JPH0999877A - Vacuum box for wall face sucking/moving device - Google Patents
Vacuum box for wall face sucking/moving deviceInfo
- Publication number
- JPH0999877A JPH0999877A JP7256385A JP25638595A JPH0999877A JP H0999877 A JPH0999877 A JP H0999877A JP 7256385 A JP7256385 A JP 7256385A JP 25638595 A JP25638595 A JP 25638595A JP H0999877 A JPH0999877 A JP H0999877A
- Authority
- JP
- Japan
- Prior art keywords
- vacuum
- suction
- moving device
- vacuum box
- box
- 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)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は高層ビル等のガラス
面等の壁面における清掃、塗装又は検査時に使用する壁
面吸着移動装置における真空箱の構造に関するものであ
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the structure of a vacuum box in a wall surface suction moving device used for cleaning, painting or inspecting a wall surface such as a glass surface of a high-rise building or the like.
【０００２】[0002]
【従来の技術】高層ビルのガラスの清掃等高所壁面作業
は一般に足場を組むか、ゴンドラを吊下げるかして人手
作業に頼っているのが現状である。技術の進歩により、
他の分野では機械化自動化が進み、ロボットが出現して
いるにも拘らず、危険度の高い高所作業の機械化は一部
開示されてはいるものの満足できるものではない。2. Description of the Related Art At present, wall surface work at heights such as cleaning glass in a high-rise building generally depends on manual work such as scaffolding or hanging a gondola. Due to technological advances,
Despite the advances in mechanization automation and the emergence of robots in other fields, mechanization of high-risk work at high risk is partially disclosed but not satisfactory.
【０００３】高所壁面作業用ロボットは、先づ垂直壁面
に吸着し、自重を支え、自力で自由に壁面上を走行出来
る吸着移動機構が必要である。吸着方法としては、(１)
磁気吸着方式と、(２)真空吸着方式があるが、(１)の磁
気式は壁面が鉄板等に限られ且つ機構が重くなる。又
(２)の真空式は壁面の質を選ばないが、移動しながら真
空を維持させることはビル壁面が必ずしも平滑でないの
で、仲々容易でない。A robot for working on a wall surface at a high place needs a suction moving mechanism which can be sucked onto a vertical wall surface first, support its own weight, and freely travel on the wall surface by itself. The adsorption method is (1)
There are a magnetic attraction method and a (2) vacuum attraction method, but the magnetic method of (1) has a limited wall surface such as an iron plate and a heavy mechanism. or
The vacuum type of (2) does not choose the quality of the wall surface, but maintaining the vacuum while moving is not easy because the wall surface of the building is not always smooth.
【０００４】従来の壁面に接する真空吸着用パットに
は、末広がりになったラッパ状のものと、リング状（円
筒状）のものがあるが、これらは、吸着時にパット面と
壁面側の吸着面は滑ることなく固着したままである。こ
の為、真空吸着移動装置には適用し得なかった。Conventional vacuum suction pads that come into contact with the wall surface include a flared trumpet shape and a ring-shaped (cylindrical) shape. These are the pad surface and the suction surface on the wall surface side during suction. Remains fixed without slipping. Therefore, it cannot be applied to a vacuum suction transfer device.
【０００５】[0005]
【発明が解決しようとする課題】本発明は上記従来技術
の問題点に鑑み、壁面に吸着し、しかも吸着面上を滑ら
せても真空を維持できる移動可能な真空吸着移動装置に
おける真空箱を提供するものである。In view of the above-mentioned problems of the prior art, the present invention provides a vacuum box in a movable vacuum suction moving device that can suck a wall surface and maintain a vacuum even when sliding on the suction surface. It is provided.
【０００６】[0006]
【課題を解決するための手段】機枠１に取り付けられた
真空吸着機構Ａと、同じく機枠１に取り付けられ真空吸
着機構で発生する真空吸着力を受け止める走行可能な複
数の車輪２を具備する真空吸着移動装置において、前記
真空吸着機構Ａは、吸着面側に開口し真空発生手段に接
続する凹部８を形成した真空箱５と、凹部８の周囲に設
けた環状凹溝９に嵌挿された弾力性を有する環状シ−ル
材６と、該シ−ル材６の吸着面側に貼着したテフロン等
摩擦係数の小さい滑り材７とからなる。又、滑り材７の
隅部に面取り部１１を設け摺動し易くした。[MEANS FOR SOLVING THE PROBLEMS] A vacuum suction mechanism A mounted on a machine frame 1 and a plurality of wheels 2 which are also mounted on the machine frame 1 and can travel to receive a vacuum suction force generated by the vacuum suction mechanism. In the vacuum suction moving device, the vacuum suction mechanism A is fitted and inserted into a vacuum box 5 having a recess 8 formed on the suction surface side and connected to a vacuum generating means, and an annular groove 9 provided around the recess 8. It comprises an annular seal material 6 having elasticity and a sliding material 7 having a small friction coefficient such as Teflon attached to the suction surface side of the seal material 6. Further, chamfered portions 11 are provided at the corners of the sliding member 7 to facilitate sliding.
【０００７】[0007]
【発明の実施の形態】次に図面を参照して本発明の一実
施形態について説明する。図１において、１は真空吸着
機構Ａの機枠である。機枠１に対して真空吸着機構Ａと
車輪２が取り付けられている。真空吸着機構Ａは、機枠
１の下部に支持部材３を介し設けられ、排気管４を介し
真空発生手段（図示しない）に接続している真空箱５
と、この真空箱５の底部に嵌めたシ−ル材６と、このシ
−ル材６の突出先端面に取り付けたテフロン等の滑り材
７とからなっている。BEST MODE FOR CARRYING OUT THE INVENTION Next, an embodiment of the present invention will be described with reference to the drawings. In FIG. 1, reference numeral 1 is a machine frame of the vacuum suction mechanism A. A vacuum suction mechanism A and wheels 2 are attached to the machine frame 1. The vacuum suction mechanism A is provided in the lower part of the machine frame 1 via a support member 3 and is connected to a vacuum generating means (not shown) via an exhaust pipe 4 in a vacuum box 5.
And a seal member 6 fitted to the bottom of the vacuum box 5, and a sliding member 7 such as Teflon attached to the protruding tip surface of the seal member 6.
【０００８】真空箱５は図の例では平面視長方形をなし
ており（図１(ｂ)）、その底部に円形の真空室を形成す
る円形凹部８が設けられている。円形凹部８の頂部中央
に前記排気管４に通ずる孔４ａが穿設されている。なお
凹部８は必ずしも円形であることを要しない。The vacuum box 5 has a rectangular shape in plan view in the illustrated example (FIG. 1 (b)), and has a circular recess 8 forming a circular vacuum chamber at the bottom thereof. A hole 4a communicating with the exhaust pipe 4 is formed at the center of the top of the circular recess 8. The recess 8 does not necessarily have to be circular.
【０００９】前記シ−ル材６は、スポンジゴム等の可撓
性材料よりなり、円形凹部８の周囲を囲っている。図２
に示す如く、真空箱５は真空室を形成する円形凹部８の
周縁部に環状の凹溝９を有し、この中に可撓性材料より
なる環状シ−ル材６が嵌挿されている。シ−ル材６の下
端にテフロン等の滑り材７が貼着され、これが壁面に接
するようになっている。シ−ル材６及び滑り材７はその
肉厚を極力薄くし、壁面上に存在する凹凸に対しよくな
じむようにするのが好ましい。車輪２は機枠１の前後部
両側に配設され、使用時に真空箱５の底面５ａが真空吸
着力によって壁面に接しないよう、真空吸着力を走行車
輪２で受け止め隙間約１〜２mm保持している。走行車輪
２の走行は、駆動モ−タ１０で行うかあるいは駆動モ−
タを使用せずに機枠１をウインチ等の巻上げ手段で引張
ってもよい。The seal member 6 is made of a flexible material such as sponge rubber and surrounds the circular recess 8. FIG.
As shown in FIG. 3, the vacuum box 5 has an annular groove 9 at the peripheral edge of a circular recess 8 forming a vacuum chamber, and an annular seal material 6 made of a flexible material is inserted therein. . A sliding member 7 such as Teflon is attached to the lower end of the seal member 6 so as to contact the wall surface. It is preferable that the sealing material 6 and the sliding material 7 have a wall thickness that is as thin as possible so that the sealing material 6 and the sliding material 7 fit well to the irregularities present on the wall surface. The wheels 2 are arranged on both sides of the front and rear of the machine frame 1, and in use, the traveling wheels 2 receive the vacuum suction force so that the bottom surface 5a of the vacuum box 5 does not come into contact with the wall surface by the vacuum suction force. ing. The traveling wheels 2 travel with the drive motor 10 or with the drive motor.
The machine frame 1 may be pulled by a hoisting means such as a winch without using the cutter.
【００１０】図２(ｃ)はシ−ル材６及び滑り材７の他の
例を示し、この場合には壁面との接触部に面取り部１１
を設けている。このようにすると、図２(ｄ)の如く壁面
上に凹部(又は凸部)１２（２枚の板ガラスの間にシリコ
ンシ−リングを施した場合には、このシリコンシ−リン
グ部分が凹部となる）が存在しても、スム−ズにこれを
乗り越えることができる。FIG. 2 (c) shows another example of the seal member 6 and the sliding member 7. In this case, the chamfered portion 11 is provided at the contact portion with the wall surface.
Is provided. In this way, as shown in FIG. 2 (d), the concave portion (or convex portion) 12 is formed on the wall surface (when the silicon sealing is provided between two sheet glasses, this silicon sealing portion becomes the concave portion). Even if there is, you can overcome this in the smooth.
【００１１】[0011]
【発明の効果】従来型の真空室を形成する真空吸着用パ
ットは、パットホルダ−に取り付けられているが、本発
明ではシ−ル材６を真空箱５に固定することなく、真空
箱５の環状凹溝９に嵌め込むだけである。そして真空力
によりシ−ル材６が円形凹部８側に強力に密着する構造
で、固定具等を使用しない構造であるので、交換が簡単
でしかもメンテナンスが極めて容易である。The vacuum suction pad forming the conventional vacuum chamber is attached to the pad holder, but in the present invention, the seal material 6 is not fixed to the vacuum box 5, but the vacuum box 5 is used. It is only fitted in the annular groove 9 of. Further, the seal material 6 is strongly adhered to the circular concave portion 8 side by the vacuum force, and since the fixture is not used, the replacement is easy and the maintenance is extremely easy.
【００１２】又真空箱５の環状凹溝９の深さＬ1はシ−
ル材６の自由状態の高さＬ2より小さく、嵌挿時シ−ル
材６を圧縮して挿入する寸法になっているので、真空時
にシ−ル材６の弾力で吸着面によく接する様になり、真
空室を形成する円形凹部８の真空作用と相埃ってその固
着は極めて確実である。The depth L 1 of the annular groove 9 of the vacuum box 5 is
Since the height of the sealing material 6 is smaller than the free state height L 2 and the sealing material 6 is compressed and inserted at the time of insertion, it is in good contact with the suction surface due to the elasticity of the sealing material 6 in vacuum. As a result, dust adheres to the circular concave portion 8 forming the vacuum chamber, which is extremely reliable.
【００１３】さらに、シ−ル材６はスポンジゴム製で弾
力性を持ち、吸着面側にはテフロン等摩擦係数の小さい
滑り材７を貼着してあるので、スポンジゴムが吸着面の
凹凸に対し弾力的に対応し真空室内の気密を維持するこ
とができる。さらに摩擦係数の小さい滑り材７は移動時
の抵抗を極力少なくし、移動を円滑に行うことができ
る。Further, the seal material 6 is made of sponge rubber and has elasticity, and the sliding surface 7 having a small friction coefficient such as Teflon is adhered to the suction surface side, so that the sponge rubber becomes uneven on the suction surface. The airtightness of the vacuum chamber can be maintained by elastically responding to it. Furthermore, the sliding member 7 having a small friction coefficient minimizes the resistance during movement and enables smooth movement.
【図面の簡単な説明】[Brief description of drawings]
【図１】本発明に係る真空吸着機構で(ａ)はその側面断
面図、(ｂ)は(ａ)の下面図。FIG. 1A is a side sectional view of a vacuum suction mechanism according to the present invention, and FIG. 1B is a bottom view of FIG.
【図２】真空箱の詳細図で(ａ)は組立て状態、(ｂ)はシ
−ル材と滑り材の単品図、(ｃ)はシ−ル材の他の例、
(ｄ)は壁面の一例を示す図。FIG. 2 is a detailed view of a vacuum box, in which (a) is an assembled state, (b) is a single piece drawing of a seal material and a sliding material, (c) is another example of the seal material,
(d) is a figure which shows an example of a wall surface.
Ａ 真空吸着機構 １ 機枠 ２ 車輪 ３ 支持部材 ４ 排気管 4a 孔 ５ 真空箱 ６ シ−ル材 ７ 滑り材 ８ 凹部 ９ 凹溝 10 駆動モ−タ 11 面取り部 12 凹部 A Vacuum adsorption mechanism 1 Machine frame 2 Wheels 3 Supporting member 4 Exhaust pipe 4a hole 5 Vacuum box 6 Seal material 7 Sliding material 8 Recessed portion 9 Recessed groove 10 Drive motor 11 Chamfering portion 12 Recessed portion
Claims (2)
(Ａ)と、同じく機枠(１)に取り付けられ真空吸着機構
(Ａ)で発生する真空吸着力を受け止める走行可能な複数
の車輪(２)を具備する真空吸着移動装置において、前記
真空吸着機構(Ａ)は、吸着面側に開口し真空発生手段に
接続する凹部(８)を形成した真空箱(５)と、凹部(８)の
周囲に設けた環状凹溝(９)に嵌挿された弾力性を有する
環状シ−ル材(６)と、該シ−ル材(６)の吸着面側に貼着
したテフロン等摩擦係数の小さい滑り材(７)とからなる
ことを特徴とする壁面吸着移動装置における真空箱。1. A vacuum suction mechanism attached to a machine frame (1)
(A) and vacuum suction mechanism attached to the machine frame (1) as well
In the vacuum suction moving device having a plurality of wheels (2) capable of traveling to receive the vacuum suction force generated in (A), the vacuum suction mechanism (A) is opened on the suction surface side and connected to the vacuum generating means. A vacuum box (5) having a recess (8), an annular seal material (6) fitted in an annular groove (9) provided around the recess (8), and the seal. A vacuum box in a wall suction moving device, characterized in that it comprises a sliding material (7) having a small friction coefficient such as Teflon attached to the suction surface side of the ruling material (6).
た請求項１の壁面吸着移動装置における真空箱。2. The vacuum box in the wall suction moving device according to claim 1, wherein the chamfered portion (11) is provided at the corner of the sliding member (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7256385A JPH0999877A (en) | 1995-10-03 | 1995-10-03 | Vacuum box for wall face sucking/moving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7256385A JPH0999877A (en) | 1995-10-03 | 1995-10-03 | Vacuum box for wall face sucking/moving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0999877A true JPH0999877A (en) | 1997-04-15 |
Family
ID=17291949
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7256385A Pending JPH0999877A (en) | 1995-10-03 | 1995-10-03 | Vacuum box for wall face sucking/moving device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0999877A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1999067121A1 (en) * | 1998-06-23 | 1999-12-29 | Uragami Fukashi | Surface-sucking mobile device |
| WO2008087096A1 (en) * | 2007-01-19 | 2008-07-24 | BSH Bosch und Siemens Hausgeräte GmbH | Cleaning device for a preferably flat surface, in particular a window |
| EP2140965A1 (en) * | 2007-03-30 | 2010-01-06 | Kawasaki Jukogyo Kabushiki Kaisha | Suction pad, friction stir welding device, and friction stir welding system |
| JP2014231052A (en) * | 2013-05-30 | 2014-12-11 | 中部電力株式会社 | Clarification device, clarification system, and suction seal mechanism |
| WO2015145846A1 (en) * | 2014-03-26 | 2015-10-01 | シャープ株式会社 | Adsorption mechanism and travel device |
-
1995
- 1995-10-03 JP JP7256385A patent/JPH0999877A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1999067121A1 (en) * | 1998-06-23 | 1999-12-29 | Uragami Fukashi | Surface-sucking mobile device |
| WO2008087096A1 (en) * | 2007-01-19 | 2008-07-24 | BSH Bosch und Siemens Hausgeräte GmbH | Cleaning device for a preferably flat surface, in particular a window |
| EP2140965A1 (en) * | 2007-03-30 | 2010-01-06 | Kawasaki Jukogyo Kabushiki Kaisha | Suction pad, friction stir welding device, and friction stir welding system |
| EP2140965A4 (en) * | 2007-03-30 | 2012-08-22 | Kawasaki Heavy Ind Ltd | Suction pad, friction stir welding device, and friction stir welding system |
| JP2014231052A (en) * | 2013-05-30 | 2014-12-11 | 中部電力株式会社 | Clarification device, clarification system, and suction seal mechanism |
| WO2015145846A1 (en) * | 2014-03-26 | 2015-10-01 | シャープ株式会社 | Adsorption mechanism and travel device |
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