JPS62221981A - Suction cup running with negative pressure - Google Patents
Suction cup running with negative pressureInfo
- Publication number
- JPS62221981A JPS62221981A JP61064009A JP6400986A JPS62221981A JP S62221981 A JPS62221981 A JP S62221981A JP 61064009 A JP61064009 A JP 61064009A JP 6400986 A JP6400986 A JP 6400986A JP S62221981 A JPS62221981 A JP S62221981A
- Authority
- JP
- Japan
- Prior art keywords
- negative pressure
- fibrous material
- suction cup
- brush
- sheet
- 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
- 239000002657 fibrous material Substances 0.000 claims abstract description 29
- 239000000835 fiber Substances 0.000 claims description 7
- 239000000126 substance Substances 0.000 claims description 4
- 239000003566 sealing material Substances 0.000 description 8
- 238000007789 sealing Methods 0.000 description 4
- 239000012528 membrane Substances 0.000 description 3
- 229920000728 polyester Polymers 0.000 description 2
- 230000027311 M phase Effects 0.000 description 1
- 239000004698 Polyethylene Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002985 plastic film Substances 0.000 description 1
- 229920006255 plastic film Polymers 0.000 description 1
- -1 polyethylene Polymers 0.000 description 1
- 229920000573 polyethylene Polymers 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000000565 sealant Substances 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
[発明の分野]
本発明は一般的にいえば、計測器や工具等を搭載して垂
直壁面の状況探査や補修加工に利用するロボットに係る
ものであり、具体的にいえば垂直壁面を遠隔操作により
自由に走行し、作業する口ポットに使用する負圧走行吸
盤に係るものである。[Detailed Description of the Invention] [Field of the Invention] Generally speaking, the present invention relates to a robot equipped with measuring instruments, tools, etc. and used for inspecting the condition of a vertical wall surface and repairing it. In other words, it relates to a suction cup that runs under negative pressure and is used in a pot that can be moved freely on a vertical wall by remote control.
[発明の背景]
従来のこの種のロボット(真空吸着自走車)の負圧走行
吸盤を第1〜3図に示す。これらの図において1はシー
ル、2は環状シール保持具、そして3は垂直壁面を示す
。シール1は第1図ではゴムの薄膜から成り、第2図で
はゴムまたはプラスチックの膜を用いてその自由縁に補
強リングを設けており、また第3図では繊維状物質を一
方向に多数配置して成るブラシをシール1として使用し
ている(特公昭60−26752 :特公昭60−28
715 :特開昭60−135379 ;特開昭60−
25669 :特開昭60−90681月:特開昭60
−92175参照)。[Background of the Invention] A conventional vacuum suction cup of this type of robot (vacuum suction self-propelled vehicle) is shown in FIGS. 1 to 3. In these figures, 1 indicates a seal, 2 indicates an annular seal retainer, and 3 indicates a vertical wall surface. In FIG. 1, the seal 1 consists of a thin rubber film, in FIG. 2 a rubber or plastic film with a reinforcing ring on its free edge, and in FIG. 3 a fibrous material arranged in large numbers in one direction. A brush made of
715: Japanese Patent Application Publication No. 1983-135379; Japanese Patent Publication No. 1983-135379
25669: Japanese Patent Publication No. 1988-9068 January: Japanese Patent Publication No. 1983
-92175).
第1図のゴム薄膜の負圧シール材はゴム膜が壁面に押し
つけられない程度に密封しているのであり、このため壁
面への追従性は高いが負圧空間内への空気の侵入量も大
ぎく、これを常時吸引して負圧を発生させていても自走
車の吸着力は小さい。The thin rubber film negative pressure sealing material shown in Figure 1 seals the rubber film to the extent that it is not pressed against the wall surface, so it has a high ability to follow the wall surface, but the amount of air that enters the negative pressure space is also high. Unfortunately, even if this is constantly sucked in to generate negative pressure, the suction power of a self-propelled vehicle is small.
第2図の負圧シール材はシール材の弾性力及び大気圧と
負圧との差圧を利用してシール材を壁面に押しつける。The negative pressure sealing material shown in FIG. 2 uses the elastic force of the sealing material and the differential pressure between atmospheric pressure and negative pressure to press the sealing material against the wall surface.
壁面の変形に対する追従性はよいが、負圧が大きくなる
とシール材への押しつけ力も大きくなり負圧空間への空
気の侵入は少なくなるが、走行時の摩擦抵抗は負圧に比
例して大きくなる。The ability to follow the deformation of the wall surface is good, but as the negative pressure increases, the pressing force against the sealing material also increases, reducing the amount of air that enters the negative pressure space, but the frictional resistance during running increases in proportion to the negative pressure. .
−第3図のブラシを負圧シール材に用いると、摺動摩擦
抵抗は小さいが、空気はブラシ繊維間とシール面を通っ
て負圧空間に侵入する。押しつけ力を大きくしてシール
面からの空気侵入を排除しても、ブラシm相間を通る空
気浸入は排除できず、負圧保持機能は劣る。- When the brush shown in Fig. 3 is used as a negative pressure sealing material, although the sliding frictional resistance is small, air enters the negative pressure space between the brush fibers and through the sealing surface. Even if the pressing force is increased to eliminate air intrusion from the sealing surface, air intrusion through the m-phase brush cannot be eliminated, and the negative pressure holding function is inferior.
[発明の目的]
負圧走行吸盤の負圧を効果的に保持するにはシール材を
壁面に押圧密着させなければならないが、そのようにす
ると摺動時の摩擦抵抗が増大して走行障害を生じる。[Objective of the Invention] In order to effectively maintain the negative pressure of the negative pressure running suction cup, the sealing material must be tightly pressed against the wall surface, but if this is done, the frictional resistance during sliding increases and this may cause running problems. arise.
本発明の目的は、負圧シールを密着摺動させながら、負
圧を効果的に保持し、同時に摩擦抵抗を低減する負圧走
行吸盤を提供することにある。An object of the present invention is to provide a negative pressure travel suction cup that effectively maintains negative pressure while sliding a negative pressure seal in close contact with the suction cup, and at the same time reduces frictional resistance.
この目的は本発明に従って、繊維状物質を多数一方向に
配置して成るブラシと、このブラシ内に前記の一方向に
配置した少なくとも1枚の非通気性シートとから成るシ
ールを備えた負圧走行吸盤によって達成される。This object is achieved according to the invention by a negative electrode comprising a brush comprising a plurality of fibrous materials arranged in one direction and a seal comprising at least one air-impermeable sheet arranged in said one direction within said brush. Pressure is achieved by traveling suction cups.
[実施例]
第4図に本発明の第1実施例を示す。図において4は繊
維状物質を多数一方向に配置して成るブラシであり、5
はこのブラシ内に前記の一方向に配置した1枚の非通気
性シートである。6はブラシを保持する環状枠である。[Example] Fig. 4 shows a first example of the present invention. In the figure, 4 is a brush made of a large number of fibrous substances arranged in one direction;
is a single non-air permeable sheet placed in this brush in one direction. 6 is an annular frame that holds the brush.
また第5図はブラシが強く壁面に押しつけられた状態を
示す。Moreover, FIG. 5 shows a state in which the brush is strongly pressed against the wall surface.
ブラシをシール材に用いるが、ブラシの繊維状物質問を
吸引空気が通過するのを非通気性のシートが防いでいる
。この構成により従来のブラシシールの持つ、壁面追従
性の良さと、摩擦抵抗が低いという長所を保持しながら
、非通気性の膜によるシール性の向上を図っている。A brush is used as a sealant, and a non-breathable sheet prevents suction air from passing through the fibrous material of the brush. This structure maintains the advantages of conventional brush seals, such as good wall followability and low frictional resistance, while improving sealing performance due to the non-porous membrane.
非通気性の膜の使用により従来のブラシの吸盤のように
気密性を改善しようとして繊維状物質を密植させる必要
はなく、ブラシの弾力性を有効に利用できるような密度
でIIN状物質を植えれるようになり、またブラシが壁
面の凹凸を横断できるだけの巾に拡大することができる
。By using a non-breathable membrane, there is no need to densely plant fibrous substances to improve airtightness as with conventional brush suction cups, and IIN-like substances can be planted at a density that makes effective use of the elasticity of the brush. The width of the brush can be expanded to allow it to cross over uneven surfaces.
動作中層動面が変化し、相対的位置が第4図から第5図
の状態になった時、ブラシは密植されて1いないので変
形(曲り)が容易であり、ブラシの1面への押しつけ力
の増加は少なく、従って摩擦抵抗の増加も少ない。非通
気性シートは両側のブラシで挾まれており負圧によって
内側に吸い込まれるようなことはなくシール性能は変動
しない。During operation, when the layer moving surface changes and the relative position changes from Fig. 4 to Fig. 5, the brushes are not densely planted, so they are easily deformed (bend), and the brushes are pressed against one surface. The increase in force is small, and therefore the increase in frictional resistance is also small. The non-breathable sheet is sandwiched between brushes on both sides, so it will not be sucked inward by negative pressure, and the sealing performance will not change.
第6図は本発明の第2の実施例を示す。図において4b
は細い、または軟かい繊維状物質であり、5はこの柔軟
なブラシを挾む非通気性シートである。4aは太い、ま
たは硬い繊維状物質である。このような構成とすること
によりブラシ先端の密着性を改善して空気の吸込囲を減
少させることができる。同時にシート5は外側のブラシ
4aから内側へ押され、シート先端の走行面からまくれ
上がりを阻止する。FIG. 6 shows a second embodiment of the invention. 4b in the figure
is a thin or soft fibrous material, and 5 is an air-impermeable sheet sandwiching this flexible brush. 4a is a thick or hard fibrous material. With such a configuration, the adhesion of the tip of the brush can be improved and the air suction area can be reduced. At the same time, the sheet 5 is pushed inward by the outer brush 4a to prevent the sheet from rolling up from the running surface at the leading end of the sheet.
製作に当っては中間ブラシ層の繊維状物質4bを外側ブ
ラシ層の繊維状物質4aより長くならないようにしく一
例として5m位短かくする)、そして太い!ll状状物
質細い繊維状物質との太さの比は2:1以上とするのが
好ましい。中間ブラシ層の繊維状物質4bを細い直毛状
繊維とし、外側ブラシ層の繊維状物質4aを太い縮毛状
繊維としてもよい。During production, the fibrous material 4b of the middle brush layer is made shorter than the fibrous material 4a of the outer brush layer (for example, by about 5 m), and thick! It is preferable that the ratio of the thickness of the thin fibrous material to the thin fibrous material is 2:1 or more. The fibrous material 4b of the intermediate brush layer may be made of thin straight hair-like fibers, and the fibrous material 4a of the outer brush layer may be made of thick curly fibers.
このようにすると壁面に対するブラシ先端の密着性と馴
み易さは一層向上する。In this way, the adhesion and ease of fitting the tip of the brush to the wall surface are further improved.
本発明に従って、膜厚0.1aawのポリエチレンジ[
トを線径o、3m、毛足長さ50tsのポリエステルブ
ラシの中央に配置して構成した負圧走行吸盤をステンレ
ス鋼板に適用した。シール材の押しつけカフ kaで、
発生負圧は0.11〜0.20 ka/cjであった。According to the present invention, polyethylene di[
A negative-pressure running suction cup was applied to a stainless steel plate, and was constructed by arranging the brush in the center of a polyester brush with a wire diameter o of 3 m and a bristles length of 50 ts. With the sealing material pressing cuff ka,
The negative pressure generated was 0.11 to 0.20 ka/cj.
非通気性シートを使用しない同じ線径と毛足長さのポリ
エステルブラシの場合発生負圧は0.01kg/ciに
過ぎなかった。In the case of a polyester brush with the same wire diameter and bristles length without using an air-impermeable sheet, the negative pressure generated was only 0.01 kg/ci.
実施に当って繊維状物質の長さは40〜100M、その
太さは0.5〜o、os mの範囲で選択して良い結果
を得た。Good results were obtained by selecting the length of the fibrous material in the range of 40 to 100 m and the thickness of the fibrous material in the range of 0.5 to 0.0 m.
第7図は本発明の負圧走行吸盤を使用した真空吸着自走
車の側面図であり、第8図は平面図である。これらの図
において7は負圧走行吸盤であり、8は車輪、9はシャ
ーシである。このシャーシには吸盤に負圧を適用する手
段、操舵手段等が搭載されているが、その説明は従来の
壁面走行車と同じであるので省略する。FIG. 7 is a side view of a vacuum suction self-propelled vehicle using the negative pressure traveling suction cup of the present invention, and FIG. 8 is a plan view. In these figures, 7 is a negative pressure traveling suction cup, 8 is a wheel, and 9 is a chassis. This chassis is equipped with a means for applying negative pressure to the suction cup, a steering means, etc., but the explanation thereof will be omitted since it is the same as that of a conventional wall-running vehicle.
[発明の効果]
以上から明らかなように本発明の負圧走行吸盤は負圧シ
ールを壁面に密着層動させながら、負圧を効果的に保持
し、同時に摩擦抵抗を低減している。[Effects of the Invention] As is clear from the above, the negative pressure traveling suction cup of the present invention effectively maintains negative pressure while moving the negative pressure seal in close contact with the wall surface, and at the same time reduces frictional resistance.
また、走行面上と馴み易く、密着性も高いため走行面上
の突起や溝をのり越え、その通過時にも負圧の低下は殆
んど認められない。比較的小さいシールの押しつけ力で
負圧が得られるので、少ないエネルギーで大きな吸着力
を得ることができ、シール材の摩擦抵抗が小ざいので、
エネルギー損失も少ない。In addition, since it easily fits onto the running surface and has high adhesion, it can climb over protrusions and grooves on the running surface, and almost no drop in negative pressure is observed even when passing over the protrusions and grooves on the running surface. Negative pressure can be obtained with a relatively small pressing force of the seal, so a large adsorption force can be obtained with little energy, and the frictional resistance of the seal material is small.
There is also less energy loss.
第1図は従来のゴム膜使用の負圧走行吸盤の一部分の断
面図である。
第2図は従来の補強弾性シール使用の負圧走行吸盤の一
部分の断面図である。
第3図は従来のブラシ使用の負圧走行吸盤の一部分の断
面図である。
第4図は本発明の負圧走行吸盤の第1の実施例を示す。
第5図は押圧力が増大した場合の第1の実施例の状態を
示す。
11第6図は本発明の負圧走行吸盤の第2の実施例を示
す。
第7図は本発明の負圧走行吸盤を使用した真空吸着自走
車の側面図であり、第8図は平面図である。
図中:
1:シール、2:シール保持具、3:壁面、4:繊維状
物質、5:非通気性シート、6:環状枠、7:負圧走行
吸盤、8:車輪、9:シャーシ。
・tん
第 1 図
第3図
箇4図 箇5図FIG. 1 is a sectional view of a portion of a conventional vacuum suction cup using a rubber membrane. FIG. 2 is a sectional view of a portion of a conventional negative pressure running suction cup using a reinforced elastic seal. FIG. 3 is a sectional view of a portion of a conventional brush-based vacuum suction cup. FIG. 4 shows a first embodiment of the negative pressure running suction cup of the present invention. FIG. 5 shows the state of the first embodiment when the pressing force increases. 11 FIG. 6 shows a second embodiment of the negative pressure running suction cup of the present invention. FIG. 7 is a side view of a vacuum suction self-propelled vehicle using the negative pressure traveling suction cup of the present invention, and FIG. 8 is a plan view. In the figure: 1: Seal, 2: Seal holder, 3: Wall surface, 4: Fibrous material, 5: Non-ventilated sheet, 6: Annular frame, 7: Negative pressure running suction cup, 8: Wheel, 9: Chassis.・T-1 Figure 3 Figure 4 Figure 5
Claims (1)
このブラシ内に前記の一方向に配置した少なくとも1枚
の非通気性シートとから成るシールを備えたことを特徴
とする負圧走行吸盤。 2、前記の繊維状物質がプラスチック繊維である特許請
求の範囲第1項に記載の負圧走行吸盤。 3、前記の繊維状物質が直毛または縮毛状繊維である特
許請求の範囲第1項または第2項に記載の負圧走行吸盤
。 4、前記のシートが密植した繊維状物質の中心にあり、
シートは繊維状物質より短かくない特許請求の範囲第1
項に記載の負圧走行吸盤。 5、細い、または軟かい繊維状物質の中間ブラシ層の両
側に前記のシートを配置し、更にそのシートの外側に太
い、または硬い繊維状物質の外側ブラシ層を配置した特
許請求の範囲第1項に記載の負圧走行吸盤。 6、前記の中間ブラシ層の繊維状物質は、前記の外側ブ
ラシ層の繊維状物質より長くない特許請求の範囲第5項
に記載の負圧走行吸盤。 7、前記の中間ブラシ層の繊維状物質は細い直毛状繊維
であり、前記の外側ブラシ層の繊維状物質は太い縮毛状
繊維である特許請求の範囲第5項または第6項に記載の
負圧走行吸盤。 8、前記の繊維状物質の長さは40〜100mm、その
太さは0.5〜0.05mmである特許請求の範囲第1
項に記載の負圧走行吸盤。 9、前記の太い繊維状物質と前記の細い繊維状物質との
太さの比は2:1以上である特許請求の範囲第5項に記
載の負圧走行吸盤。[Claims] 1. A brush comprising a large number of fibrous substances arranged in one direction;
A negative pressure traveling suction cup characterized in that the brush is provided with a seal comprising at least one air-impermeable sheet disposed in one direction. 2. The negative pressure traveling suction cup according to claim 1, wherein the fibrous material is a plastic fiber. 3. The negative pressure traveling suction cup according to claim 1 or 2, wherein the fibrous material is straight hair or curly fiber. 4. The sheet is located in the center of densely planted fibrous material,
Claim 1: The sheet is not shorter than the fibrous material.
Negative pressure traveling suction cup as described in section. 5. Claim 1, wherein the above-mentioned sheet is arranged on both sides of an intermediate brush layer of a thin or soft fibrous material, and an outer brush layer of a thick or hard fibrous material is further arranged outside the sheet. Negative pressure traveling suction cup as described in section. 6. The negative pressure traveling suction cup according to claim 5, wherein the fibrous material of the intermediate brush layer is not longer than the fibrous material of the outer brush layer. 7. According to claim 5 or 6, the fibrous material of the intermediate brush layer is a thin straight hair fiber, and the fibrous material of the outer brush layer is a thick curly fiber. Negative pressure travel suction cup. 8. Claim 1, wherein the length of the fibrous material is 40 to 100 mm, and the thickness is 0.5 to 0.05 mm.
Negative pressure traveling suction cup as described in section. 9. The negative pressure traveling suction cup according to claim 5, wherein the thickness ratio of the thick fibrous material to the thin fibrous material is 2:1 or more.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP61064009A JPS62221981A (en) | 1986-03-24 | 1986-03-24 | Suction cup running with negative pressure |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP61064009A JPS62221981A (en) | 1986-03-24 | 1986-03-24 | Suction cup running with negative pressure |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS62221981A true JPS62221981A (en) | 1987-09-30 |
Family
ID=13245752
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP61064009A Pending JPS62221981A (en) | 1986-03-24 | 1986-03-24 | Suction cup running with negative pressure |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS62221981A (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0472090U (en) * | 1990-11-07 | 1992-06-25 | ||
JP2005047451A (en) * | 2003-07-31 | 2005-02-24 | Atox Co Ltd | Self-suction type traveling device |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5867573A (en) * | 1981-10-19 | 1983-04-22 | Yoshida Kogyo Kk | Wall face self-travel car |
-
1986
- 1986-03-24 JP JP61064009A patent/JPS62221981A/en active Pending
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5867573A (en) * | 1981-10-19 | 1983-04-22 | Yoshida Kogyo Kk | Wall face self-travel car |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0472090U (en) * | 1990-11-07 | 1992-06-25 | ||
JP2005047451A (en) * | 2003-07-31 | 2005-02-24 | Atox Co Ltd | Self-suction type traveling device |
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