JPH08310461A - Suction device - Google Patents
Suction deviceInfo
- Publication number
- JPH08310461A JPH08310461A JP7120321A JP12032195A JPH08310461A JP H08310461 A JPH08310461 A JP H08310461A JP 7120321 A JP7120321 A JP 7120321A JP 12032195 A JP12032195 A JP 12032195A JP H08310461 A JPH08310461 A JP H08310461A
- Authority
- JP
- Japan
- Prior art keywords
- suction
- chamber
- pressure regulating
- pressure
- gap
- 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
Landscapes
- Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)
- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、対象物に吸着して、検
査や研掃、メンテナンスなどの作業を行う作業用ロボッ
トなどを位置固定するための吸着装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an adsorption device for adsorbing an object and fixing the position of a work robot or the like for performing operations such as inspection, scouring and maintenance.
【０００２】[0002]
【従来の技術】従来、たとえば陸揚げされた船体の検査
やメンテナンスを行うために、作業用ロボット（図示せ
ず）を船体外板Ｐの一定位置に保持する吸着装置があ
る。この吸着装置は、図３に示すように、ロボット（図
示せず）を支持するとともに、船体外板Ｐを走行する走
行車輪２をフレーム２ａを介して３方向または４隅に備
えた吸着装置本体１に、底面が開放された負圧室３を形
成するとともに、負圧室３の天部に形成した吸引口４に
吸引ファン５を配置し、吸引ファン５の作用により、吸
着装置本体１の底部の負圧室３の開口部周囲の吸入用隙
間ｄから空気を吸引して吸引口４から排出し、吸着力を
発生するように構成されている。2. Description of the Related Art Conventionally, there is a suction device for holding a work robot (not shown) at a fixed position on a hull outer plate P, for example, for inspecting and maintaining a landed hull. As shown in FIG. 3, this suction device supports a robot (not shown) and is provided with traveling wheels 2 traveling on a hull skin P in three directions or at four corners via a frame 2a. 1, a negative pressure chamber 3 having an open bottom surface is formed, and a suction fan 5 is arranged in a suction port 4 formed in the top of the negative pressure chamber 3, and the suction fan 5 acts so that the suction device main body 1 Air is sucked from the suction gap d around the opening of the negative pressure chamber 3 at the bottom and discharged from the suction port 4 to generate a suction force.
【０００３】[0003]
【発明が解決しようとする課題】しかし、上記構成にお
いて船体外板Ｐの表面が滑らかな場合は、吸入用隙間ｄ
が一定に保持されて強力な吸着力を確保できるが、たと
えば船体外板Ｐの表面に凹部があると、吸入用隙間ｄが
増大して負圧室３の圧力が増大して急速に吸着力が失わ
れ、吸着装置が船体外板Ｐから剥がれてしまうという問
題があった。However, in the above structure, when the surface of the hull skin P is smooth, the suction gap d.
Can be maintained constant and a strong suction force can be secured. However, for example, if there is a recess on the surface of the hull skin P, the suction gap d increases and the pressure in the negative pressure chamber 3 increases, so that the suction force is rapidly increased. However, there is a problem that the suction device is peeled off from the hull skin P.
【０００４】本発明は、上記問題点を解決して、吸着物
の表面に凹部があっても、安定した吸着力を確保できる
吸着装置を提供することを目的とする。SUMMARY OF THE INVENTION It is an object of the present invention to solve the above problems and to provide an adsorption device which can secure a stable adsorption force even if the surface of an adsorbent has a concave portion.
【０００５】[0005]
【課題を解決するための手段】上記問題点を解決するた
めに本発明は、吸着物に対して一定距離に保持される支
持装置を備えた吸着装置本体に、底部が開放された負圧
室を形成するとともに、この負圧室に連通する吸引口に
吸引装置を設けた吸着装置において、負圧室の側部に変
形可能な壁体を介して調圧室を全周にわたって設け、こ
の調圧室の底部に先端部が対象物に所定の吸入用隙間を
あけて接近される隙間部材を設け、前記調圧室内に流体
を密封するとともに、調圧室の昇圧に応じて前記隙間部
材を突出するように構成したものである。SUMMARY OF THE INVENTION In order to solve the above problems, the present invention is directed to a negative pressure chamber having an open bottom in an adsorption device body provided with a support device which is held at a constant distance with respect to an adsorbate. In the adsorption device in which the suction device is formed at the suction port communicating with the negative pressure chamber, the pressure regulation chamber is provided on the side of the negative pressure chamber through the deformable wall body over the entire circumference. A gap member is provided at the bottom of the pressure chamber, the tip end portion of which is close to the object with a predetermined suction gap, to seal the fluid in the pressure regulation chamber and to close the gap member according to the pressure rise of the pressure regulation chamber. It is configured to project.
【０００６】[0006]
【作用】上記構成において、隙間部材と対象物との吸入
用隙間が拡大して負圧室の圧力が増大すると、変形可能
な壁体を介して調圧室が圧縮され、この圧力上昇に応じ
て隙間部材が突出される。これにより、隙間部材と吸着
物との吸入用隙間が縮小されて負圧室の圧力が減圧さ
れ、吸着力が戻される。これにより、隙間部材と吸着物
との吸入用隙間と負圧室の圧力が元の状態近くに復帰さ
れて、吸引力が安定して保持される。In the above structure, when the suction gap between the gap member and the object is expanded and the pressure in the negative pressure chamber is increased, the pressure regulation chamber is compressed via the deformable wall body, and the pressure rise chamber responds to this pressure increase. And the gap member is projected. As a result, the suction gap between the gap member and the adsorbate is reduced, the pressure in the negative pressure chamber is reduced, and the suction force is returned. As a result, the suction gap between the gap member and the adsorbate and the pressure in the negative pressure chamber are returned to near the original state, and the suction force is stably maintained.
【０００７】[0007]
【実施例】以下、本発明に係る吸着装置の一実施例を図
１および図２に基づいて説明する。なお、従来と同一の
部材は同一符号を付し、説明は省略する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the adsorption device according to the present invention will be described below with reference to FIGS. The same members as those of the related art are designated by the same reference numerals, and the description thereof will be omitted.
【０００８】この吸着装置本体１の負圧室３には、上端
部が負圧室３の天部壁面３ａに固定されて側面周囲に沿
う可撓性材質からなる変形可能な壁体（以下可撓性壁体
という）１１が設けられ、この可撓性壁体１１の外周部
に筒形の調圧室１２が形成されている。そしてこの調圧
室１２の底部に沿って弾性部材たとえば合成ゴムからな
るリング状の隙間部材１３が可撓性壁体１１と吸着装置
本体１の間に取り付けられることにより、調圧室１２が
密閉されている。さらにこの隙間部材１３は、走行車輪
（支持装置）２により、船体外板（吸着物）Ｐと隙間部
材１３との間に一定の吸入用隙間ｄが形成されて負圧室
３内の圧力を一定に保持し、安定した吸着力を保持でき
るように構成されている。In the negative pressure chamber 3 of the main body 1 of the adsorption device, a deformable wall body (hereinafter, referred to as "possible A flexible wall body 11 is provided, and a cylindrical pressure regulating chamber 12 is formed on the outer peripheral portion of the flexible wall body 11. An elastic member such as a ring-shaped gap member 13 made of synthetic rubber is attached between the flexible wall body 11 and the adsorption device body 1 along the bottom of the pressure regulation chamber 12 to seal the pressure regulation chamber 12. Has been done. Further, in the gap member 13, a constant suction gap d is formed between the outer plate (adsorbed material) P of the hull and the gap member 13 by the traveling wheels (supporting device) 2 and the pressure in the negative pressure chamber 3 is reduced. It is configured to be held constant and to be able to hold a stable suction force.
【０００９】前記調圧室１２には、流体たとえば空気が
密封されており、負圧室３の圧力が高められることによ
り、可撓性壁体１１が内部より押圧されて調圧室１２が
偏平状に変形され、これにより隙間部材１３が偏平状に
押し潰されて下方に突出するように構成されている。A fluid such as air is sealed in the pressure adjusting chamber 12, and the pressure in the negative pressure chamber 3 is increased, whereby the flexible wall 11 is pressed from the inside and the pressure adjusting chamber 12 is flattened. The gap member 13 is crushed into a flat shape and protrudes downward.
【００１０】上記構成において、吸着装置の稼働中に、
走行車輪２を介して吸着装置本体１が移動され、船体外
板Ｐにある凹部Ｐａ上に達すると、吸入用隙間ｄが拡大
されて多量の空気が負圧室３内に流入し、負圧室３内の
圧力が増大する。すると、可撓性壁体１１が外側に押さ
れて調圧室１２が偏平状に押し潰されるとともに、隙間
部材１３が偏平状に圧縮されて突出される。これによ
り、吸入用隙間ｄが小さくなって負圧室３が減圧され、
吸着力が増大される。この時、可撓性壁体１１や隙間部
材１３の形状、材質により、隙間部材１３の突出量が調
整されて、吸入用隙間ｄの断面積および負圧室３内の圧
力がそれぞれ元の状態の手前近傍に戻されて釣り合い、
元の吸着力より少し小さい状態で吸着力を維持するよう
に構成されている。これは、吸入用隙間ｄの全体の断面
積が元の状態まで戻されると、負圧室２内の圧力も減圧
されて元に戻され、調圧室１２および隙間部材１３も元
に戻されて、これが繰り返されるのを防止するためであ
る。In the above structure, during operation of the adsorption device,
When the adsorption device main body 1 is moved through the traveling wheels 2 and reaches the recess Pa on the hull outer plate P, the suction gap d is enlarged and a large amount of air flows into the negative pressure chamber 3 to generate a negative pressure. The pressure in the chamber 3 increases. Then, the flexible wall 11 is pushed outward to crush the pressure adjusting chamber 12 into a flat shape, and the gap member 13 is compressed into a flat shape and projected. As a result, the suction gap d becomes smaller and the negative pressure chamber 3 is decompressed,
The adsorption power is increased. At this time, the projecting amount of the gap member 13 is adjusted by the shape and material of the flexible wall body 11 and the gap member 13, so that the cross-sectional area of the suction gap d and the pressure in the negative pressure chamber 3 are in their original states. It is returned to the vicinity of before and balanced
It is configured to maintain the suction force in a state slightly smaller than the original suction force. This is because when the entire cross-sectional area of the suction gap d is restored to the original state, the pressure in the negative pressure chamber 2 is also reduced and restored, and the pressure regulation chamber 12 and the gap member 13 are also restored. This is to prevent this from being repeated.
【００１１】上記構成によれば、負圧室３内の圧力増加
により、可撓性壁体１１を介して調圧室１２を変形さ
せ、隙間部材１３を突出して吸入用隙間ｄを減少させる
ように構成したので、船体外板Ｐに凹部Ｐａがあり吸入
用隙間ｄからの吸入空気量が増加することがあっても、
隙間部材１３の突出で吸入用隙間ｄを減少させて吸着力
の急激な低下を防止でき、きわめて簡単な構成で、制御
装置も使用することなく、吸着力の急激な低下を未然に
防止して吸着力を保持することができる。According to the above construction, the pressure increase in the negative pressure chamber 3 causes the pressure adjusting chamber 12 to be deformed through the flexible wall body 11 so that the gap member 13 is projected to reduce the suction gap d. Therefore, even if there is a recess Pa in the hull skin P and the intake air amount from the intake gap d increases,
The protrusion of the gap member 13 can reduce the suction gap d to prevent a sudden decrease in the suction force. With a very simple structure, the suction force can be prevented in advance without using a control device. It is possible to retain the suction force.
【００１２】なお、上記実施例で変形可能な壁体を可撓
性材料からなる可撓性壁体１１としたが、負圧室３内の
圧力変動に応じて調圧室１２を変形させ隙間部材１３を
突出させることができればよく、たとえば板材と可撓性
連結材の組み合わせやジャバラ状部材などにより構成す
ることもできる。In the above embodiment, the deformable wall body is the flexible wall body 11 made of a flexible material. However, the pressure regulating chamber 12 is deformed according to the pressure fluctuation in the negative pressure chamber 3 to form a gap. It suffices that the member 13 can be projected, and for example, a combination of a plate member and a flexible connecting member or a bellows-shaped member can be used.
【００１３】また、上記実施例では、隙間部材１３を円
形断面としたが、他の形状でもよく、調圧室１２からの
圧力を受けて変形しやすい半円形断面や三日月形断面で
もよい。In the above embodiment, the gap member 13 has a circular cross section, but it may have another shape, such as a semicircular cross section or a crescent cross section which is easily deformed by the pressure from the pressure adjusting chamber 12.
【００１４】さらに、上記実施例では、大気内の作業用
としたが、水中の作業用としても使用できる。Further, in the above embodiment, the work is performed in the atmosphere, but it can be used for work in water.
【００１５】[0015]
【発明の効果】以上に述べたごとく本発明によれば、隙
間部材と対象物との吸入用隙間が拡大して負圧室の圧力
が増大すると、変形可能な壁体を介して調圧室が圧縮さ
れ、この圧力上昇に応じて隙間部材が突出される。これ
により、隙間部材と吸着物との吸入用隙間が縮小されて
負圧室の圧力が減圧され、吸着力が戻される。これによ
り、隙間部材と吸着物との吸入用隙間と負圧室の圧力が
元の状態近くに復帰されて、吸引力が安定して保持され
る。As described above, according to the present invention, when the suction gap between the gap member and the object is expanded and the pressure in the negative pressure chamber is increased, the pressure regulating chamber is deformed through the deformable wall body. Is compressed, and the gap member is projected in response to this increase in pressure. As a result, the suction gap between the gap member and the adsorbate is reduced, the pressure in the negative pressure chamber is reduced, and the suction force is returned. As a result, the suction gap between the gap member and the adsorbate and the pressure in the negative pressure chamber are returned to near the original state, and the suction force is stably maintained.
【図１】本発明に係る吸着装置の一実施例を示す中央縦
断面図である。FIG. 1 is a central vertical sectional view showing an embodiment of an adsorption device according to the present invention.
【図２】同吸着装置の動作を示す中央縦断面図である。FIG. 2 is a central vertical cross-sectional view showing the operation of the adsorption device.
【図３】従来の吸着装置を示す中央縦断面図である。FIG. 3 is a central vertical cross-sectional view showing a conventional suction device.
１ 吸着装置本体 ２ 走行車輪 ３ 負圧室 ４ 吸引口 ５ 吸引ファン １１ 壁体 １２ 調圧室 １３ 隙間部材 Ｐ 船体外板 Ｐａ 凹部 1 Adsorption device main body 2 Running wheel 3 Negative pressure chamber 4 Suction port 5 Suction fan 11 Wall body 12 Pressure regulation chamber 13 Gap member P Hull outer plate Pa Recess
Claims (1)
持装置を備えた吸着装置本体に、底部が開放された負圧
室を形成するとともに、この負圧室に連通する吸引口に
吸引装置を設けた吸着装置において、負圧室の側部に変
形可能な壁体を介して調圧室を全周にわたって設け、こ
の調圧室の底部に先端部が対象物に所定の吸入用隙間を
あけて接近される隙間部材を設け、前記調圧室内に流体
を密封するとともに、調圧室の昇圧に応じて前記隙間部
材を突出するように構成したことを特徴とする吸着装
置。1. A negative pressure chamber having an open bottom is formed in an adsorption device body provided with a support device that is held at a constant distance with respect to an adsorbate, and suction is performed through a suction port communicating with this negative pressure chamber. In a suction device provided with a device, a pressure regulating chamber is provided on the side of a negative pressure chamber through a deformable wall over the entire circumference, and the tip of the pressure regulating chamber has a tip portion at a predetermined suction gap for an object. An adsorbing device is characterized in that a gap member is provided so as to be close to the pressure regulating chamber to seal fluid in the pressure regulating chamber, and the gap member is projected in response to a pressure increase in the pressure regulating chamber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7120321A JPH08310461A (en) | 1995-05-19 | 1995-05-19 | Suction device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7120321A JPH08310461A (en) | 1995-05-19 | 1995-05-19 | Suction device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH08310461A true JPH08310461A (en) | 1996-11-26 |
Family
ID=14783366
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7120321A Pending JPH08310461A (en) | 1995-05-19 | 1995-05-19 | Suction device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH08310461A (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005518511A (en) * | 2002-02-26 | 2005-06-23 | ファロ テクノロジーズ インコーポレーテッド | Stable vacuum adapter |
| JP2011045946A (en) * | 2009-08-26 | 2011-03-10 | Ushio Inc | Substrate conveying arm |
| CN103541985A (en) * | 2013-09-29 | 2014-01-29 | 昆山中士设备工业有限公司 | Sucker suitable for threaded rod |
| CN103671462A (en) * | 2013-12-19 | 2014-03-26 | 上海交通大学 | Piezoelectric valveless micropump suction cup based on parallel connection compliant mechanism |
| CN103935418A (en) * | 2014-05-09 | 2014-07-23 | 张培贵 | Carrying machine |
| CN104802873A (en) * | 2014-01-29 | 2015-07-29 | 浙江大学 | Climbing mechanism vehicle |
| CN104802872A (en) * | 2014-01-29 | 2015-07-29 | 浙江大学 | Climbing machine vehicle |
| WO2015145846A1 (en) * | 2014-03-26 | 2015-10-01 | シャープ株式会社 | Adsorption mechanism and travel device |
| CN106218745A (en) * | 2016-08-30 | 2016-12-14 | 湖南千智机器人科技发展有限公司 | A kind of negative pressure self-adaptive regulating of negative-pressure type climbing robot |
| CN106828649A (en) * | 2017-03-21 | 2017-06-13 | 重庆大学 | A kind of Climbing Robot |
| CN106938692A (en) * | 2017-03-04 | 2017-07-11 | 浙江大学 | Noncontact negative-pressure adsorption climbs wall detection means under water |
| CN109677499A (en) * | 2019-02-14 | 2019-04-26 | 河北工业大学 | A kind of clearance-type negative-pressure adsorption climbing robot |
| CN110103196A (en) * | 2019-06-19 | 2019-08-09 | 广东电网有限责任公司 | The robot for overhauling of GIS a kind of and the examination and repair system of GIS |
| CN111377003A (en) * | 2020-03-30 | 2020-07-07 | 滁州贝安智能机器人科技有限公司 | Prevent toppling wall climbing robot |
| CN111959631A (en) * | 2020-08-28 | 2020-11-20 | 广东省智能制造研究所 | Wall-climbing robot and control method thereof |
| WO2022129886A1 (en) * | 2020-12-15 | 2022-06-23 | Hausbots Limited | Wall climbing apparatus |
-
1995
- 1995-05-19 JP JP7120321A patent/JPH08310461A/en active Pending
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005518511A (en) * | 2002-02-26 | 2005-06-23 | ファロ テクノロジーズ インコーポレーテッド | Stable vacuum adapter |
| JP2011045946A (en) * | 2009-08-26 | 2011-03-10 | Ushio Inc | Substrate conveying arm |
| CN103541985A (en) * | 2013-09-29 | 2014-01-29 | 昆山中士设备工业有限公司 | Sucker suitable for threaded rod |
| CN103671462A (en) * | 2013-12-19 | 2014-03-26 | 上海交通大学 | Piezoelectric valveless micropump suction cup based on parallel connection compliant mechanism |
| US9738337B2 (en) | 2014-01-29 | 2017-08-22 | Zhejiang University | Climbing robot vehicle |
| CN104802873A (en) * | 2014-01-29 | 2015-07-29 | 浙江大学 | Climbing mechanism vehicle |
| CN104802872A (en) * | 2014-01-29 | 2015-07-29 | 浙江大学 | Climbing machine vehicle |
| WO2015113492A1 (en) * | 2014-01-29 | 2015-08-06 | 浙江大学 | Climbing robot vehicle |
| CN104802872B (en) * | 2014-01-29 | 2017-01-04 | 浙江大学 | Climbing robot vehicle |
| WO2015145846A1 (en) * | 2014-03-26 | 2015-10-01 | シャープ株式会社 | Adsorption mechanism and travel device |
| CN103935418A (en) * | 2014-05-09 | 2014-07-23 | 张培贵 | Carrying machine |
| CN103935418B (en) * | 2014-05-09 | 2016-06-08 | 张培贵 | Airborne carrier |
| CN106218745A (en) * | 2016-08-30 | 2016-12-14 | 湖南千智机器人科技发展有限公司 | A kind of negative pressure self-adaptive regulating of negative-pressure type climbing robot |
| CN106938692A (en) * | 2017-03-04 | 2017-07-11 | 浙江大学 | Noncontact negative-pressure adsorption climbs wall detection means under water |
| CN106828649A (en) * | 2017-03-21 | 2017-06-13 | 重庆大学 | A kind of Climbing Robot |
| CN109677499A (en) * | 2019-02-14 | 2019-04-26 | 河北工业大学 | A kind of clearance-type negative-pressure adsorption climbing robot |
| CN109677499B (en) * | 2019-02-14 | 2024-01-16 | 河北工业大学 | Intermittent negative pressure adsorption wall climbing robot |
| CN110103196A (en) * | 2019-06-19 | 2019-08-09 | 广东电网有限责任公司 | The robot for overhauling of GIS a kind of and the examination and repair system of GIS |
| CN111377003A (en) * | 2020-03-30 | 2020-07-07 | 滁州贝安智能机器人科技有限公司 | Prevent toppling wall climbing robot |
| CN111959631A (en) * | 2020-08-28 | 2020-11-20 | 广东省智能制造研究所 | Wall-climbing robot and control method thereof |
| WO2022129886A1 (en) * | 2020-12-15 | 2022-06-23 | Hausbots Limited | Wall climbing apparatus |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JPH08310461A (en) | Suction device | |
| JP2002529660A5 (en) | ||
| JP6956331B2 (en) | Wall adsorption traveling device | |
| JP2763261B2 (en) | Suction pad | |
| JP3318978B2 (en) | Suction mechanism of suction traveling device | |
| US3576231A (en) | Inflatable air pad with easily removable diaphragm | |
| JPH081464A (en) | Automatic change-over device for universal chuck mechanism | |
| JP2950722B2 (en) | Suction pad | |
| JPH081281Y2 (en) | Diaphragm support device for accumulator | |
| JPH0938883A (en) | Robot hand | |
| JP3243122B2 (en) | Agricultural product adsorption carrier | |
| JPH10193263A (en) | Blast device | |
| JP3017695B2 (en) | Quick exhaust valve | |
| CN218510259U (en) | Micro-pressure safety valve | |
| JP2812866B2 (en) | Suction pad | |
| JPS6225344Y2 (en) | ||
| JP2563523Y2 (en) | Load absorption device in load handling device, etc. | |
| JPS6320553Y2 (en) | ||
| JP2572412Y2 (en) | Load absorption device in load handling device, etc. | |
| JPH0536816A (en) | Semiconductor substrate vacuum chuck | |
| JPH06335877A (en) | Vacuum suction device | |
| JPH0938858A (en) | Vacuum chuck device for polishing thin piece member | |
| JPH0237091A (en) | Tubular vacuum seal | |
| JPH05293067A (en) | Sucker device for robot traveling on wall face | |
| JPS59153773U (en) | Pressure regulating device |