有限公司 | Remote control hydraulic direction correction system of unmanned tracked vehicle |
| CN114802509A (en) * | 2022-05-19 | 2022-07-29 | 电子科技大学 | Pneumatic earthworm movement-imitating robot for greenhouse and control method |
| CN114906246A (en) * | 2022-05-13 | 2022-08-16 | 西安电子科技大学 | Wall climbing detection robot based on Bernoulli adsorption principle |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106335040A (en) * | 2016-09-29 | 2017-01-18 | 广东石油化工学院 | Special wall-climbing robot for oil tank maintenance |
| KR101870561B1 (en) * | 2017-01-17 | 2018-06-25 | 김영선 | Automatic cleaning device for glass windows of building exterior walls |
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| JPS5462030A (en) * | 1977-10-24 | 1979-05-18 | Shinsui Boueki Kk | Amusement vehicle machine |
| JPS5667669A (en) * | 1979-11-06 | 1981-06-06 | Toshiba Corp | Running truck |
| JPS6039565A (en) * | 1983-07-14 | 1985-03-01 | バイエル・コーポレーシヨン | Mark nucleic acid probe and adduct for preparing said probe |
| JPS61154170U (en) * | 1985-03-19 | 1986-09-24 |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5462030A (en) * | 1977-10-24 | 1979-05-18 | Shinsui Boueki Kk | Amusement vehicle machine |
| JPS5667669A (en) * | 1979-11-06 | 1981-06-06 | Toshiba Corp | Running truck |
| JPS6039565A (en) * | 1983-07-14 | 1985-03-01 | バイエル・コーポレーシヨン | Mark nucleic acid probe and adduct for preparing said probe |
| JPS61154170U (en) * | 1985-03-19 | 1986-09-24 |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20150143526A (en) * | 2013-03-22 | 2015-12-23 | 포스 테크놀로지 | Vacuum wall crawler |
| WO2015088235A1 (en) * | 2013-12-13 | 2015-06-18 | 박종원 | Caterpillar traveling using suction |
| KR20180022749A (en) * | 2013-12-13 | 2018-03-06 | 박종원 | The adsorption driving caterpillar |
| CN111196325A (en) * | 2018-11-19 | 2020-05-26 | 南京农业大学 | Ship rust removal and paint spraying integrated wall climbing robot |
| CN109620045A (en) * | 2018-12-13 | 2019-04-16 | 淮南师范学院 | A kind of cleaning glass machine people and its control circuit |
| CN109620045B (en) * | 2018-12-13 | 2020-10-23 | 淮南师范学院 | Glass cleaning robot and control circuit thereof |
| CN112937712A (en) * | 2021-03-05 | 2021-06-11 | 河海大学 | Bridge crack detection wall-climbing robot |
| CN114475834A (en) * | 2022-01-21 | 2022-05-13 | 江苏英拓动力科技有限公司 | Remote control hydraulic direction correction system of unmanned tracked vehicle |
| CN114475834B (en) * | 2022-01-21 | 2023-01-31 | 江苏英拓动力科技有限公司 | Remote control hydraulic direction correction system of unmanned tracked vehicle |
| CN114906246A (en) * | 2022-05-13 | 2022-08-16 | 西安电子科技大学 | Wall climbing detection robot based on Bernoulli adsorption principle |
| CN114906246B (en) * | 2022-05-13 | 2023-11-07 | 西安电子科技大学 | Wall climbing detection robot based on Bernoulli adsorption principle |
| CN114802509A (en) * | 2022-05-19 | 2022-07-29 | 电子科技大学 | Pneumatic earthworm movement-imitating robot for greenhouse and control method |
| CN114802509B (en) * | 2022-05-19 | 2023-04-11 | 电子科技大学 | Pneumatic earthworm movement-imitating robot for greenhouse and control method |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2520351B2 (en) | 1996-07-31 |
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