JPS63150147A - Device capable of moving along surface of body - Google Patents
Device capable of moving along surface of bodyInfo
- Publication number
- JPS63150147A JPS63150147A JP61217924A JP21792486A JPS63150147A JP S63150147 A JPS63150147 A JP S63150147A JP 61217924 A JP61217924 A JP 61217924A JP 21792486 A JP21792486 A JP 21792486A JP S63150147 A JPS63150147 A JP S63150147A
- Authority
- JP
- Japan
- Prior art keywords
- wall surface
- partition
- pressure
- pressure receiving
- receiving body
- 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
- 238000005192 partition Methods 0.000 claims description 124
- 239000012530 fluid Substances 0.000 claims description 62
- 238000004381 surface treatment Methods 0.000 claims description 15
- 238000007789 sealing Methods 0.000 claims description 13
- 239000000463 material Substances 0.000 claims description 12
- 230000002093 peripheral effect Effects 0.000 claims description 12
- 230000006837 decompression Effects 0.000 claims description 6
- 238000007599 discharging Methods 0.000 claims 2
- 229920001971 elastomer Polymers 0.000 abstract description 6
- 238000004140 cleaning Methods 0.000 description 12
- 230000002441 reversible effect Effects 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000001179 sorption measurement Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005498 polishing Methods 0.000 description 2
- 229920003225 polyurethane elastomer Polymers 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000005202 decontamination Methods 0.000 description 1
- 230000003588 decontaminative effect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000002783 friction material Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000004745 nonwoven fabric Substances 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 230000002285 radioactive effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
- 239000002759 woven fabric Substances 0.000 description 1
Landscapes
- Grinding Of Cylindrical And Plane Surfaces (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Brushes (AREA)
Abstract
Description
【発明の詳細な説明】
く技術分野〉
本発明は、物体表面に沿って移動することができる装置
に関する。DETAILED DESCRIPTION OF THE INVENTION Technical Field The present invention relates to a device capable of moving along the surface of an object.
〈従来技術〉
物体表面に沿って移動し且つその表面を処理することが
できる装置は、一般に、装置本体と、装置５
置本体を移動せしめるための走行手段と、物体表面を処
理するための表面処理手段を具備している。<Prior Art> An apparatus capable of moving along an object surface and treating the surface generally includes an apparatus body, a traveling means for moving the apparatus body, and a surface for treating the object surface. It is equipped with processing means.
しかし、従来のこの種の装置は、走行機能を有する走行
手段と処理機能を有する表面処理手段が別個の専用の独
立した手段から構成されており、それ故に、構成が複雑
でしかも装置全体が大型化し、更に製作コストが高くな
る問題があった。However, in conventional devices of this type, the traveling means with the traveling function and the surface treatment means with the processing function are composed of separate dedicated and independent means, and therefore the configuration is complex and the entire device is large. However, there was a problem in that the manufacturing cost increased further.
また、壁面に吸着し且つそれに沿って移動することがで
きる装置としては、受圧体と、受圧体に設けられた走行
手段と、受圧体及び壁面と協働して減圧領域を規定する
仕切壁と、減圧領域を真空に生成せしめるための減圧源
とを備えた装置が提案されている（米国特許第４，０９
５，３７８号明細書及び図面）。In addition, devices that can stick to a wall surface and move along it include a pressure receiving body, a traveling means provided on the pressure receiving body, and a partition wall that cooperates with the pressure receiving body and the wall surface to define a depressurized area. , and a vacuum source for creating a vacuum in a vacuum area (U.S. Pat. No. 4,099).
No. 5,378 specification and drawings).
かくの通りの装置においては、減圧源によって−１−記
減圧領域内に真空が生成され、減圧領域内外の流体圧力
差に起因して仕切壁に作用する流体圧カによって」１記
仕切壁の一部が壁面に接触せしめられ、一方減圧領域内
外の流体圧力差に起因して受圧体に作用する流体圧力が
走行手段を介して壁面に伝達され、これによって装置が
壁面に吸着せしめられる。また、走行手段を駆動するご
とによって、上述した如くして壁面に吸着している装置
は、吸着した状態で壁面に沿って移動せしめられる。In such a device, a vacuum is generated in the reduced pressure region by the reduced pressure source, and the fluid pressure acting on the partition wall due to the fluid pressure difference inside and outside the reduced pressure region causes the A portion of the device is brought into contact with the wall surface, and fluid pressure acting on the pressure receiving body due to a fluid pressure difference inside and outside the depressurized region is transmitted to the wall surface via the traveling means, thereby causing the device to stick to the wall surface. Further, each time the traveling means is driven, the device adsorbed to the wall surface as described above is moved along the wall surface in the adsorbed state.
しかしなから、上記公知の装置も、上述したと略同様に
、走行機能と有する走行手段とシール機能を有する仕切
壁とが別個の専用のものから構成されており、それ故に
、構成が複雑でしかも装置全体が大型化し、更に製作コ
ストが高くなる問題力ゝ゛
蔦った。However, in the above-mentioned known device, the traveling means with the traveling function and the partition wall with the sealing function are separate and dedicated devices, and therefore the configuration is complicated. Moreover, the overall size of the device has increased, and the problem of increasing manufacturing costs has arisen.
〈発明の目的〉
本発明は上記事実に鑑みてなされたものであり、その目
的は、比較的簡単な構成でもって物体表面に沿って移動
することができる、優れた装置を提供することである。<Object of the Invention> The present invention has been made in view of the above facts, and its object is to provide an excellent device that can move along the surface of an object with a relatively simple configuration. .
本発明の他の目的は、比較的簡単な構成でもって壁面に
吸着し、それに沿、って移動することができる、優れた
装置を提供することである。Another object of the present invention is to provide an excellent device that can stick to a wall surface and move along it with a relatively simple structure.
本発明のその他の目的及び本発明の特徴は、以下の記載
から明らかになるであろう。Other objects and features of the invention will become apparent from the following description.
〈発明の好適具体例〉 以下、添付図面を参照して更に詳述する。<Preferred specific examples of the invention> Further details will be given below with reference to the accompanying drawings.
第１の具体例
まず、第１図乃至第３図を参照して、本発明に従って構
成された装置の第１の具体例について説明する。First Specific Example First, a first specific example of an apparatus constructed according to the present invention will be described with reference to FIGS. 1 to 3.
主として第１図及び第２図を参照して、第１の具体例の
装置は、例えば剛性のフレームから構成される装置本体
２を具備している。図示の装置本体２は、円筒状部４、
取イ」部６及び両者を連結ずＢ
る接続部８を有している。Referring primarily to FIGS. 1 and 2, the device of the first embodiment includes a device main body 2 composed of, for example, a rigid frame. The illustrated device main body 2 includes a cylindrical portion 4,
It has a take-out portion 6 and a connecting portion 8 that connects the two.
装置本体２の円筒状部４には、回転体１０が回転自在に
装着されている。具体例においては、円筒状部６の上部
に正逆転可能な電動モータの如き駆動源１２が装着され
、この駆動源１２の出力軸１２ａが円筒状部６を貫通し
て下方に突出し、出力軸１２ａのかかる突出端部に回転
体１０が装着されている。この第１の具体例においては
、駆動るように円筒状部４に装着されており、従って第
２図に示す如く、回転体１０は物体表面１４に実質上垂
直な軸線１６に対して幾分傾斜した回転軸線１８を中心
として回転される。この回転軸線１８の上記軸線１６に
対する傾斜角α１は、例えば３乃至５度程度でよい。例
えば円板から形成することができる回転体１０には、全
体を番号２０で示ず表面処理手段が設けられている。図
示の表面処理手段２０は、主として物体表面１４を処理
するための処理手段２２と主として装置本体２を支持す
るための支持手段２４を有している。図示の処理手段２
２は物体表面１４に作用する比較的柔軟なブラシ部材２
６から構成され、回転体１０の周縁部に配設されている
。また、図示の支持手段２４は、例えばポリウレタンゴ
ムから形成することができる環状部材２８かから構成さ
れ、回転体１０のブラシ部材２６の配設部位の内側部位
に装着されている。この環状部材２８は、回転体１０が
軸線１６に対して幾分傾斜した回転軸線１８を中心とし
て回転される故に、その一部、即ち回転中心軸線１８が
傾斜する側に位置する部位が物体表面１４に接触せしめ
られる。A rotating body 10 is rotatably mounted on the cylindrical portion 4 of the device main body 2. In a specific example, a drive source 12 such as an electric motor capable of forward and backward rotation is attached to the upper part of the cylindrical portion 6, and an output shaft 12a of this drive source 12 penetrates the cylindrical portion 6 and protrudes downward. The rotating body 10 is attached to the protruding end portion of the rotor 12a. In this first embodiment, the rotating body 10 is mounted in a driving manner on the cylindrical part 4, so that, as shown in FIG. It is rotated about an inclined rotation axis 18. The inclination angle α1 of the rotation axis 18 with respect to the axis 16 may be, for example, about 3 to 5 degrees. The rotating body 10, which can be formed, for example, from a disc, is provided with surface treatment means, indicated as a whole by the number 20. The illustrated surface treatment means 20 includes a treatment means 22 mainly for treating the object surface 14 and a support means 24 for mainly supporting the apparatus main body 2. Illustrated processing means 2
2 is a relatively flexible brush member 2 that acts on the object surface 14;
6, and is arranged at the peripheral edge of the rotating body 10. Further, the illustrated support means 24 is constituted by an annular member 28 that can be made of polyurethane rubber, for example, and is attached to a portion inside the portion of the rotating body 10 where the brush member 26 is disposed. Since the rotating body 10 is rotated around the rotation axis 18 that is somewhat inclined with respect to the axis 16, a part of the annular member 28, that is, a portion located on the side where the rotation center axis 18 is inclined, is located on the object surface. 14.
一方、装置本体２の取付部６には、車輪３０から構成さ
れた補助走行手段が配設されている。具体側では、取付
部６の下面には補助駆動源を構成する正逆転可能な電動
モータ３２が装着され、この電動モータ３２の出力軸に
駆動連結された減速手段３３の出力軸３３ａに車輪３０
が装着されている。尚、車輪３０と物体表面１４間の摩
擦係数を大きくするために、車輪３０の周表面にゴムの
如き高摩擦材料を被覆して高摩擦層３４を設けるのが好
ましい。On the other hand, an auxiliary traveling means composed of wheels 30 is disposed on the mounting portion 6 of the device main body 2. On the concrete side, a reversible electric motor 32 constituting an auxiliary drive source is mounted on the lower surface of the mounting portion 6, and a wheel 30 is connected to an output shaft 33a of a deceleration means 33 drivingly connected to the output shaft of the electric motor 32.
is installed. In order to increase the coefficient of friction between the wheel 30 and the object surface 14, it is preferable to provide a high friction layer 34 by coating the circumferential surface of the wheel 30 with a high friction material such as rubber.
かかる第１の具体例の装置においては、装置本体２は、
主として回転体１０に装着された環状部材２８及び減速
手段３３の出力軸３３ａに装着された車輪３４を介して
物体表面１４に支持される。In the device of the first specific example, the device main body 2 includes:
It is mainly supported on the object surface 14 via the annular member 28 attached to the rotating body 10 and the wheels 34 attached to the output shaft 33a of the deceleration means 33.
そして、駆動源１２の作用によって回転体１０が所要の
通り回転されると、主としてブラシ部材２６の作用によ
って物体表面１４の処理が遂行され、また主として環状
部材２８及び補助走行手段の作用によって装置が物体表
面１４に沿って移動され２す
る。即ち、回転体１０が矢印３６又は３８で示ず方向に
回転されると、回転体１０に装着さたブラシ部材２６の
自由端部が常時物体表面１４に接触しなから回転体１０
と一体に回転せしめられる故に、ブラシ部材２６の作用
によって物体表面１４のクリーニングが遂行される。尚
、容易に理解される如く、処理手段２０としては、例え
ば物体表面１４をクリーニングする場合には、ブラシ部
材２６に代えて、更にゴム材料、織布又は不織布から形
成された部材等を用いることができ、また例えば物体表
面１４を研磨又は研削する場合には、ブラシ部材２６に
代えて、研磨材を含有する研磨布から形成された部材等
を用いることができ、更にまた物体表面につや出し剤等
を塗布する場合には、ブラシ部材２６に代えて、含液性
の優れた多孔質のスポンジゴムから形成された部材等を
用いることができる。また、回転体１０が回転されると
、環状部材２８が軸ｖＡ１６に対して幾分傾斜した回転
軸＆’１ｔＬ８を中心として回転される故に、環状部材
２８の一部（第２図において左端に位置する部位）が物
体表面１４に作用し、これによって環状部材２８と物体
表面１４間に装置を移動せしめようとする力が発生する
。そして、かく発生する力と電動モータ３２によって回
転駆動される車輪３０の作用によって装置を所望の通り
移動せしめることができる。この点に関して、第３−Ａ
図及び第、３−Ｂ図を参照して更に説明すると、駆動源
１２を正転させて回転体１０、従って環状部材２８を矢
印３６で示ず方向に回転せしめると、装置は矢印４０で
示す方向、即ち環状部材２８の物体表面１４との接触部
位における接線方向において矢印３６で示す回転方向と
反対方向に移動する傾向が生じる。このとき、電動モー
タ３２を正転させて車輪３０を矢印４２で示ず方向に回
転せしめると共に環状部材２８の物体表面１４との接触
部位の周速度と車輪３０の物体表面１４との接触部位の
周速度とを実質上同一にせしめれば、容易に理解される
如く、装置は矢印４０で示す方向に直進する。一方、駆
動源１２と電動モータ３２の上記正転状態において環状
部材２８の上記接触部位の周速度と車輪３０の上記接触
部位の周速度に差を生じせしめた場合には、例えば環状
部材２６の上記接触部位の周速度が車輪３０の上記接触
部位の周速度より大きいときには環状部材２８が矢印４
０で示ず方向に先行するようになり、従って装置は矢印
４４で示す方向に旋回しなから移動し、例えば環状部材
２６の上記接触部位の周速度が車輪３０の上記接触部位
の周速度より小さいときには車輪３０が矢印４０で示す
方向に先行するようになり、従って装置は矢印４６で示
す方向に旋回しなから移動する。これに対して、電動モ
ータ３０の正転状態において駆動源１２を逆転せしめて
回転体１０、従って環状部材２８を矢印３８で示す方向
に回転せしめると、装置はその略中心を中心として矢印
４８で示す方向に旋回される。尚、電動モータ３２の逆
転状態においても、同様に走行せしめられる。When the rotary body 10 is rotated as required by the action of the drive source 12, the treatment of the object surface 14 is accomplished mainly by the action of the brush member 26, and the apparatus is rotated mainly by the action of the annular member 28 and the auxiliary traveling means. 2 along the object surface 14. That is, when the rotating body 10 is rotated in a direction not shown by the arrows 36 or 38, the free end of the brush member 26 attached to the rotating body 10 is not constantly in contact with the object surface 14;
Since the brush member 26 is rotated together with the brush member 26, cleaning of the object surface 14 is accomplished by the action of the brush member 26. As is easily understood, as the processing means 20, for example, when cleaning the object surface 14, instead of the brush member 26, a member made of a rubber material, woven fabric, or non-woven fabric, etc. may be used. For example, when polishing or grinding the object surface 14, a member made of an abrasive cloth containing an abrasive can be used instead of the brush member 26, and a polishing agent may also be applied to the object surface. etc., a member made of porous sponge rubber with excellent liquid receptivity may be used in place of the brush member 26. Furthermore, when the rotating body 10 is rotated, the annular member 28 is rotated around the rotation axis &'1tL8 which is somewhat inclined with respect to the axis vA16. (located) acts on the object surface 14, thereby creating a force between the annular member 28 and the object surface 14 tending to move the device. The device can be moved as desired by the force thus generated and the action of the wheels 30 rotationally driven by the electric motor 32. In this regard, Article 3-A
To further explain with reference to FIG. There is a tendency to move in the direction, tangentially at the point of contact of the annular member 28 with the object surface 14, opposite to the direction of rotation indicated by the arrow 36. At this time, the electric motor 32 is rotated in the normal direction to rotate the wheel 30 in the direction not shown by the arrow 42, and the circumferential speed of the contact portion of the annular member 28 with the object surface 14 and the contact portion of the wheel 30 with the object surface 14 are If the circumferential speed is made substantially the same, the device will move straight in the direction shown by arrow 40, as is easily understood. On the other hand, if a difference is created between the circumferential speed of the contact portion of the annular member 28 and the circumferential speed of the contact portion of the wheel 30 in the normal rotation state of the drive source 12 and the electric motor 32, for example, When the circumferential speed of the contact area is greater than the circumferential speed of the contact area of the wheel 30, the annular member 28
Therefore, the device moves in the direction shown by the arrow 44 without turning, and for example, the circumferential speed of the contact portion of the annular member 26 is higher than the circumferential speed of the contact portion of the wheel 30. When it is small, the wheels 30 lead in the direction indicated by arrow 40 and the device therefore moves in the direction indicated by arrow 46 rather than turning. On the other hand, when the drive source 12 is reversely rotated in the normal rotation state of the electric motor 30 to rotate the rotating body 10, and hence the annular member 28 in the direction shown by the arrow 38, the device rotates in the direction shown by the arrow 48 about its approximate center. It is rotated in the direction shown. Incidentally, even when the electric motor 32 is in a reverse rotation state, the vehicle can be caused to travel in the same manner.
第１の具体例においては、第２図に示す通り、環状部材
２８と物体表面１４との接触面積を太き（するために、
環状部材２８の下面の形状を物体表面１４との接触部位
において上記物体表面１４と実質上平行となるようにす
るのが好ましい。In the first specific example, as shown in FIG. 2, in order to increase the contact area between the annular member 28 and the object surface 14,
Preferably, the shape of the lower surface of the annular member 28 is substantially parallel to the object surface 14 at the point of contact with the object surface 14.
以上の通りであるので、第１の具体例の装置においては
、回転体１０が軸線１６に対して幾分傾斜した回転軸線
１８を中心として回転せしめられることに起因して、回
転体１０に装着された処理手段２０は、物体表面１４に
作用して表面をクリーニングする表面処理機能ζ主とし
てブラシ部材２８がこの機能をもつ）と、物体表面１４
に対して装置を移動せしめる走行機能（主として環状部
材２８がこの機能をもつ）乏有する。従って、装置を走
行させるための走行手段の一部を処理手段２０によって
兼用することができ、装置の簡単化、小型化を達成する
ことができる。As described above, in the device of the first specific example, due to the fact that the rotating body 10 is rotated around the rotational axis 18 that is somewhat inclined with respect to the axis 16, The processing means 20 has a surface treatment function ζ which acts on the object surface 14 to clean the surface (mainly the brush member 28 has this function), and a surface treatment function ζ which acts on the object surface 14 to clean the surface
It has a poor running function (mainly the annular member 28 has this function) to move the device relative to the ring. Therefore, the processing means 20 can also serve as a part of the running means for running the device, making it possible to simplify and downsize the device.
尚、この第１の具体例において、ブラシ部材２６の如き
処理手段２２によって装置を充分に支持することができ
る場合には、環状部材２８の如き支持手段２４を省略す
ることができる。このとき、処理手段２２は表面処理機
能と走行機能の双方をもつ。Note that in this first embodiment, the support means 24 such as the annular member 28 may be omitted if the apparatus can be sufficiently supported by the processing means 22 such as the brush member 26. At this time, the processing means 22 has both a surface treatment function and a running function.
第２の岐生桝
次に、第４図乃至第８図を参照して、本発明に従って構
成された装置の第２の具体例について説明する。この第
２の具体例の装置は、後に詳述する如く、壁面に吸着し
且つそれに沿って移動することができる。Second Kiyu-masu Next, a second specific example of the apparatus constructed according to the present invention will be described with reference to FIGS. 4 to 8. The device of this second embodiment is capable of adhering to a wall surface and moving along it, as will be described in detail later.
主として第４図乃至第６図を参照して、図示の第２の具
体例の装置は、剛性乃至半剛性材料から形成することが
できる受圧体１０２を具備している。かかる装置におい
ては、受圧体１０２は略直方体の箱状であり、例えば船
舶の外側壁面の如き壁面１０４に対向する下壁には略円
形の開口１０６が形成されている。Referring primarily to FIGS. 4-6, the illustrated second embodiment of the apparatus includes a pressure body 102 which may be formed from a rigid to semi-rigid material. In this device, the pressure receiving body 102 has a substantially rectangular box shape, and a substantially circular opening 106 is formed in the lower wall facing a wall surface 104, such as the outer wall surface of a ship.
受圧体］０２の開口１０６には、例えば鋼板から形成す
ることができる円板状の回転体１０８が配設されている
。受圧体１０２の」−壁には、正逆転可能な電動モータ
の如き駆動源１１０が装備されており、この駆動源１１
０の出力軸１１０ａが壁面１０４の方向に延びている。A disc-shaped rotating body 108 that can be made of, for example, a steel plate is disposed in the opening 106 of the pressure-receiving body]02. A drive source 110 such as an electric motor capable of forward and reverse rotation is installed on the wall of the pressure receiving body 102.
0 output shaft 110a extends in the direction of wall surface 104.
そして、出力軸１１０ａの端部には連結部材１１２が装
着され、この連結部材１１２に上記回転体１０８が固定
されている。具体例では、連結部材１１２ば、出カフ
軸１１０ａに装着された取付部１１４ａと取イ＝Ｊ部１
１４ａから放射状に外方に延びる複数の腕部１１４ｂを
有し、上記複数の腕部１１４ｂの各先端部に回転体１０
８が溶接等の手段により固定されている。A connecting member 112 is attached to the end of the output shaft 110a, and the rotating body 108 is fixed to this connecting member 112. In the specific example, the connecting member 112 is connected to the attachment part 114a attached to the output cuff shaft 110a and the handle = J part 1.
It has a plurality of arm parts 114b extending radially outward from the arm part 14a, and a rotating body 10 is attached to the tip of each of the plurality of arm parts 114b.
8 is fixed by means such as welding.
回転体１０８の周縁部には、仕切体１１６が配設されて
いる。仕切体１１６は、第１２図に示す如く、受圧体１
０２及び壁面１０４と協働して減圧領域１１８を規定す
る。この仕切体１１６は、具体例の如く、受圧体１０２
及び壁面１０４と協働して減圧領域１１８を規定するシ
ール部１２０と、受圧体１０２を支持する支持部１２２
を有するのが好ましく、シール部１２０が回転体１０８
の周縁部に配設され、支持部１２２が回転体１０８のシ
ール部１２０の配設部位の内側部位に配設されている。A partition body 116 is provided at the peripheral edge of the rotating body 108 . The partition body 116 is connected to the pressure receiving body 1 as shown in FIG.
02 and wall surface 104 to define a reduced pressure area 118. This partition body 116 is connected to the pressure receiving body 102 as in the specific example.
and a seal portion 120 that cooperates with the wall surface 104 to define a depressurized region 118, and a support portion 122 that supports the pressure receiving body 102.
It is preferable that the seal portion 120 has a
The supporting portion 122 is provided on the inner side of the portion of the rotating body 108 where the seal portion 120 is provided.
そして、シール部１２０は、比較的小さい力によって少
な（とも壁面１０４に接触する部位が受圧体１０２に対
して壁面１０４の方向及びこれから離れる方向に変位し
得るようにするのが好ましい。具体例においては、支持
部１２２は環状部材３２４から構成され、回転体１０８
の下面、即ち壁面１０４に対向する面に固定されている
。It is preferable that the seal portion 120 is configured so that a portion that contacts the wall surface 104 can be displaced relative to the pressure receiving body 102 in the direction of the wall surface 104 and in the direction away from the wall surface 104 by a relatively small force. In this case, the support part 122 is composed of an annular member 324, and the rotating body 108
It is fixed to the lower surface of , that is, the surface facing the wall surface 104 .
また、シール部１２０は、一端部から外方に且つ壁面１
０４に向う方向に延び自由端部１２６が壁面１０４に接
触せしめられる主部１２８及び主部１２８の自由端部１
２６から外方に且つ壁面１０４から離れる方向に延びる
延長部１３０を含み、上記主部１２８の一端部が環状部
材１２４の上部外周面に接続されている。この主部１２
８の一端部は、環状部材１２４に代えて、回転体１０８
の周縁部に直接連結するよ・うにしてもよい。仕切体１
１６ば例えばポリウレタンゴムから形成することができ
、具体例において一体に形成されている。Further, the seal portion 120 extends outward from one end and extends from the wall surface 1.
A main part 128 that extends in the direction toward 04 and has a free end 126 in contact with the wall surface 104, and a free end 1 of the main part 128.
26 and in a direction away from wall surface 104 , one end of main portion 128 is connected to the upper outer peripheral surface of annular member 124 . This main part 12
One end of 8 is replaced with the annular member 124 and has a rotating body 108.
It may also be connected directly to the periphery of the Partition body 1
16, which can be made of, for example, polyurethane rubber, and in the specific example is formed in one piece.
尚、具体例においては、仕切体１１６のシール部１２０
の厚さは比較的薄くまた環状部材１２４の厚さは比較的
厚い故に、シール部１２０における主部１２８の自由端
部１２６は比較的小さい力によって受圧体１０２に対し
て壁面１０４の方向及びこれから離れる方向に変位し、
また環状部材１２４は後述する如く受圧体１０２を所要
の通り支持するが、これに代えて、シール部１２０を比
較的柔軟な材料から形成すると共に、これとは別個に支
持部１２２を比較的剛性を有する材料から形成すること
によっても同様の効果が達成される。In addition, in the specific example, the seal portion 120 of the partition body 116
is relatively thin and the annular member 124 is relatively thick, so that the free end 126 of the main portion 128 in the seal portion 120 is pushed against the pressure receiving body 102 in the direction of the wall surface 104 and away from the wall surface 104 by a relatively small force. Displaced in the direction away from the
Further, the annular member 124 supports the pressure receiving body 102 as required as described later, but instead of this, the seal portion 120 is formed of a relatively flexible material, and separately, the support portion 122 is made of a relatively rigid material. A similar effect can also be achieved by forming it from a material having.
第６図及び第７図を参照して、具体例においては、シー
ル部１２０の主部１２８の自由端部１２６には、減圧領
域１１８内外を連通ずる第１の溝１３２が形成されてい
る。第１のａ１３２は上記主部１２８の自由端部１２６
内面に周方向に間隅を置いて複数個形成されており、各
第１の溝１３２は半径方向外方に放射状に延びている。Referring to FIGS. 6 and 7, in the specific example, a first groove 132 is formed in the free end portion 126 of the main portion 128 of the seal portion 120, which communicates the inside and outside of the depressurized region 118. The first a 132 is the free end 126 of the main portion 128
A plurality of first grooves 132 are formed on the inner surface at intervals in the circumferential direction, and each first groove 132 extends radially outward in the radial direction.
第１の溝１３２の横断面は適宜の形状でよいが、図示の
具体例では略矩形に形成されている。第１の溝１３２の
個数及び断面積は適宜に設定することができるが、後の
記載から容易に理解される如く、個数を多くする或いは
断面積を大きくした場合には第１の溝１３２を通して減
圧領域１１８内に流入する流体の量が多くなり、それ故
に、減圧領域１１８内を所要の通り減圧せしめるのに比
較的大型の且つ高能力の減圧生成手段を必要とし、一方
個数を少なくする或いは断面積を小さくした場合には第
１の溝１３２を通しての流体の流れが少なくなり、それ
故に後述する処理作業において除去された汚れを回収す
る能力が低下する。」二連したことから、具体例におい
ては、シール部１２０の主部１２８における直径約１２
Ｏｎ＋の自由端部１２６に、周方向に実質上等間隔を置
いて７２個の第１の溝１３２が形成されており、そして
第１の溝１３２の断面形状は一辺が１龍の正方形になっ
ている。The cross section of the first groove 132 may have any suitable shape, but in the illustrated example, it is formed into a substantially rectangular shape. The number and cross-sectional area of the first grooves 132 can be set as appropriate; however, as will be easily understood from the description below, when increasing the number or increasing the cross-sectional area, the first grooves 132 can be The amount of fluid flowing into the reduced pressure region 118 is increased, and therefore a relatively large and high capacity reduced pressure generation means is required to achieve the desired reduced pressure in the reduced pressure region 118, while a smaller number or A smaller cross-sectional area reduces the flow of fluid through the first groove 132 and therefore reduces the ability to collect dirt removed in the treatment operations described below. ”, in the specific example, the diameter of the main portion 128 of the seal portion 120 is approximately 12 mm.
Seventy-two first grooves 132 are formed in the On+ free end portion 126 at substantially equal intervals in the circumferential direction, and the cross-sectional shape of the first grooves 132 is a square with one side of one dragon. ing.
また、環状部材１２４にも、これを貫通ずる第２のａ１
３４が形成れている。第２の溝１３４は環状部材１２４
の内面（壁面１０４と接触する面）に周方向に間隔を置
いて複数個形成されており、各第２の溝１３４も半径方
向外方に放射状に延びている。第２の溝１３４の横断面
も適宜の形状でよいが、図示の具体例では略矩形になっ
ている。Further, the annular member 124 also has a second a1 passing through it.
34 is formed. The second groove 134 is connected to the annular member 124.
A plurality of second grooves 134 are formed at intervals in the circumferential direction on the inner surface (the surface that contacts the wall surface 104), and each second groove 134 also extends radially outward in the radial direction. The cross section of the second groove 134 may also have an appropriate shape, but in the specific example shown, it is approximately rectangular.
第２の溝１３４の個数及び断面積も適宜に設定すること
かできる。尚、第１のａ１３２の横断面積は一ト述した
ことより比較的小さいのがよいが、−力筒２のａ１３４
にあっては第１のａ１３２を通して流入した流体が更に
第２の禍１３４を通って充分に流れるようにその横断面
積は比較的大きいのが好ましい。具体例では、直径約６
５ｍ＋ｕの環状部材１２４に、周方向に実質上等間隔を
置いて２４個の第２の溝１３４が形成されており、そし
て第２の講１３４の断面形状は一辺が４． ｉｎの正方
形になっている。The number and cross-sectional area of the second grooves 134 can also be set appropriately. It is preferable that the cross-sectional area of the first a132 is relatively smaller than that mentioned above, but the a134 of the force cylinder 2
In this case, it is preferable that the cross-sectional area is relatively large so that the fluid that has flowed in through the first a132 further flows sufficiently through the second aperture 134. In the specific example, the diameter is approximately 6
Twenty-four second grooves 134 are formed in the annular member 124 of 5m+u at substantially equal intervals in the circumferential direction, and the cross-sectional shape of the second groove 134 has a side of 4. It is a square of in.
上述した仕切体１１６が装着された回転体１０８には、
回転体１０８、仕切体１１６（特にシール部１２０）及
び壁面１０４によって規定される減圧領域１１８の第１
の領域と回転体１０８及び受圧体１０２によって規定さ
れる減圧領域１１８の第２の領域とを連通ずる複数個の
開口１３６が形成されている。また、受圧体１０２と回
転体１０８の間には第６図に示す如く環状のシール部材
１３８を配設するのが好ましい。具体例では、シール部
材１３８は、一端部が受圧体１０２の開口１０６の周縁
に設けられたフランジ部１４０の外周面に連結され、か
かる一端部から外方に且つ回転体１０８の方向に延び、
その他端部が回転体１０８に接触せしめられている。こ
のシール部材１３８は、ゴムの如き非通気性で且つ柔軟
な材料から形３．３
成するのが望ましい。The rotating body 108 to which the above-mentioned partition body 116 is attached includes:
The first part of the reduced pressure area 118 defined by the rotating body 108, the partition body 116 (particularly the seal portion 120), and the wall surface 104
A plurality of openings 136 are formed to communicate the region of the pressure reduction region 118 with the second region of the depressurized region 118 defined by the rotating body 108 and the pressure receiving body 102. Further, it is preferable to arrange an annular seal member 138 between the pressure receiving body 102 and the rotating body 108 as shown in FIG. In a specific example, the seal member 138 has one end connected to the outer peripheral surface of a flange 140 provided at the periphery of the opening 106 of the pressure receiving body 102, and extends outward from the one end in the direction of the rotating body 108.
The other end is brought into contact with the rotating body 108. The seal member 138 is preferably constructed from a non-breathable, flexible material such as rubber.
第２の具体例の装置においては、仕切体１１６が壁面１
０４に実質上垂直な軸線１４２に対して幾分傾斜した回
転軸線１４４を中心として回転されることが重要である
。このため、第２の具体例では、駆動源１１０の出力軸
１１０ａは上記軸線１４２に対して幾分傾斜して受圧体
１０２に回転自在に支持されている。従って、駆動源１
１０が作動されると、連結部材１１２を介して回転体１
０８及び仕切体１１６が一体に出力軸１１０ａの中心軸
線、即ち軸線１４２に対して幾分傾斜した回転軸線１４
４を中心として回転される。そして、仕切体１１６の幾
分傾斜した回転軸″ｆｆＡ１．４４を中心とする回転に
よって、後に詳述する如く、仕切体１１６が走行手段と
しても機能する。仕切体１１６の回転軸線の傾斜角度α
２ （言い換えると、壁面１０４に実質上垂直な軸線１
４２と仕切体１１６の回転軸線１４４とのなず角度α２
）は、具体例では約３度に設定されている。In the device of the second specific example, the partition body 116 is
It is important that the rotational axis 144 be rotated about an axis of rotation 144 that is somewhat oblique to the axis 142 that is substantially perpendicular to 04. Therefore, in the second specific example, the output shaft 110a of the drive source 110 is rotatably supported by the pressure receiving body 102 at a slight inclination with respect to the axis 142. Therefore, driving source 1
10 is actuated, the rotating body 1 is connected via the connecting member 112.
08 and the partition body 116 integrally rotate the rotational axis 14 which is somewhat inclined with respect to the central axis of the output shaft 110a, that is, the axis 142.
Rotated around 4. By rotating the partition body 116 around the somewhat inclined rotation axis "ffA1.44, the partition body 116 also functions as a traveling means, as will be described in detail later.The inclination angle α of the rotation axis of the partition body 116
2 (in other words, the axis 1 substantially perpendicular to the wall surface 104
42 and the axis of rotation 144 of the partition 116
) is set to about 3 degrees in the specific example.
受圧体１０２には、剛性フレーム１４６が固定されてい
る。剛性フレーム１４６は受圧体１０２に連結された一
端部から仕切体１１６の回転軸線１４４の傾斜方向とは
反対方向に延び、その他端部は減速手段１４８ （詳し
くは減速手段のハウジング）に連絡されている。減速手
段１４８の入力部はそのハウジングに装着された補助駆
動源を構成する正逆回転可能な電動モータ１５０に駆動
連結され、その出力部はハウシングに回転自在に装着さ
れた車輪１５２に駆動連結されている。また、剛性フレ
ーム１４６には脚部１５４が設げられ、この脚部１５４
にも車輪１５６が回転自在に装着されている。車輪１５
２及び１５６には、夫々、それらに一体にスプロケット
１５２ａ及び１５６ａが設げられており、これらスプロ
ケット１５２ａ及び１５６ａ間にローラチェーン１５８
が巻掛げられている。尚、補助走行手段を構成する車輪
１５２及び１５６の周表面には、壁面１０４との間の摩
擦力を大きくするために、ゴム等の高摩擦係数の材料を
配設するのが好ましい。かくの通りであるので、電動モ
ータ１５０が回転されると減速手段１４８を介して車輪
１５２が回転され、更にローラチェーン１５８を介して
車輪１５６も回転される。尚、補助走行手段として、車
輪１５２及び１５６を用いる代わりに、それ自体周知の
１個以上のエンドレストランクを用いてもよい。具体例
における車輪１５２及び１５６は、後の記載から理解さ
れる如く、環状部材１２４の壁面１０４との接触部位に
おける接線方向に実質上平行に配置するのが好ましい。A rigid frame 146 is fixed to the pressure receiving body 102. The rigid frame 146 extends from one end connected to the pressure receiving body 102 in a direction opposite to the direction of inclination of the rotation axis 144 of the partition body 116, and the other end is connected to a deceleration means 148 (specifically, a housing of the deceleration means). There is. The input part of the deceleration means 148 is drivingly connected to an electric motor 150 that can rotate forward and backward and constitutes an auxiliary drive source mounted on the housing, and the output part is drivingly connected to a wheel 152 rotatably mounted on the housing. ing. Additionally, the rigid frame 146 is provided with leg portions 154, and the leg portions 154
A wheel 156 is also rotatably mounted on the wheel. wheel 15
Sprockets 152a and 156a are integrally provided on the wheels 2 and 156, respectively, and a roller chain 158 is connected between these sprockets 152a and 156a.
is wrapped around it. In order to increase the frictional force between the wheels 152 and 156 constituting the auxiliary traveling means and the wall surface 104, it is preferable to dispose a material having a high coefficient of friction such as rubber. As described above, when the electric motor 150 is rotated, the wheel 152 is rotated via the deceleration means 148, and the wheel 156 is also rotated via the roller chain 158. It should be noted that instead of using the wheels 152 and 156 as the auxiliary traveling means, one or more endless wheels, which are known per se, may be used. The wheels 152 and 156 in the specific example are preferably arranged substantially parallel to the tangential direction of the annular member 124 at the contact point with the wall surface 104, as will be understood from the description below.
受圧体１０２、壁面１０４及び仕切体１１６によって規
定された減圧領域１１８は、減圧領域１１８を真空にせ
しめるための減圧源１６０に接続されている。減圧源１
６０としては、例えば装置を大気中で使用する場合には
排気ポンプ又はエゼクタ等を用いることができ、また例
えば装置を水中又は海中で使用する場合には配水ポンプ
等を用いることができる。具体例では、受圧体１０２の
上壁に減圧領域１１８に連通ずる接続部１６２が設けら
れ、この接続部１６２にフレキシブルホース１６４の一
端部が接続され、フレキシブルホース１６４の他端部が
減圧源１６０に連通せしめられている。The reduced pressure area 118 defined by the pressure receiving body 102, the wall surface 104, and the partition 116 is connected to a reduced pressure source 160 for evacuating the reduced pressure area 118. Decompression source 1
As the device 60, for example, an exhaust pump or an ejector can be used when the device is used in the atmosphere, and a water distribution pump or the like can be used, for example, when the device is used underwater or under the sea. In the specific example, a connection part 162 communicating with the reduced pressure area 118 is provided on the upper wall of the pressure receiving body 102, one end of a flexible hose 164 is connected to this connection part 162, and the other end of the flexible hose 164 is connected to the reduced pressure source 160. is communicated with.
この第２の具体例の装置の作用効果を説明すると、次の
通りである。The effects of the device of this second specific example will be explained as follows.
主として第５図及び第６図を参照して、減圧源１６０が
付勢されると、この減圧源１６０の作用によって減圧領
域１１８内の流体（大気中で使用する場合には空気、水
中で使用する場合には水）がフレキシブルホース１６４
を通って外部に排出され、これによって減圧領域１１８
内に真空が生成される。かくすると、容易に理解される
如く、減圧領域１１８内外の流体圧力差に起因して受圧
体１０２に作用する流体圧力は、仕切体１１６の環状部
材１２４並びに車輪】５２及び１５６を介して壁面１０
４に伝達される。即ち、受圧体１０２に作用する包囲−
流体圧力の一部は、駆動源１１０、連結部材１１４及び
回転体１０８を介して環状部材］２４に伝えられ、また
上記包囲流体圧力の残部は、剛性フレーム１４６、減速
手段１４８（詳しくは減速手段のハウジング）等を介し
て車輪】５２及び１５６に伝えられ、そして上記包囲流
体圧力は、更に、環状部材１２４並びに車輪】５２及び
１５６を介して壁面１０４に伝達され、これによって装
置が壁面１０４に吸着せしめられる。5 and 6, when the reduced pressure source 160 is energized, the action of the reduced pressure source 160 causes the fluid in the reduced pressure region 118 (air when used in the atmosphere, air when used in water) If water) is used, use a flexible hose 164.
is discharged to the outside through the vacuum region 118 .
A vacuum is created within. In this way, as is easily understood, the fluid pressure acting on the pressure receiving body 102 due to the fluid pressure difference inside and outside the depressurized area 118 is transferred to the wall surface 10 via the annular member 124 of the partition body 116 and the wheels 52 and 156.
4. That is, the surrounding area acting on the pressure receiving body 102 -
A part of the fluid pressure is transmitted to the annular member] 24 via the drive source 110, the connecting member 114, and the rotating body 108, and the remainder of the surrounding fluid pressure is transmitted to the rigid frame 146, the deceleration means 148 (more specifically, the deceleration means the surrounding fluid pressure is further transmitted to the wall 104 via the annular member 124 and the wheels 52 and 156, thereby causing the device to contact the wall 104. It can be absorbed.
具体例では、仕切体１１６の回転軸線１４４ば車輪１５
２及び１５６が存在する側とは反対側に幾分傾斜せしめ
られている故に、第５図及び第６図から理解される如く
、仕切体１１６の環状部材１２４におりる車輪１５２及
び１５６から実質上量も離れている部位が壁面１０４に
接触せしめられる。In the specific example, the rotation axis 144 of the partition body 116 and the wheel 15
2 and 156 on the side opposite to the side on which the wheels 152 and 156 are located, as can be seen from FIGS. The portion that is also far away from the top is brought into contact with the wall surface 104.
他方、減圧領域１１８内外の流体圧力差に起因して仕切
体１１６のシール部１２０に作用する流体圧力は、この
シール部１２０を壁面１０４の方向に偏倚せしめ、これ
によってシール部１２０の主部１２８の自由端部１２６
が壁面１０４に接触せしめられる。仕切体１１６は左右
対称形であるが、上述した如くして装置が壁面１０４に
吸着せしめられることによって、第４図乃至第６図に示
す如く変形する。更に、減圧領域１１８内外の流体圧力
差に起因してシール部材１３８に作用する流体圧力は、
シール部材１３８を回転体１０８の方向に偏倚せしめ、
これによってシール部材１３８の他端部が回転体１０８
に接触せしめられる。On the other hand, the fluid pressure acting on the seal portion 120 of the partition body 116 due to the fluid pressure difference inside and outside the reduced pressure region 118 biases the seal portion 120 toward the wall surface 104, thereby causing the main portion 128 of the seal portion 120 to bias. Free end 126 of
is brought into contact with the wall surface 104. Although the partition body 116 is symmetrical, it is deformed as shown in FIGS. 4 to 6 by adhering the device to the wall surface 104 as described above. Furthermore, the fluid pressure acting on the sealing member 138 due to the fluid pressure difference inside and outside the reduced pressure region 118 is
biasing the sealing member 138 in the direction of the rotating body 108;
As a result, the other end of the sealing member 138 is connected to the rotating body 108.
be brought into contact with.
上述した壁面］０４への吸着状態において駆動源１１０
が付勢されると、連結部材１１２及び回転体１０８を介
して仕切体１１６が上記回転軸線１４４を中心として所
定方向に回転され、これによって壁面１０４のクリーニ
ングが遂行される。The drive source 110 in the adsorption state to the above-mentioned wall surface] 04
When the partition member 116 is energized, the partition member 116 is rotated in a predetermined direction about the rotation axis 144 via the connecting member 112 and the rotating body 108, thereby cleaning the wall surface 104.
即ち、上記吸着状態においては、仕切体１１６の環状部
材１２４の一部及びシール部１２０における主部１２８
の自由端部１２６が壁面１０４に接触せしめられて移動
され、それ故に環状部材１２４及びシール部１２０の作
用によって壁面１０４のクリーニングが遂行される。尚
、環状部材１２４は、後述する如く走行手段として機能
する故に、壁面１０４との間の相対的移動が少なく、従
って上記クリーニングは主として仕切体１１６のシール
部１２０によって遂行される。かかるクリームング作業
時には減圧領域１１８が所要の通り減圧せしめられてお
り、−力任切体１１６の主部１２８の自由端部１２６に
は周方向に間隔を置いて複数個の第１の溝１３２が形成
されており、それ故に、容易に理解される如く、外部か
ら第１の溝１３２を通って減圧領域１１８に至る流体の
流れが実質上常時生成されている。従って１、減圧領域
１１８外の仕切体１１６の主部１２８の自由端部１２６
近傍において発生した汚れ（劣化塗片、サビ、水あか等
）は、上述した流体の流れに乗って第１の溝１３２を通
って減圧領域１１８内に移送され、かくしてクリーニン
グ時に発生した汚れが周囲に飛散することが確実に防止
される。具体例では、第１の溝１３２が放射状に延びて
いる故に仕切体１１６の実質上全周において半径方向内
方に向う放射状の流れが生成され、これによって仕切体
１１６の全周において汚れが飛散することが防止される
。減圧領域１１８内に移送された汚れは、減圧ｔｉ、１
６０の作用によって減圧領域１１８内の流体と一緒にチ
ューブ１６４を通って分離器（図示せず）に搬送され、
この分離器において所要の通り分離され、分離された後
のきれいな流体が外部に排出される。That is, in the adsorption state, a portion of the annular member 124 of the partition body 116 and the main portion 128 of the seal portion 120
The free end 126 of is moved into contact with the wall 104, so that cleaning of the wall 104 is accomplished by the action of the annular member 124 and the seal 120. It should be noted that since the annular member 124 functions as a traveling means as described later, there is little relative movement between it and the wall surface 104, and therefore the cleaning described above is mainly performed by the seal portion 120 of the partition body 116. During such a creaming operation, the pressure in the reduced pressure area 118 is reduced as required, and - the free end 126 of the main portion 128 of the force cutter 116 is provided with a plurality of first grooves 132 at intervals in the circumferential direction. is formed, and therefore, as will be readily understood, a flow of fluid from the outside through the first groove 132 to the reduced pressure region 118 is substantially constantly generated. Therefore 1, the free end 126 of the main part 128 of the partition 116 outside the reduced pressure area 118
Dirt generated in the vicinity (degraded paint chips, rust, water scale, etc.) is carried by the above-mentioned fluid flow through the first groove 132 and transferred into the depressurized area 118, and thus the stain generated during cleaning is transferred to the surrounding area. Splashing is reliably prevented. In the specific example, since the first grooves 132 extend radially, a radial flow directed inward in the radial direction is generated around substantially the entire circumference of the partition body 116, thereby scattering dirt around the entire circumference of the partition body 116. It is prevented from doing so. The dirt transferred into the vacuum area 118 is reduced to a vacuum ti,1
60 along with the fluid in reduced pressure region 118 through tube 164 to a separator (not shown);
In this separator, the fluid is separated as required, and the separated clean fluid is discharged to the outside.
具体例においては仕切体１１６の主部１２８の自由端部
１２６の内面に第１の１Ｊ１１３２が形成されているこ
とに関連して、更に次の通り利点がある。即ち、第１の
溝１３２が存在することに起因して主部１２８の自由端
部１２６の第１の溝１３２が存在しない部位が壁面１０
４に向けて突出し、かかる部位が壁面１０４に実質上作
用するようになり、それ故に、クリーニング時のクリー
ニング効率をも高めることができる。In the specific example, the first 1J1132 is formed on the inner surface of the free end portion 126 of the main portion 128 of the partition body 116, and there are further advantages as follows. That is, due to the presence of the first groove 132, a portion of the free end portion 126 of the main portion 128 where the first groove 132 is not present is located on the wall surface 10.
4, this portion substantially acts on the wall surface 104, and therefore cleaning efficiency during cleaning can also be improved.
また、上述した具体例においては、仕切体１１６の主部
１２８の自由端部１２６が比較的小さい力によって受圧
体１０２に対して壁面１０４に方向及びこれから離れる
方向に変位し得るようになっている故に、仕切体１１６
に作用する包囲流体圧力によって仕切Ｚ体１１６の主部
１２８の自由端部１２６が壁面１０４に接触せしめられ
る。従って、上記自由端部１２６と壁面１０４との接触
圧力、言い換えるとクリーニング作業の作業圧力が実質
上一定であり、これによって壁面の実質上均一なりリー
ニングが達成される。また、仕切体１１６のＬ記自由端
部１２６と壁面１０４との接触圧力は仕切体１１６に作
用する包囲流体圧力の影響を受ける故に、仕切体１１６
の受圧面積を変えることによって容易に上記接触圧力を
変更することができ、更にこのことに関連して、受圧体
１０２の受圧面積を適宜に設定することによって装置を
壁面１０４に吸着せしめるに必要な所要の吸着力を得る
ことができる。Further, in the specific example described above, the free end portion 126 of the main portion 128 of the partition body 116 can be displaced with respect to the pressure receiving body 102 toward and away from the wall surface 104 by a relatively small force. Therefore, the partition body 116
The free end 126 of the main portion 128 of the partition Z body 116 is brought into contact with the wall surface 104 by the surrounding fluid pressure acting on the wall 104 . Therefore, the contact pressure between the free end 126 and the wall surface 104, in other words the working pressure of the cleaning operation, is substantially constant, thereby achieving substantially uniform leaning of the wall surface. In addition, since the contact pressure between the L free end 126 of the partition 116 and the wall surface 104 is affected by the surrounding fluid pressure acting on the partition 116, the partition 116
The contact pressure can be easily changed by changing the pressure-receiving area of the pressure-receiving body 102. Furthermore, in connection with this, by appropriately setting the pressure-receiving area of the pressure-receiving body 102, the pressure required for adhering the device to the wall surface 104 can be adjusted. The required adsorption force can be obtained.
また、仕切体１１６が上述した如く回転されると、この
仕切体１１６、特に環状部材１２４の一部が壁面１０４
に作用し、これによって環状部材１２４と壁面１０４と
の間に装置を移動せしめようとする力が発生ずる。従っ
て、かく回転される仕切体１１６と、電動モータ１５０
によって回転駆動されるｌ車輪１５２及び１５６によっ
て、第１の具体例と同様に装置を所望の通り自走せしめ
ることができる。この点に関して、第８−Ａ図及び第８
−Ｂ図を参照して更に説明すると、駆動源１１０を正転
させて仕切体１１６、従って環状部材１２４を矢印１６
６で示す方向に回転せしめると、装置ば矢印１６８で示
ず方向、即ち環状部材１２４の壁面１０４との接触部位
における接線方向において矢印１６６で示す回転方向と
反対方向に移動する傾向が生じる。このとき、電動モー
タ１５０を正転させて車輪１５２及び１５６を矢印１７
０で示す方向に回転せしめると共に環状部材１２４の壁
面１０４との接触部位の周速度と車輪１５２及び１５６
の壁面１０４との接触部位の周速度とを実質上同一にせ
しめれば、容易に理解される如く、装置は矢印１６８で
示す方向に直進する。一方、駆動源１１０と電動モータ
１５０の上記正転状態において環状部材１２４の上記接
触部位の周速度と車輪１５２及び１５６の」１記接触部
位の周速度に差を生じせしめた場合には、例えば環状部
材１２４の上記接触部位の周速度が車輪１５２及び１５
６の上記接触部位の周速度より大きいときには環状部材
１２４が矢印１６８で示す方向に先行するようになり、
従って装置は矢印１７２で示す方向に旋回しなから移動
し、例えば環状部材１２４の」−記接触部位の周速度が
車輪１５２及び１５６の−１−記接触部位の周速度より
小さいときには車輪１５２及び１５６が矢印１６８で示
す方向に先行するようになり、従って装置は矢印１７４
で示す方向に旋回しなから移動する。Further, when the partition 116 is rotated as described above, a part of the partition 116, particularly the annular member 124, is rotated on the wall surface 104.
This creates a force between the annular member 124 and the wall 104 that tends to move the device. Therefore, the partition body 116 rotated in this manner and the electric motor 150
The l-wheels 152 and 156, which are rotationally driven by the l-wheels 152 and 156, allow the device to run on its own as desired, similar to the first embodiment. In this regard, Figures 8-A and 8
To further explain with reference to FIG.
When rotated in the direction indicated by 6, the device tends to move in the direction not indicated by arrow 168, ie, in the direction opposite to the direction of rotation indicated by arrow 166 in a tangential direction at the contact portion of annular member 124 with wall surface 104. At this time, the electric motor 150 is rotated in the normal direction to rotate the wheels 152 and 156 at the arrow 17.
The peripheral speed of the contact portion of the annular member 124 with the wall surface 104 and the wheels 152 and 156 are rotated in the direction indicated by 0.
As can be easily understood, if the circumferential velocity of the contact portion with the wall surface 104 is made to be substantially the same, the device moves straight in the direction shown by the arrow 168. On the other hand, when a difference is caused between the circumferential speed of the contact portion of the annular member 124 and the circumferential speed of the contact portions of the wheels 152 and 156 in the normal rotation state of the drive source 110 and the electric motor 150, for example, The circumferential speed of the contact portion of the annular member 124 is the same as that of the wheels 152 and 15.
6, the annular member 124 comes to lead in the direction shown by the arrow 168,
Therefore, the device moves in the direction shown by the arrow 172, and for example, when the circumferential speed of the contact portion of the annular member 124 is smaller than the circumferential speed of the contact portion of the wheels 152 and 156, the wheel 152 and 156 now leads in the direction indicated by arrow 168, so that the device follows arrow 174.
Turn and move in the direction shown.
これに対して、電動モータ１５０の正転状態において駆
動源１１０を逆転せしめて回転体１．０８、従って環状
部材１２４を矢印１７６で示す方向に回転せしめると、
装置はその略中心を中心として矢印１７８で示す方向に
旋回される。尚、電動モータ１５０の逆転状態において
も、同様に走行せしめられる。On the other hand, when the drive source 110 is reversely rotated in the normal rotation state of the electric motor 150 to rotate the rotating body 1.08 and therefore the annular member 124 in the direction shown by the arrow 176,
The device is pivoted approximately about its center in the direction indicated by arrow 178. Incidentally, even when the electric motor 150 is in a reverse rotation state, the vehicle can be caused to travel in the same manner.
第２の具体例においても、第６図に示す通り、環状部材
１２４と壁面１０４との接触面積を太き（するために、
環状部材１２４の下面の形状を壁面１０４との接触部位
において上記壁面１０４と実質上平行となるようにせし
めるのが好ましい。In the second specific example, as shown in FIG. 6, in order to increase the contact area between the annular member 124 and the wall surface 104,
It is preferable that the shape of the lower surface of the annular member 124 is made to be substantially parallel to the wall surface 104 at the contact portion with the wall surface 104.
以上の通りであるので、第２の具体例の装置においては
、仕切体１１６が壁面１０４に実質上垂直な軸線１４２
に対して幾分傾斜した回転軸線１４４を中心として回転
せしめられることに起因して、この仕切体１１６は、受
圧体１０２及び壁面１０４と協働して減圧領域１１８を
規定するシール機能（仕切体１１６のシール部１２０が
この機能を発揮する）、壁面１０４を所要の通り処理（
例えばクリーニング）する処理機能（仕切体１１６の主
としてシール部１２０がこの機能を発揮する）及び壁面
１０４に対して相対的に移動する走行機能（仕切体１１
６の主として支持部１２２がこの機能を発揮する）をも
つ。従って、装置を移動させるための走行手段も兼ね、
走行手段の一部を省略することができる。更に、仕切体
１１６は表面処理手段も兼ねるので、壁面を処理する表
面処理手段を別個に必要とせず、装置の一層の簡単化及
び小型化が達成される。As described above, in the device of the second specific example, the partition 116 is aligned with the axis 142 substantially perpendicular to the wall surface 104.
Due to the fact that the partition body 116 is rotated around a rotation axis 144 that is somewhat inclined to the The sealing portion 120 of 116 performs this function), and the wall surface 104 is treated as required (
For example, the processing function (cleaning) (mainly the sealing part 120 of the partition 116 performs this function) and the traveling function of moving relative to the wall surface 104 (the partition 11
6, the supporting portion 122 mainly exhibits this function. Therefore, it also serves as a means of transportation for moving the device.
A part of the traveling means can be omitted. Furthermore, since the partition 116 also serves as a surface treatment means, there is no need for a separate surface treatment means for treating the wall surface, and further simplification and miniaturization of the apparatus can be achieved.
尚、第４図乃至第８図に示す第２の具体例の装置に、ク
リーニング手段又は塗装手段の如き専用の表面処理手段
、或いは検査手段を別個に装備して利用することもでき
る。かかる場合には、仕切体１１６は、上記シール機能
及び上記走行機能をもつ。Incidentally, the apparatus of the second specific example shown in FIGS. 4 to 8 may be separately equipped with a dedicated surface treatment means such as a cleaning means or a painting means, or an inspection means. In such a case, the partition body 116 has the above-mentioned sealing function and the above-mentioned running function.
かくの通りの装置は、原子力施設における各種プールの
壁面又は床面に付着した放射性腐蝕生成物（所謂水あか
）を気中或いは水中において除去する作業、即ち所謂除
汚作業、更には船舶の外側壁面のクリーニング作業等に
好都合に用いることができる。The device described above is useful for removing radioactive corrosion products (so-called water scale) attached to the walls or floors of various pools in nuclear facilities in the air or underwater, that is, so-called decontamination work, and also for the outer walls of ships. It can be conveniently used for cleaning work, etc.
第３の具（１桝
次いで、第９図乃至第１１図を参照して、本発明に従っ
て構成された装置の第３の具体例について説明する。こ
の第３の具体例においては、第４Ｍ乃至第８図に示す装
置と略同様の構成の３個のユニット体２０２ａ、２０２
ｂ及び２０２Ｃを備えている。尚、この第３の具体例に
おいては、説明の都合上、第２の具体例の部材と実質上
同一の部材は同一の番号を付して説明るす。Next, a third specific example of the apparatus constructed according to the present invention will be described with reference to FIGS. 9 to 11. In this third specific example, Three unit bodies 202a, 202 having substantially the same configuration as the device shown in FIG.
b and 202C. In this third specific example, for convenience of explanation, members that are substantially the same as those in the second specific example will be described with the same numbers.
主として第９図を参照して、各ユニット体２０２ａ。Mainly referring to FIG. 9, each unit body 202a.
２０２ｂ及び２０２Ｃは、減圧領域を規定するための受
圧体及び仕切体を備えている。図示の具体例では、ユニ
ット体２０２ａ及び２０２ｂにおける受圧体１０２ａは
一体に形成され、この受圧体１０２ａとユニット体２０
２Ｃにおける受圧体１０２ｂが連結されている。受圧体
１０２ａの下壁には第９図において上下方向に間隔を置
いて一対の開口１０６ く第１１図において片方のみ示
す）が設けられ、一対の開口１０６の開口部にユニット
体２０２ａ及び２０２ｂの仕切体１１６が配設され、ま
た受圧体１０２ｂの下壁にも開口（図示せず）が形成さ
れ、この開口の開口部にもユニット体２０２Ｃの仕切体
１１６が配設されている。202b and 202C are provided with a pressure receiving body and a partition body for defining a reduced pressure area. In the illustrated example, the pressure receiving body 102a in the unit bodies 202a and 202b is integrally formed, and the pressure receiving body 102a and the unit body 202a are integrally formed.
The pressure receiving body 102b at 2C is connected. A pair of openings 106 (only one of which is shown in FIG. 11) is provided in the lower wall of the pressure receiving body 102a at an interval in the vertical direction in FIG. A partition 116 is provided, and an opening (not shown) is also formed in the lower wall of the pressure receiving body 102b, and the partition 116 of the unit body 202C is also provided at the opening of this opening.
従って、容易に理解される如く、具体例においては、受
圧体１０２ａ、仕切体１１６及び壁面１０４によって規
定されるユニット体２０２ａの減圧領域１１８と受圧体
１０２ａ、仕切体１１６及び壁面１．０４によって規定
されるユニット体２０２ｂの減圧領域１１８とは相互に
連通せしめられており、更に受圧体１．０２ ｂ、仕切
体１１６及び壁面１０４によって規定される減圧領域１
１８も上記減圧領域１１８に相互に連通せしめられてい
る。Therefore, as is easily understood, in the specific example, the depressurized area 118 of the unit body 202a is defined by the pressure receiving body 102a, the partition body 116, and the wall surface 104, and the depressurized area 118 of the unit body 202a is defined by the pressure receiving body 102a, the partition body 116, and the wall surface 1.04. The depressurized area 118 of the unit body 202b is communicated with the depressurized area 118 of the unit body 202b, and the depressurized area 1 defined by the pressure receiving body 1.02b, the partition body 116, and the wall surface 104 is connected to the depressurized area 118 of the unit body 202b.
18 is also interconnected with the reduced pressure area 118.
尚、これに代えて、各ユニット体２０２ ａ、 ２０２
ｂ及び２０２Ｃを別個に形成しく言い換えると、各ユニ
ット体２０２ａ、２０２ｂ及び２０２ｃは別個の受圧体
及び仕切体を有し、こＲ６よって別個に減圧領域を規定
するようにする）、これらユニット体２０２ａ、２０２
ｂ及び２０２Ｃを剛性フレームを介して相互に連結する
ようにしてもよい。Note that instead of this, each unit body 202a, 202
In other words, each of the unit bodies 202a, 202b and 202c has a separate pressure receiving body and a partition body, so that the pressure reduction area is separately defined by R6), these unit bodies 202a , 202
b and 202C may be interconnected via a rigid frame.
各ユニット体２０２ａ、２０２ｂ及び２０２Ｃは実質上
同一の構成であり、第１１図を参照してユニット体２０
２ａの構成について概説する。受圧体１０２ａには減速
手段２０４が装着され、この減速手段２０４に正逆転可
能な電動モータの如き駆動源１１０が装着されている。Each of the unit bodies 202a, 202b and 202C has substantially the same configuration, and as shown in FIG.
The configuration of 2a will be outlined. A deceleration means 204 is attached to the pressure receiving body 102a, and a drive source 110 such as an electric motor capable of forward and reverse rotation is attached to this deceleration means 204.
減速手段２０４の出力軸２０４ａは箱状の受圧体１０２
ａを貫通して下壁に形成された開口１０６を通して突出
し、この突出端部に取付ねじ２０６によって回転体１０
８が直接装着されている。図示の回転体１０８は、減速
手段２０４の出力軸２０４ａに固定された取付部２０６
ａ、取イ」部２０６ａから半径方向外方に延びる複数の
腕部２０６ｂ及び複数の腕部２０６ｂの先端部に固定さ
れた中空円筒部２０６Ｃを有し、中空円筒部２０６Ｃに
仕切体１１６が装着されている。具体例においては、仕
切体１１６は支持部１２２を構成するスリーブ状の環状
部材１２４を有し、この環状部材１２４の上端部がスチ
ールベルト２０８によって回転体１０８の中空円筒部２
０６ｃの外周面に数句けられている。また、仕切体１１
６は受圧体１０２ａ及び壁面１０４と協働して減圧領域
１１８を規定するシール部１２０を有し、シール部１２
０は環状部材１２４の中間部外周面に接続された一端か
ら外方に且つ壁面１０４に向う方向に延び自由端部１２
６ａが壁面１０４に接触せしめられる主部１２８と、主
部１２８の自由端部１２６から外方に且つ壁面１０４か
ら離れる方向に延びる延長部１３０を有している。具体
例においては、更に、受圧体１０２ａと回転体１０８間
に配設されたシール部材が仕切体１１６に一体に設けら
れている。即ち、仕切体１１６の環状部材２０６Ｃの上
端部は他の部分に比して厚さが薄くなっており、この薄
くなった上端部が上方に延び受圧体１０２ａの開口１０
６に設けられたフランジ部１４０の外周面に接触せしめ
られている。ユニット体２０２ａ （又は２０２ｂ、
２０２Ｃ）のその他の構成は、第４図乃至第８図に示す
第２の具体例の装置と実質上同一であり、それ故に、そ
の詳細については省略する。The output shaft 204a of the deceleration means 204 is connected to the box-shaped pressure receiving body 102.
a and protrudes through an opening 106 formed in the lower wall, and the rotating body 10 is attached to this protruding end by a mounting screw 206.
8 is attached directly. The illustrated rotating body 108 has a mounting portion 206 fixed to the output shaft 204a of the deceleration means 204.
a. It has a plurality of arm parts 206b extending radially outward from the handle part 206a and a hollow cylindrical part 206C fixed to the distal ends of the plurality of arm parts 206b, and the partition body 116 is attached to the hollow cylindrical part 206C. has been done. In a specific example, the partition body 116 has a sleeve-shaped annular member 124 constituting a support part 122, and the upper end of this annular member 124 is attached to a hollow cylindrical part 2 of the rotating body 108 by a steel belt 208.
Several phrases are written on the outer circumferential surface of 06c. In addition, the partition body 11
6 has a seal portion 120 that cooperates with the pressure receiving body 102a and the wall surface 104 to define a depressurized area 118, and the seal portion 12
0 extends outward from one end connected to the outer circumferential surface of the intermediate portion of the annular member 124 in a direction toward the wall surface 104 and extends from the free end 12
6a has a main portion 128 that is brought into contact with the wall surface 104, and an extension portion 130 that extends outward from the free end 126 of the main portion 128 in a direction away from the wall surface 104. In the specific example, a seal member disposed between the pressure receiving body 102a and the rotating body 108 is further provided integrally with the partition body 116. That is, the upper end portion of the annular member 206C of the partition body 116 is thinner than other parts, and this thinner upper end portion extends upward to form the opening 10 of the pressure receiving body 102a.
6 is brought into contact with the outer circumferential surface of a flange portion 140 provided at 6. Unit body 202a (or 202b,
202C) is substantially the same as the device of the second embodiment shown in FIGS. 4 to 8, and therefore the details thereof will be omitted.
この第３の具体例においては、第９図及び第１０図から
理解される如く、ユニット体２０２ａ及び２０２ｂの回
転体１０８、従って仕切体１１６は皮
壁面１０４に実質上垂直な軸線に対して第９図局び第１
０図において左方に幾分傾斜した回転軸線を中心として
回転され、またユニット体２０２ｃの回転体１０８、従
って仕切体１１６ば壁面１０４に実質上垂直な軸線に対
して第９図及び第１０図において右方に幾分傾斜した回
転軸線を中心として回転される。また、受圧体１０２ａ
に設けられ圭
た接続部２０７には、減圧源に共通されたフレキシブル
ポース（図示せず）が接続されており、従ってユニット
体２０２ａ、２０２ｂ及び２０２Ｃの相互に連通ずる減
圧領域１１８は上記減圧源（図示せず）によって減圧せ
しめられる。In this third embodiment, as can be seen from FIGS. 9 and 10, the rotating bodies 108 of the unit bodies 202a and 202b, and therefore the partition bodies 116, are arranged at an angle with respect to an axis substantially perpendicular to the skin wall surface 104. Figure 9 and 1st
9 and 10 with respect to an axis substantially perpendicular to the wall surface 104. is rotated about a rotation axis that is tilted slightly to the right. Moreover, the pressure receiving body 102a
A flexible port (not shown) that is common to the reduced pressure source is connected to the connecting portion 207 provided in the 207, and therefore, the reduced pressure region 118 of the unit bodies 202a, 202b, and 202C that communicates with each other is connected to the reduced pressure source. (not shown).
第３の具体例の装置では、容易に理解される如く、減圧
領域１１８内外の流体圧力差に起因して各ユニット体２
０２ａ、２０２ｂ及び２０２ｃの仕切体１１６のシール
部１２０に作用する包囲流体圧力は、夫々、各シール部
１２０の主部１２８の自由端部１２６を介して壁面１０
４に伝達され、各シール部１２０に作用する流体圧力に
よって対応する主部１２８の自由端部１２６が壁面１０
４に接触せしめられる。一方、減圧領域〕１８内外の流
体圧力差に起因して受圧体１０２ａ及び１０２ｂに作用
する包囲流体圧力は各ユニット体２０２ａ。In the device of the third specific example, as is easily understood, each unit body 2
The surrounding fluid pressure acting on the seal portions 120 of the partitions 116 of 02a, 202b and 202c is transmitted to the wall surface 10 through the free end 126 of the main portion 128 of each seal portion 120.
4 and acting on each seal portion 120 causes the free end 126 of the corresponding main portion 128 to close to the wall surface 10.
4. On the other hand, the surrounding fluid pressure that acts on the pressure receiving bodies 102a and 102b due to the fluid pressure difference inside and outside the depressurized area] 18 is the same as that of each unit body 202a.
２０２ｂ及び２０２ｃにおける減速手段２０４、’回転
体１０８及び仕切体１１６のスリーブ状の環状部材１２
４を介して壁面１０４に伝達され、これによって装置が
壁面１０４に吸着せしめられる。Reduction means 204 in 202b and 202c, sleeve-shaped annular member 12 of rotating body 108 and partition body 116
4 to the wall surface 104, thereby causing the device to be attracted to the wall surface 104.
この具体例では、ユニット体２０２ａ及び２０２Ａ
ｂにおいては仕切体１１６が第９図及び第１０図におい
て左方に幾分傾斜した回転軸線を中心として回転せしめ
られる故に、ユニット体２０２ａ及び２０２ｂにおける
仕切体１１６にあっては第９図及び第１０図において環
状部材１２４の最も左方に位置する部位が壁面１０４に
接触せしめられ、またユニット体２０２Ｃにおいては仕
切体１１６が第９図及び第１０図において右方に幾分傾
斜した回転軸線を中心として回転せしめられる故に、ユ
ニット体２０２Ｃにおける仕切体１１６にあっては第９
図及び第１０図において環状部材１２４の最も右方に位
置する部位が壁面１０４に接触せしめられる。In this specific example, since the partition body 116 in the unit bodies 202a and 202A b is rotated about the axis of rotation that is slightly tilted to the left in FIGS. 9 and 10, the partition body in the unit bodies 202a and 202B is 116, the leftmost portion of the annular member 124 in FIGS. 9 and 10 is in contact with the wall surface 104, and in the unit body 202C, the partition body 116 is in contact with the wall surface 104 in FIGS. 9 and 10. Since the partition body 116 in the unit body 202C is rotated around a rotation axis that is slightly inclined to the right, the ninth
In the figures and FIG. 10, the rightmost portion of the annular member 124 is brought into contact with the wall surface 104.
かくの通りの装置は、容易に理解される如く、第２の具
体例の装置と同様の効果を奏し、更に車輪の如き補助走
行手段を必要とせず所要の通り自走することができると
いう特徴をも有する。As is easily understood, the device as described above has the same effect as the device of the second specific example, and is further characterized in that it can self-propel as required without the need for auxiliary traveling means such as wheels. It also has
尚、第９図を参照して第３の具体例の装置の走行につい
て概説すると次の通りである。即ち、具体例では、ユニ
ット体２０２ａ及び２０２ｂの駆動源１１０を正転させ
て仕切体１１６を夫々矢印２１０及び２１２で示ず方向
（第９図において時計方向）に回転せしめると、装置は
矢印２１４で示す方向、即ぢ第９図において下方に移動
する傾向が生じ、一方これら駆動８．１１０を逆転させ
て仕切体１１６を夫々矢印２１６及び２１８で示す方向
く第９図において反時計方向）に回転せしめると、装置
は矢印２２０で示す方向、即ち第９図において上方に移
動する傾向が生じる。また、ユニット体２０２Ｃの駆動
源１１０を正転させて仕切体１１６を矢印２２２で示す
方向く第９図において時計方向）に回転せしめると、装
置は矢印２２０で示す方向、即ち第９図において上方に
移動する傾向が生じ、一方かかる駆動源１．１０を逆転
させて仕切体１１６を矢印２２４で示す方向（第９図に
おいて反時計方向）に回転せしめると、装置は矢印２１
４で示す方向、即ち第９図において下方に移動する傾向
が生じる。かくの通りであるので、容易に理解される如
く、ユニット体２０２ａ及び２０２ｂの仕切体１１６を
矢印２１０及び２１２で示す方向に回転せしめると共に
ユニット体２０２ｃの仕切体１１６を矢印２２４で示ず
方向に回転せしめると、装置は矢印２１４で示す方向に
直進せしめられ、これとは反対に、ユニット体２０２ａ
及び２０２ｂの仕切体１１６を矢印２１６及び２１８で
示す方向に回転せしめると共にユニット体２０２ｃの仕
切体１１６を矢印２２２で示ず方向に回転せしめると、
装置は矢印２２０で示す方向に直進せしめられる。更に
、ユニッＩ・体２０２ａ、２０２ｂ及び２０２ｃの仕切
体１１６を矢印２１０．２１２及び２２２で示ず方向に
回転せしめると、装置はその略中心を旋回中心として左
旋回せしめられ、これとは反対に、ユニット体２０２ａ
、２０２ｂ及び２０２Ｃの仕切体１］６を矢印２］、６
，２１８及び２２４で示す方向に回転せしめると、装置
はその略中心を旋回中心として右旋回せしめられる。The operation of the apparatus of the third specific example will be summarized as follows with reference to FIG. That is, in the specific example, when the driving sources 110 of the unit bodies 202a and 202b are rotated in the normal direction and the partition body 116 is rotated in the direction not shown by the arrows 210 and 212 (clockwise in FIG. 9), the device moves in the direction indicated by the arrow 214. There is a tendency to move downwards in the direction indicated by , i.e., in FIG. 9, while these drives 8.110 are reversed to move the partition 116 in the direction indicated by arrows 216 and 218, respectively (counterclockwise in FIG. 9). When rotated, the device tends to move upwardly in the direction indicated by arrow 220, FIG. Further, when the drive source 110 of the unit body 202C is rotated in the normal direction and the partition body 116 is rotated in the direction shown by the arrow 222 (clockwise in FIG. 9), the device is rotated in the direction shown by the arrow 220, that is, upward in FIG. On the other hand, when the drive source 1.10 is reversed to rotate the partition 116 in the direction indicated by arrow 224 (counterclockwise in FIG. 9), the device moves in the direction indicated by arrow 21.
A tendency to move downwards in the direction indicated by 4, ie in FIG. 9, occurs. Therefore, as can be easily understood, the partitions 116 of the unit bodies 202a and 202b are rotated in the directions shown by arrows 210 and 212, and the partitions 116 of the unit body 202c are rotated in the direction not shown by the arrow 224. When rotated, the device is moved straight in the direction shown by arrow 214, and in contrast, unit body 202a
And when the partition body 116 of unit body 202b is rotated in the directions shown by arrows 216 and 218, and the partition body 116 of unit body 202c is rotated in the direction not shown by arrow 222,
The device is moved straight in the direction indicated by arrow 220. Furthermore, when the partitions 116 of the unit I bodies 202a, 202b, and 202c are rotated in directions not shown by arrows 210, 212, and 222, the device is rotated to the left about its approximate center; , unit body 202a
, 202b and 202C partitions 1]6 are indicated by arrows 2], 6
, 218 and 224, the device is rotated to the right about its approximate center.
この第３の具体例では、３個のユニット体２０２ａ。In this third specific example, there are three unit bodies 202a.
２０２ｂ及び２０２Ｃを備えているが、装置を所要の通
り支持することができる場合には、２個のユニット体か
ら構成することもでき、また４個以上のユニット体を用
いてもよい。202b and 202C, but it may be constructed from two units or more than four units may be used if the device can be supported as required.
また、図示の第３の具体例の装置に、必要に応じて、車
輪の如き補助走行手段を付設してもよい。Further, the device of the third specific example illustrated may be provided with auxiliary traveling means such as wheels, if necessary.
第４の具体例
次に、第１２図を参照して、本発明に従って構成された
装置の第４の具体例について説明する。Fourth Specific Example Next, a fourth specific example of the apparatus constructed according to the present invention will be described with reference to FIG.
かかる第４の具体例の装置においては、装置本体に対し
て受圧体と一体に仕切体が回転せしめられる。In the device of the fourth specific example, the partition body is rotated together with the pressure receiving body with respect to the device body.
第１２図を参照して、図示の装置も剛性乃至半剛性材料
から形成された受圧体３０２を具備している。この受圧
体３０２の外面（壁面３０４に対向する面と反対の面）
中央部には軸部材３０６が固定されている。軸部材３０
６は、受圧体３０２に対して実質上垂直外方に延びる大
径部３０８ａ及び大径部３０８ａに連続して更に外方に
延びる小径部３０８ｂを有している。そして、軸部材３
０Ｇの大径部３０８ａ及び小径部３０８ｂが夫々軸受３
１０を介して装置本体３１２に回転自在に装着されてい
る。軸受３１０はスラスト荷重及びラジアル荷重用のも
のが用いられる。上記軸部材３０６の自由端部は装置本
体３１２から外方に突出し、この突出端部にはＶ形の溝
が２個形成されたプーリ３１４が装着されている。また
、装置本体３１２には、電動モータの如き駆動源３１６
が装着されている。駆動源３１６の出力軸にはｖ形の溝
が２個形成されたプーリ３１８が装着され、上記ブー！
Ｊ ３１４及び３１８間に２木のヘルド３２０が巻掛け
られている。従って、駆動源３１６が回転されると、ベ
ルト３２０を介して軸部材３０６と一体に受圧体３０２
が所要の通り回転される。Referring to FIG. 12, the illustrated device also includes a pressure body 302 formed from a rigid or semi-rigid material. The outer surface of this pressure receiving body 302 (the surface opposite to the surface facing the wall surface 304)
A shaft member 306 is fixed to the central portion. Shaft member 30
6 has a large diameter portion 308a that extends outward substantially perpendicularly to the pressure receiving body 302, and a small diameter portion 308b that extends further outward following the large diameter portion 308a. And the shaft member 3
The large diameter part 308a and the small diameter part 308b of 0G are the bearings 3, respectively.
It is rotatably attached to the device main body 312 via 10. The bearing 310 is used for thrust loads and radial loads. The free end of the shaft member 306 projects outward from the device main body 312, and a pulley 314 having two V-shaped grooves is attached to this projecting end. The device main body 312 also includes a drive source 316 such as an electric motor.
is installed. A pulley 318 having two V-shaped grooves is attached to the output shaft of the drive source 316, and the above-mentioned Boo!
Two wooden healds 320 are wrapped between J 314 and 318. Therefore, when the drive source 316 is rotated, the pressure receiving body 302 is integrally connected to the shaft member 306 via the belt 320.
is rotated as required.
受圧体３０２の壁面３０４に対向する面には、仕切体３
２２が配設されている。具体例では、仕切体３２２は受
圧体３０２及び壁面３０４と協働して減圧領域３２４を
規定するシール部３２６と、装置を支持するための支持
部３２８を存し、シール部３２６及び支持部３２８が別
個に形成されている。即ち、シール部３２６は、比較的
柔軟な材料から形成された比較的薄い環状の部材から構
成され、受圧体３０２に連結された一端部から外方に且
つ壁面３０４に向う方向に延び自由端部３３０が壁面３
０４に接触せしめられる主部３３２と、主部３３２の自
由端部３３０から外方に且つ壁面３０４から離れる方向
に延びる延長部３３４を含んでいる。また、支持部３２
８は比較的剛性の材料から形成された比較的厚い環状部
材３３６から構成され、受圧体３０２のシール部３２６
の装着部位の内側部位に固定されている。かかる具体例
においても、第２の具体例と同様にシール部３２６の主
部３３２の自由端部３３０に周方向に間隅を置いて第１
の溝３３８を設けると共に環状部材３３６にも周方向に
間陪を置いて第２のａ３４０を設けるのが好ましい。A partition body 3 is provided on the surface of the pressure receiving body 302 facing the wall surface 304.
22 are arranged. In a specific example, the partition body 322 includes a seal portion 326 that cooperates with the pressure receiving body 302 and the wall surface 304 to define the depressurized area 324, and a support portion 328 for supporting the device, and the seal portion 326 and the support portion 328 are formed separately. That is, the seal portion 326 is composed of a relatively thin annular member made of a relatively flexible material, extends outward from one end connected to the pressure receiving body 302 in a direction toward the wall surface 304, and has a free end. 330 is wall surface 3
04 and an extension 334 extending outwardly from the free end 330 of the main portion 332 and away from the wall surface 304. In addition, the support part 32
8 is composed of a relatively thick annular member 336 made of a relatively rigid material, and the seal portion 326 of the pressure receiving body 302
It is fixed to the inner part of the attachment part. In this specific example as well, similarly to the second specific example, the free end portion 330 of the main portion 332 of the seal portion 326 is provided with a first corner in the circumferential direction.
It is preferable to provide a groove 338 and also provide a second a 340 in the annular member 336 at a distance in the circumferential direction.
装置本体３１２には、更に、剛性フレーム３４２の一端
部が連結され、この剛性フレーム３４２の他端部には補
助走行手段を構成する車輪３４４が配設され、この車輪
３４４が補助駆動源を構成ず６す
る電動モータ３４６によって回転駆動されるようになっ
ている。The device main body 312 is further connected to one end of a rigid frame 342, and the other end of this rigid frame 342 is provided with wheels 344 that constitute an auxiliary traveling means, and these wheels 344 constitute an auxiliary drive source. It is designed to be rotationally driven by an electric motor 346 that rotates.
この具体例では、軸部材３０６が壁面３０４に実質上垂
直な軸線３４８に対して第１２図において左方に幾分傾
斜して（例えば傾斜角度α３は約３度程度）装置本体３
１２に支持されており、従って、駆動源３１６が付勢さ
れると、受圧体３０２、言い換えると仕切体３２２は上
記軸線３４８に対して幾分傾斜した回転軸線３５０を中
心として回転される。In this specific example, the shaft member 306 is slightly inclined to the left in FIG.
Therefore, when the drive source 316 is energized, the pressure receiving body 302, in other words the partition body 322, is rotated about a rotation axis 350 that is somewhat inclined with respect to the axis 348.
尚、受圧体３０２、仕切体３２２及び壁面３０４によっ
て規定される減圧領域３２４は、受圧体３０２に形成さ
れた開口、軸部材３０６に形成された軸方向に延びる中
空部３５２及び上記軸方向に対し垂直に延びる複数の小
孔３５４、装置本体３１２内に規定された空間３５６、
並びにフレキシブルチューブ３５８を介して減圧源３６
０に連通されている。Note that the pressure reduction area 324 defined by the pressure receiving body 302, the partition body 322, and the wall surface 304 includes an opening formed in the pressure receiving body 302, a hollow portion 352 extending in the axial direction formed in the shaft member 306, and a plurality of vertically extending small holes 354; a space 356 defined within the device body 312;
as well as a vacuum source 36 via a flexible tube 358.
It is connected to 0.
かかる装置において、減圧源３６０が付勢されると、減
圧領域３２４内の流体が軸部材３０６の中空部３５２、
軸部材３０６に形成された小孔３５４、装置本体３１２
内の空間３５６及びフレキシブルチューブ３５８を通っ
て外部に排出され、これによって減圧領域３２４が所要
の通り減圧せしめられる。かくすると、減圧領域３２４
内外の流体圧力差に起因して受圧体３０２に作用する包
囲流体圧力は、その一部が仕切体３２２の環状部材３３
６を介して壁面３０４に伝達されると共にその残部が軸
部材３０６、軸受３１０、装置本体３１２、剛性フレー
ム３４２及び車輪３４４を介して壁面３０４に伝達され
、これによって装置が壁面３０４に吸着せしめられる。In such a device, when the reduced pressure source 360 is energized, the fluid within the reduced pressure region 324 is transferred to the hollow portion 352 of the shaft member 306.
Small hole 354 formed in shaft member 306, device main body 312
It is exhausted to the outside through the inner space 356 and the flexible tube 358, thereby causing the reduced pressure area 324 to be reduced in pressure as desired. Thus, the reduced pressure area 324
Part of the surrounding fluid pressure acting on the pressure receiving body 302 due to the difference in fluid pressure between the inside and outside is caused by the annular member 33 of the partition body 322.
6 to the wall surface 304, and the remainder is transmitted to the wall surface 304 via the shaft member 306, bearing 310, device main body 312, rigid frame 342, and wheels 344, thereby causing the device to stick to the wall surface 304. .
一方、減圧領域３２４内外の流体圧力差に起因して仕切
体３２２のシール部３２６に作用する包囲流体圧力は、
シ一ル部３２６の主部３３２の自由端部３３０を壁面３
０４に向けて偏倚せしめ、これによって上記主部３３２
の自由端部３３０が壁面３０４に接触せしめられる。On the other hand, the surrounding fluid pressure acting on the seal portion 326 of the partition body 322 due to the fluid pressure difference inside and outside the decompression area 324 is
The free end portion 330 of the main portion 332 of the seal portion 326 is attached to the wall surface 3.
04, thereby causing the main portion 332 to
The free end 330 of is brought into contact with the wall surface 304.
そして、かかる壁面３０４への吸着状態において駆動源
３１６を付勢すると、プーリ３１８、ベルト３２０及び
プーリ３１４を介して軸部材３０６が回転され、これに
よって受圧体３０２と一体に仕切体３２２が軸線３４８
に対して幾分傾斜した回転軸線３５０を中心として回転
される。かくすると、仕切体３２２の支持部３２８の壁
面３０４との接触部位と壁面３０４間に装置を移動せし
めようとする力が発生し、電動モーフ３４６によって回
転駆動される車輪３４４及び上述した如く回転される支
持部３２８の作用によって装置が壁面３０４に沿って所
要のｉＪｌり自走せしめられ、また仕切体３２２、特に
シール部３２６の作用によって壁面３０４のクリーニン
グが遂行される。Then, when the drive source 316 is energized in the adsorbed state to the wall surface 304, the shaft member 306 is rotated via the pulley 318, the belt 320, and the pulley 314, and the partition body 322 is thereby moved integrally with the pressure receiving body 302 along the axis 348.
It is rotated about a rotation axis 350 that is somewhat inclined relative to the rotation axis 350 . In this way, a force is generated between the contact portion of the support portion 328 of the partition body 322 with the wall surface 304 and the wall surface 304 to move the device, and the wheels 344 that are rotationally driven by the electric morph 346 and the wheels 344 that are rotated as described above are generated. The support portion 328 allows the device to move along the wall 304 for a required distance, and the partition 322, particularly the seal portion 326, cleans the wall 304.
かくの通りであるので、第４の具体例においても、仕切
体３２２はシール機能、走行機能及び表面処理機能をも
ち、かかる装置は上記第２の具体例の装置と実質上同様
の効果を奏する。As described above, in the fourth specific example as well, the partition body 322 has a sealing function, a traveling function, and a surface treatment function, and such a device has substantially the same effects as the device of the second specific example. .
第１図は、本発明に従って構成された装置の第１の具体
例を示す平面図。
第２図は、第１図の装置を正面から見たところを示す断
面図。
第３−Ａ図及び第３−Ｂ図は、夫々、第１図の装置の走
行を説明するための説明図。
第４図は、本発明に従って構成された装置の第２の具体
例を示す平面図。
第５図は、第４図の装置の正面図。
第６図は、第４図におけるＶＩ−ＶＩ線による断面図。
第７図は、第４図の装置における仕切体を下方から見た
ところを示す図。
第８−Ａ図及び第８−Ｂ図は、夫々、第２図の装置の走
行を説明するための説明図。
第９図は、本発明に従って構成された装置の第３の具体
例を示す平面図。
第１０図は、第９図の装置を示す正面図。
第１１図は、第９図の装置の１つのユニット体を断面で
示す断面図。
第１２図は、本発明に従って構成された装置の第４の具
体例を正面から見たところを示す断面図。
２・・・装置本体
１０・・・回転体
１２・・・駆動源
１４・・・物体表面
１８・・・回転軸線
２０・・・表面処理手段
２２・・・処理手段
２４・・・支持手段
１０２．１０２ａ、１０２ｂ及び３０２ ・・・受圧体
１０４及び３０４・・・壁面
１１０及び３１６・・・駆動源
１１６及び３２２・・・仕切体
１１８及び３２４・・・減圧領域
１２０及び３２６・・・シール部
１２２及び３２８・・・支持部
１４２及び３５０・・・回転軸線
１６０及び３６０・・・減圧源
２０２ａ、２０２ｂ及び２０２ Ｃ−・・ユニット４体
３１２・・・装置本体
茅１図
ダ１
第２図
第８−Ａ図
第８−８図
１ｉｔ）
第９図FIG. 1 is a plan view showing a first specific example of an apparatus constructed according to the present invention. FIG. 2 is a sectional view showing the device of FIG. 1 viewed from the front. 3-A and 3-B are explanatory diagrams for explaining the running of the apparatus shown in FIG. 1, respectively. FIG. 4 is a plan view showing a second specific example of an apparatus constructed according to the present invention. FIG. 5 is a front view of the apparatus of FIG. 4. FIG. 6 is a sectional view taken along line VI-VI in FIG. 4. FIG. 7 is a diagram showing the partition in the apparatus of FIG. 4, viewed from below. 8-A and 8-B are explanatory diagrams for explaining the running of the apparatus shown in FIG. 2, respectively. FIG. 9 is a plan view showing a third specific example of an apparatus constructed according to the present invention. FIG. 10 is a front view of the apparatus of FIG. 9; FIG. 11 is a cross-sectional view of one unit of the device of FIG. 9; FIG. 12 is a sectional view showing a fourth specific example of the apparatus constructed according to the present invention, viewed from the front. 2... Apparatus body 10... Rotating body 12... Drive source 14... Object surface 18... Rotation axis 20... Surface treatment means 22... Treatment means 24... Support means 102 .102a, 102b and 302...Pressure receiving bodies 104 and 304...Wall surfaces 110 and 316...Drive sources 116 and 322...Partition bodies 118 and 324...Decompression areas 120 and 326...Seal portion 122 and 328...Support parts 142 and 350...Rotation axes 160 and 360...Decompression sources 202a, 202b and 202 C-...4 units 312...Device main body 1 Figure 1 Figure 2 Figure 8-A Figure 8-8 1it) Figure 9
Claims (1)
、 装置本体と、 該表面に実質上垂直な軸線に対して幾分傾斜した回転中
心軸線を中心として回転自在に該装置本体に装着された
回転体と、 該装置本体に装着され、該装置本体に対して該回転体を
回転せしめるための駆動源と、 該回転体に装着された該表面を処理するための表面処理
手段とを具備し、 該駆動源により回転される該表面処理手段の作用によっ
て該表面が処理されると共に装置が移動される、ことを
特徴とする装置。 ２、該装置本体には、該表面に接触せしめられる補助走
行手段が設置されている特許請求の範囲第１項記載の装
置。 ３、該補助走行手段を駆動せしめるための補助駆動源を
更に備え、該補助駆動源の作用によって駆動される補助
走行手段は、該駆動源の作用によって回転される該表面
処理手段と協働して装置を自走せしめる特許請求の範囲
第２項記載の装置。 ４、該表面処理手段は、主として該表面を処理するため
の処理手段と主として該装置本体を支持するための支持
手段を含んでいる特許請求の範囲第１項から第３項まで
のいずれかに記載の装置。 ５、該処理手段は該回転体の周縁部に配設され且つ該表
面に作用するブラシ部材から構成され、該支持手段は該
回転体の該ブラシ部材の配設部位内側に配設された環状
部材から構成され、該環状部材の一部が該表面に接触せ
しめられる特許請求の範囲第４項記載の装置。 ６、包囲圧力流体によって壁面に吸着し且つ該壁面に沿
って移動することができる装置にして、剛性乃至半剛性
材料から形成された受圧体と、該受圧体の該壁面に対向
する側に配設され且つ該壁面に実質上垂直な軸線に対し
て幾分傾斜した回転軸線を中心として該受圧体に対して
回転自在である仕切体であって、その一部が該壁面に接
触せしめられ、該受圧体及び該壁面と協働して減圧領域
を規定するところの仕切体と、該受圧体に装着され、該
受圧体に対して該仕切体を回転せしめるための駆動源と
、 該減圧領域から流体を排出して該減圧領域を真空に生成
せしめるための減圧源とを具備し、該減圧領域内外の流
体圧力差に起因して装置が該壁面に吸着せしめられ、ま
た該駆動源により回転される該仕切体の作用によって装
置が該壁面に沿って移動される、ことを特徴とする装置
。 ７、該仕切体は該駆動源によって該壁面に実質上垂直な
該軸線に対して幾分傾斜した該回転軸線を中心として回
転され、これによって装置が該壁面に沿って移動される
と共に該壁面が処理される特許請求の範囲第６項記載の
装置。 ８、該受圧本体には、該壁面に接触せしめられる補助走
行手段が設置されている特許請求の範囲第６項又は第７
項記載の装置。 ９、該補助走行手段を駆動せしめるための補助駆動源を
更に備え、該補助駆動源の作用によって駆動される補助
走行手段は、該駆動源の作用によって回転される該仕切
体と協働して装置を自走せしめる特許請求の範囲第８項
記載の装置。 １０、該受圧体の該壁面に対向する側には、該駆動源に
よって該壁面に実質上垂直な該軸線に対して幾分傾斜し
た該回転軸線を中心として回転される回転体が配置され
、該回転体に該仕切体が装着されており、更に、該回転
体には、該回転体、該仕切体及び該壁面によって規定さ
れる第１の領域と該回転体及び該受圧体によって規定さ
れる第２の領域を連通する開口が設けられている特許請
求の範囲第８項又は第９項記載の装置。 １１、該仕切体は、該回転体の周縁部に配置され且つ該
受圧体及び該壁面と協働して該減圧領域を規定するシー
ル部と、該シール部の配置部位の内側に配置された支持
部を含み、該仕切体の該シール部は、比較的小さい力に
よって少なくとも該壁面に接触する部位が該回転体に対
して該壁面の方向及びこれから離れる方向に変位し得る
ように構成されており、該減圧領域内外の流体圧力差に
起因して該シール部に作用する流体圧力によって該シー
ル部の該部位が該壁面に接触せしめられ、一方該減圧領
域内外の流体圧力差に起因して該受圧体に作用する流体
圧力は該仕切体の該支持部及び該補助走行手段を介して
該壁面に伝えられ、これによって装置が該壁面に吸着せ
しめられる特許請求の範囲第１０項記載の装置。 １２、該仕切体の該支持部は該回転体に装着された環状
部材から構成され、該シール部は該環状部材の外周面に
接続された一端部から外方に且つ該壁面の方向に延び自
由端部が該壁面に接触せしめられる主部と該主部の自由
端部から更に外方に且つ該壁面から離れる方向に延びる
延長部を含み、該減圧領域内外の流体圧力差に起因して
該シール部に作用する流体圧力によって該主部の該自由
端部が該壁面に接触せしめられ、一方該減圧領域内外の
流体圧力差に起因して該受圧体に作用する流体圧力は該
環状部材の一部及び該補助走行手段を介して該壁面に伝
えられ、これによって装置が該壁面に吸着せしめられる
特許請求の範囲第１１項記載の装置。 １３、該受圧体及び該仕切体を夫々具備するところの、
該受圧体、該壁面及び該仕切体と協働して該減圧領域を
規定する２以上の複数個のユニット体を備え、該２以上
の複数個のユニット体が相互に連結されている特許請求
の範囲第６項又は第７項記載の装置。 １４、該２以上の複数個のユニット体の各々の該受圧体
の該壁面に対向する側には、該駆動源によって該壁面に
実質上垂直な該軸線に対して幾分傾斜した該回転軸線を
中心として回転される回転体が配置され、該回転体の各
々に該仕切体が装着されており、更に、該回転体の各々
には、夫々、該回転体、該仕切体及び該壁面によって規
定される第１の領域と該回転体及び該受圧体によって規
定される第２の領域を連通する開口が設けられている特
許請求の範囲第１３項記載の装置。 １５、該２以上の複数個のユニット体の各々の該仕切体
は、該回転体の周縁部に配置され且つ該受圧体及び該壁
面と協働して該減圧領域を規定するシール部と、該シー
ル部の配置部位の内側に配置された支持部を含み、該仕
切体の各々の該シール部は、比較的小さい力によって少
なくとも該壁面に接触する部位が該回転体に対して該壁
面の方向及びこれから離れる方向に変位し得るように構
成されおり、該減圧領域内外の流体圧力差に起因して該
シール部に作用する流体圧力によって該シール部の各々
の該部位が該壁面に接触せしめられ、一方該減圧領域内
外の流体圧力差に起因して該受圧体の各々に作用する流
体圧力は該２以上の複数個のユニット体の各々の該仕切
体の該支持部を介して該壁面に伝えられ、これによって
装置が該壁面に吸着せしめられる特許請求の範囲第１５
項記載の装置。 １６、該２以上の複数個のユニット体の各々の該仕切体
の該支持部は該回転体に装着された環状部材から構成さ
れ、該シール部の各々は該環状部材の外周面に接続され
た一端部から外方に且つ該壁面の方向に延び自由端部が
該壁面に接触せしめられる主部と、該主部の自由端部か
ら更に外方に且つ該壁面から離れる方向に延びる延長部
を含み、該減圧領域内外の流体圧力差に起因して該シー
ル部に作用する流体圧力によって該主部の該自由端部の
各々が該壁面に接触せしめられ、一方該減圧領域内外の
流体圧力差に起因して該受圧体に作用する流体圧力は該
２以上の複数個のユニット体の各々の該環状部材の一部
を介して該壁面に伝えられ、これによって装置が該壁面
に吸着せしめられる特許請求の範囲第１５項記載の装置
。 １７、該仕切体の該主部の該自由端部には、周方向に間
隔を置いて該減圧領域内外を連通する複数個の第１の溝
が形成されている特許請求の範囲第１２項又は第１６項
記載の装置。 １８、該仕切体の該環状部材には、周方向に間隔を置い
てこれを貫通する第２の溝が形成されている特許請求の
範囲第１７項記載の装置。 １９、該第１の溝の横断面積は比較的小さく、該第２の
溝の横断面積は比較的大きい特許請求の範囲第１８項記
載の装置。 ２０、該受圧体と該回転体の間には、両者間をシールす
るためのシール部材が配設されている特許請求の範囲第
６項から第１９項までのいずれかに記載の装置。 ２１、包囲圧力流体によって壁面に吸着し且つ該壁面に
沿って移動することができる装置にして、装置本体と、 剛性乃至半剛性材料から形成され、該壁面に実質上垂直
な軸線に対して幾分傾斜した回転軸線を中心として回転
自在に該装置本体に装着された受圧体と、 該受圧体の該壁面に対向する側に配設され且つ該受圧体
に連結されて一体に回転する仕切体であって、その一部
が該壁面に接触せしめられ、該受圧体及び該壁面と協働
して減圧領域を規定するところの仕切体と、 該装置本体に装着され、該装置本体に対して該受圧体を
回転せしめるための駆動源と、 該減圧領域から流体を排出して該減圧領域を真空に生成
せしめるための減圧源とを具備し、該減圧領域内外の流
体圧力差に起因して装置が該壁面に吸着せしめられ、ま
た該駆動源により回転される該受圧体及び該仕切体の作
用によって装置が該壁面に沿って移動される、ことを特
徴とする装置。 ２２、該仕切体は該受圧体と一体に該駆動源によって該
壁面に実質上垂直な該軸線に対して幾分傾斜した該回転
軸線を中心として回転され、これによって装置が該壁面
に沿って移動されると共に該壁面が処理される特許請求
の範囲第２１項記載の装置。 ２３、該装置本体には、該壁面に接触せしめられる補助
走行手段が設置されている特許請求の範囲第２１項又は
第２２項記載の装置。 ２４、該補助走行手段を駆動せしめるための補助駆動源
を更に備え、該補助駆動源の作用によって駆動される補
助走行手段は、該駆動源の作用によって該受圧体と一体
に回転される該仕切体と協働して装置を自走せしめる特
許請求の範囲第２３項記載の装置。 ２５、該仕切体は、該受圧体の周縁部に配置され且つ該
受圧体及び該壁面と協働して該減圧領域を規定するシー
ル部と該シール部の配置部位の内側に配置された支持部
を含み、該仕切体のシール部は、比較的小さい力によっ
て少なくとも該壁面に接触する部位が該受圧体に対して
該壁面の方向及びこれから離れる方向に変位し得るよう
に構成されており、該減圧領域内外の流体圧力差に起因
して該シール部に作用する流体圧力によって該シール部
の該部位が該壁面に接触せしめられ、一方該減圧領域内
外の流体圧力差に起因して該受圧体に作用する流体圧力
は該仕切体の該支持部及び該補助走行手段を介して該壁
面に伝えられ、これによって装置が該壁面に吸着せしめ
られる特許請求の範囲第２３項又は第２４項記載の装置
。 ２６、該仕切体の該支持部は該受圧体に装着された環状
部材から構成され、該シール部は該環状部材の外周面に
接続された一端部から外方に且つ該壁面の方向に延び自
由端部が該壁面に接触せしめられる主部と、該主部の自
由端部から更に外方に且つ該壁面から離れる方向に延び
る延長部を含み、該減圧領域内外の流体圧力差に起因し
て該シール部に作用する流体圧力によって該主部の該自
由端部が該壁面に接触せしめられ、一方該減圧領域内外
の流体圧力差に起因して該受圧体に作用する流体圧力は
該環状部材の一部及び該補助走行手段を介して該壁面に
伝えられ、これによって装置が該壁面に吸着せしめられ
る特許請求の範囲第２５項記載の装置。 ２７、該仕切体の該主部の該自由端部には、周方向に間
隔を置いて該減圧領域内外を連通する複数個の第１の溝
が形成されている特許請求の範囲第２６項記載の装置。 ２８、該仕切体の該環状部材には、周方向に間隔を置い
てこれを貫通する第２の溝が形成されている特許請求の
範囲第２７項記載の装置。 ２９、該第１の溝の横断面積は比較的小さく、該第２の
溝の横断面積は比較的大きい特許請求の範囲第２８項記
載の装置。[Claims] 1. An apparatus capable of moving along the surface of an object, comprising: a main body of the apparatus; and a rotation center axis that is somewhat inclined with respect to an axis substantially perpendicular to the surface. a rotating body attached to the apparatus body; a drive source attached to the apparatus body for rotating the rotating body with respect to the apparatus body; and a drive source attached to the rotating body for treating the surface. An apparatus comprising: a surface treatment means, wherein the surface is treated and the apparatus is moved by the action of the surface treatment means rotated by the drive source. 2. The device according to claim 1, wherein the main body of the device is provided with auxiliary traveling means that is brought into contact with the surface. 3. Further comprising an auxiliary driving source for driving the auxiliary traveling means, and the auxiliary traveling means driven by the action of the auxiliary driving source cooperates with the surface treatment means rotated by the action of the driving source. The device according to claim 2, wherein the device is self-propelled. 4. According to any one of claims 1 to 3, the surface treatment means mainly includes a treatment means for treating the surface and a support means for mainly supporting the device body. The device described. 5. The processing means includes a brush member disposed on the peripheral edge of the rotating body and acting on the surface, and the supporting means includes an annular brush member disposed inside the area of the rotating body where the brush member is disposed. 5. The device of claim 4, comprising a member, a portion of the annular member being brought into contact with the surface. 6. A device capable of adsorbing to a wall surface and moving along the wall surface by surrounding pressure fluid, including a pressure receiving body made of a rigid or semi-rigid material and disposed on the side of the pressure receiving body opposite to the wall surface. a partition that is provided and is rotatable with respect to the pressure receiving body around a rotational axis that is somewhat inclined with respect to an axis that is substantially perpendicular to the wall surface, a part of which is in contact with the wall surface; a partition that cooperates with the pressure receiving body and the wall surface to define a reduced pressure area; a drive source attached to the pressure receiving body and for rotating the partition with respect to the pressure receiving body; and the reduced pressure area. and a vacuum source for generating a vacuum in the vacuum area by discharging fluid from the vacuum area, the device is adsorbed to the wall surface due to the fluid pressure difference inside and outside the vacuum area, and the device is rotated by the drive source. The apparatus is characterized in that the apparatus is moved along the wall surface by the action of the partition body. 7. The partition body is rotated by the driving source about the axis of rotation that is somewhat inclined with respect to the axis that is substantially perpendicular to the wall surface, thereby moving the device along the wall surface and moving the partition body along the wall surface. 7. Apparatus according to claim 6, wherein: 8. Claim 6 or 7, wherein the pressure receiving body is provided with an auxiliary traveling means that is brought into contact with the wall surface.
Apparatus described in section. 9. Further comprising an auxiliary driving source for driving the auxiliary traveling means, and the auxiliary traveling means driven by the action of the auxiliary driving source cooperates with the partition body rotated by the action of the driving source. 9. The device according to claim 8, wherein the device is self-propelled. 10. A rotating body that is rotated by the drive source around the axis of rotation that is somewhat inclined with respect to the axis that is substantially perpendicular to the wall surface is disposed on the side of the pressure receiving body that faces the wall surface, The partition body is attached to the rotating body, and the rotating body further includes a first area defined by the rotating body, the partition body, and the wall surface, and a first area defined by the rotating body and the pressure receiving body. 10. The device according to claim 8, further comprising an opening that communicates with the second region. 11. The partition body includes a seal portion that is disposed on the peripheral edge of the rotary body and cooperates with the pressure receiving body and the wall surface to define the depressurized area, and a seal portion that is disposed inside the location where the seal portion is disposed. The sealing portion of the partition body includes a support portion, and the sealing portion of the partition body is configured such that at least a portion that contacts the wall surface can be displaced with respect to the rotating body in a direction toward and away from the wall surface with a relatively small force. The portion of the seal portion is brought into contact with the wall surface due to the fluid pressure acting on the seal portion due to the fluid pressure difference inside and outside the reduced pressure region, while the fluid pressure acting on the seal portion due to the fluid pressure difference inside and outside the reduced pressure region The device according to claim 10, wherein the fluid pressure acting on the pressure receiving body is transmitted to the wall surface via the support portion of the partition body and the auxiliary traveling means, whereby the device is attracted to the wall surface. . 12. The support part of the partition body is composed of an annular member attached to the rotating body, and the seal part extends outward from one end connected to the outer peripheral surface of the annular member and in the direction of the wall surface. a main part whose free end is brought into contact with the wall; and an extension extending further outward from the free end of the main part in a direction away from the wall; The free end portion of the main portion is brought into contact with the wall surface by the fluid pressure acting on the sealing portion, while the fluid pressure acting on the pressure receiving body due to the fluid pressure difference inside and outside the depressurized region is caused by the fluid pressure acting on the annular member. 12. The device according to claim 11, wherein the device is transmitted to the wall via a portion of the auxiliary running means and the auxiliary traveling means, thereby causing the device to be attracted to the wall. 13, comprising the pressure receiving body and the partition body, respectively;
A patent claim comprising two or more unit bodies that cooperate with the pressure receiving body, the wall surface, and the partition body to define the depressurized area, and the two or more unit bodies are interconnected. The device according to item 6 or 7. 14. On the side of each of the two or more plurality of unit bodies opposite the wall surface of the pressure receiving body, the rotation axis is slightly inclined by the drive source with respect to the axis substantially perpendicular to the wall surface. A rotating body rotated around is disposed, each of the rotating bodies is equipped with the partition body, and each of the rotating bodies is provided with a partition body that is rotated by the rotating body, the partition body, and the wall surface. 14. The device according to claim 13, further comprising an opening that communicates a defined first region with a second region defined by the rotating body and the pressure receiving body. 15. The partition body of each of the two or more plurality of unit bodies includes a seal portion that is disposed on the peripheral edge of the rotating body and cooperates with the pressure receiving body and the wall surface to define the depressurized area; The seal portion of each of the partitions includes a support portion disposed inside the seal portion arrangement portion, and the seal portion of each of the partitions has at least a portion that contacts the wall surface with respect to the rotating body. The portion of each seal portion is brought into contact with the wall surface by fluid pressure acting on the seal portion due to a fluid pressure difference inside and outside the reduced pressure region. On the other hand, the fluid pressure acting on each of the pressure receiving bodies due to the fluid pressure difference inside and outside the depressurized area is transmitted to the wall surface through the support portion of the partition body of each of the two or more plurality of unit bodies. Claim 15, wherein the device is adsorbed to the wall surface.
Apparatus described in section. 16. The support portion of the partition body of each of the two or more plurality of unit bodies is constituted by an annular member attached to the rotating body, and each of the seal portions is connected to the outer peripheral surface of the annular member. a main part extending outward from one end and in the direction of the wall and having a free end in contact with the wall, and an extension part extending further outward from the free end of the main part in a direction away from the wall. each of the free ends of the main portion is brought into contact with the wall surface by fluid pressure acting on the seal portion due to a fluid pressure difference inside and outside the reduced pressure region, while the fluid pressure inside and outside the reduced pressure region Fluid pressure acting on the pressure receiving body due to the difference is transmitted to the wall surface through a part of the annular member of each of the two or more plurality of unit bodies, thereby causing the device to adsorb to the wall surface. 16. The apparatus according to claim 15. 17. Claim 12, wherein the free end of the main portion of the partition is provided with a plurality of first grooves spaced apart in the circumferential direction and communicating with the inside and outside of the decompression area. or the device according to paragraph 16. 18. The device of claim 17, wherein the annular member of the partition has second grooves formed therethrough at circumferentially spaced intervals. 19. The apparatus of claim 18, wherein the first groove has a relatively small cross-sectional area and the second groove has a relatively large cross-sectional area. 20. The device according to any one of claims 6 to 19, wherein a sealing member is provided between the pressure receiving body and the rotating body to seal the space between them. 21. A device capable of adhering to and moving along a wall by surrounding pressure fluid, comprising a main body of the device, made of a rigid or semi-rigid material, and having a certain angle relative to an axis substantially perpendicular to the wall. a pressure-receiving body rotatably mounted on the device main body about a rotational axis tilted by the same amount, and a partition body disposed on the side of the pressure-receiving body opposite to the wall surface and connected to the pressure-receiving body and rotating together with the pressure-receiving body. a partition body, a part of which is brought into contact with the wall surface and cooperates with the pressure receiving body and the wall surface to define a depressurized area; A drive source for rotating the pressure receiving body, and a pressure reduction source for discharging fluid from the pressure reduction region to generate a vacuum in the pressure reduction region, the pressure reduction source being caused by a fluid pressure difference inside and outside the pressure reduction region. A device characterized in that the device is attracted to the wall surface and is moved along the wall surface by the action of the pressure receiving body and the partition body rotated by the drive source. 22. The partition body is rotated together with the pressure receiving body by the drive source around the rotation axis that is somewhat inclined with respect to the axis substantially perpendicular to the wall surface, whereby the device is rotated along the wall surface. 22. The apparatus of claim 21, wherein the wall surface is treated as it is moved. 23. The apparatus according to claim 21 or 22, wherein the apparatus main body is provided with an auxiliary traveling means that is brought into contact with the wall surface. 24, further comprising an auxiliary driving source for driving the auxiliary traveling means, and the auxiliary traveling means driven by the action of the auxiliary driving source is the partition that is rotated together with the pressure receiving body by the action of the driving source. 24. The device according to claim 23, wherein the device is self-propelled in cooperation with the body. 25. The partition body includes a seal portion disposed on the peripheral edge of the pressure receiving body and defining the depressurized area in cooperation with the pressure receiving body and the wall surface, and a support disposed inside the area where the seal portion is disposed. The sealing portion of the partition is configured such that at least a portion that contacts the wall surface can be displaced with respect to the pressure receiving body in the direction of the wall surface and in the direction away from the wall surface by a relatively small force, The portion of the seal portion is brought into contact with the wall surface due to the fluid pressure acting on the seal portion due to the fluid pressure difference between the inside and outside of the pressure reduction region, and the receiving pressure is caused by the fluid pressure difference between the outside and outside of the pressure reduction region. The fluid pressure acting on the body is transmitted to the wall surface through the support portion of the partition body and the auxiliary traveling means, thereby causing the device to be attracted to the wall surface. equipment. 26. The support part of the partition body is composed of an annular member attached to the pressure receiving body, and the seal part extends outward from one end connected to the outer peripheral surface of the annular member and in the direction of the wall surface. a main part whose free end is brought into contact with the wall; and an extension part extending further outward from the free end of the main part in a direction away from the wall; The free end portion of the main portion is brought into contact with the wall surface by the fluid pressure acting on the seal portion, while the fluid pressure acting on the pressure receiving body due to the fluid pressure difference inside and outside the reduced pressure region is 26. The device according to claim 25, wherein the device is conveyed to the wall via a part of the member and the auxiliary running means, thereby causing the device to stick to the wall. 27. Claim 26, wherein the free end of the main portion of the partition is provided with a plurality of first grooves spaced apart in the circumferential direction and communicating with the inside and outside of the decompression area. The device described. 28. The device of claim 27, wherein the annular member of the partition has second grooves extending therethrough at circumferential intervals. 29. The apparatus of claim 28, wherein the first groove has a relatively small cross-sectional area and the second groove has a relatively large cross-sectional area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61217924A JPH0818247B2 (en) | 1985-11-05 | 1986-09-18 | A device that can move along the surface of an object |
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP24766785 | 1985-11-05 | ||
| JP60-247667 | 1985-11-05 | ||
| JP19671286 | 1986-08-22 | ||
| JP61-196712 | 1986-08-22 | ||
| JP61217924A JPH0818247B2 (en) | 1985-11-05 | 1986-09-18 | A device that can move along the surface of an object |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7224604A Division JP2563094B2 (en) | 1995-08-10 | 1995-08-10 | Device capable of adsorbing on a wall surface and moving along the wall surface |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS63150147A true JPS63150147A (en) | 1988-06-22 |
| JPH0818247B2 JPH0818247B2 (en) | 1996-02-28 |
Family
ID=27327285
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61217924A Expired - Lifetime JPH0818247B2 (en) | 1985-11-05 | 1986-09-18 | A device that can move along the surface of an object |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0818247B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1997032690A1 (en) * | 1996-03-04 | 1997-09-12 | Teikoku Denso Co., Ltd. | Resin disk polishing method and apparatus |
| EP2770273A1 (en) * | 2013-02-20 | 2014-08-27 | Hochschule Luzern Technik & Architektur | Self-propelled cleaning device |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS56151748U (en) * | 1981-03-26 | 1981-11-13 |
-
1986
- 1986-09-18 JP JP61217924A patent/JPH0818247B2/en not_active Expired - Lifetime
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS56151748U (en) * | 1981-03-26 | 1981-11-13 |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1997032690A1 (en) * | 1996-03-04 | 1997-09-12 | Teikoku Denso Co., Ltd. | Resin disk polishing method and apparatus |
| WO1997032691A1 (en) * | 1996-03-04 | 1997-09-12 | Teikoku Denso Co., Ltd. | Method of polishing hard disc and polishing apparatus therefor |
| US6116987A (en) * | 1996-03-04 | 2000-09-12 | Kubo; Yuzo | Method of polishing hard disc and polishing apparatus therefor |
| EP2770273A1 (en) * | 2013-02-20 | 2014-08-27 | Hochschule Luzern Technik & Architektur | Self-propelled cleaning device |
| WO2014128066A1 (en) | 2013-02-20 | 2014-08-28 | Hochschule Luzern | Self-guiding cleaning device |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0818247B2 (en) | 1996-02-28 |
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