EP0407745A2 - Appareil susceptible d'être tenu par vide - Google Patents

Appareil susceptible d'être tenu par vide Download PDF

Info

Publication number
EP0407745A2
EP0407745A2 EP90111093A EP90111093A EP0407745A2 EP 0407745 A2 EP0407745 A2 EP 0407745A2 EP 90111093 A EP90111093 A EP 90111093A EP 90111093 A EP90111093 A EP 90111093A EP 0407745 A2 EP0407745 A2 EP 0407745A2
Authority
EP
European Patent Office
Prior art keywords
vacuum
wall
crawler
seal member
vacuum chamber
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
Application number
EP90111093A
Other languages
German (de)
English (en)
Other versions
EP0407745B1 (fr
EP0407745A3 (en
Inventor
Kenichi Nagatsuka
Isamu Uchida
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
M ENGINEERING Co Ltd
Ono and Co Ltd
Original Assignee
M ENGINEERING Co Ltd
Ono and Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by M ENGINEERING Co Ltd, Ono and Co Ltd filed Critical M ENGINEERING Co Ltd
Publication of EP0407745A2 publication Critical patent/EP0407745A2/fr
Publication of EP0407745A3 publication Critical patent/EP0407745A3/en
Application granted granted Critical
Publication of EP0407745B1 publication Critical patent/EP0407745B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00—Working measures on existing buildings
    • E04G23/002—Arrangements for cleaning building facades

Definitions

  • This invention relates to a vacuum held crawler, and more particularly to a crawler which is adapted to travel on a wall surface of a building or the like by self-propelling operation or driven otherwise, while being held on the wall surface by vacuum suction, to thereby permit any working equipment mounted on the crawler to automatically carry out dangerous operations such as cleaning, painting, maintenance/attendance or the like of the wall, the building or the like.
  • the crawler includes one single large-size bowl-like sucker for vacuum suction provided on the peripheral edge of the bottom side of the crawler with a flange-­like seal member of great width which is outwardly expanded.
  • the crawler is adapted to be suctionally held on a wall by the sucker.
  • the sucker is equipped with wheels, by means of which the crawler is adapted to travel on the wall.
  • the conventional crawler is so constructed that it is held on the wall by the single large-size sucker by means of vacuum suction. Such a construction results in that the crawler fails to pass any obstacle such as projections, window frames or the like on the wall.
  • the crawler should be capable of continuously and positively traveling on a wall irrespective of any obstacle such as projections or the like on the wall, while being suctionally held on the wall.
  • the crawler comprises a frame on which a working equipment is adapted to be mounted, a vacuum-suction mechanism mounted on the frame, wheels mounted on the frame and a surface contact mechanism for receiving the vacuum suction force acting between the crawler and the wall which surface contact mechanism travels on the wall.
  • the vacuum-suction mechanism includes a vacuum chamber formed at the bottom thereof, having an opening and being connected to vacuum generating means, a flexible seal member mounted on the bottom of the vacuum chamber in a manner as to surround the bottom opening of the vacuum chamber and to downwardly project by a suitable distance from the bottom of the vacuum chamber.
  • the surface contact mechanism includes a low friction member having a low friction coefficient and being mounted on the distal end of the seal member and being in close contact with the wall.
  • Figs. 1 to 5 illustrate an embodiment of a vacuum held crawler according to the present invention.
  • the crawler includes a frame 1, on which working equipment S such as cleaning equipment or the like is adapted to be mounted.
  • the crawler also includes a vacuum-suction mechanism K and wheels 2 mounted on the frame 1.
  • the vacuum-suction mechanism K includes a vacuum chamber 4 fixed to the bottom portion of the frame 1 by means of support members 3 and being connected to suitable vacuum-generating means (not shown), a seal member 5 fitted to the bottom portion of the vacuum chamber 4 so as to downwardly project therefrom.
  • a low friction member 6 formed into an annular shape is attached to the distal end of the seal member 5.
  • the vacuum chamber 4 includes a circular recess 42 formed on the bottom of a rectangular or square plate 41 so as to open to the outside or in downward direction.
  • the rectangular plate 41 is formed at its central portion with a small through-hole 43 vertically extending between the upper surface of the plate 41 and the recess 42.
  • An exhaust pipe 7, which is connected by a hose 8 to the vacuum-generating means (not shown) such as an air blower, a vacuum pump or the like is disposed in the through-­hole 43.
  • the seal member 5 is formed of a suitable flexible material such as sponge rubber or the like-into an annular shape and fitted to the rectangular plate 41 so as to surround the circular recess 42.
  • the seal member 5 is arranged so as to vertically project by a suitable length or distance from the bottom of the plate 41 towards a wall H of a building or the like on which the crawler is to travel.
  • the low friction member 6 is mounted on the annular distal end of the seal member 5. Such an arrangement of the low friction member 6 permits the seal member 5 to be in close contact with the wall H through the low friction member 6.
  • the annular seal member 5 and the low friction member 6 each have a small thickness, and at the end furface facing the wail H has a flat shape.
  • the wheels 2 are arranged on both sides of each of the front and rear portions of the frame 1 and are adapted to be rotatably driven on the wall H to permit the apparatus to travel thereon.
  • the positioning of the wheels 2 with respect to the frame 1 in vertical direction and the length by which the seal member 5 projects from the plate 41 are chosen so that the wheels 2 absorb most of the vacuum suction force generated in the vacuum chamber 4 during use of the crawler in order to prevent the vacuum suction force to force the bottom of the vacuum chamber 4 into abuttment against the wall H during use of the crawler.
  • the traveling of the crawler on the wheels 2 may take place by self-propelling operation which may be effected by connecting one of the wheels 2 to a drive motor M and the remaining wheels to the drive wheel by means of a chain or the like as is shown in Fig. 2.
  • the traveling may be effected by external drive action, for example, by connecting suitable winding-up means such as a winch or the like to the frame 1 to move the crawler in vertical direction.
  • the crawler is placed on the wall H and is activated. Then, the vacuum generating means is activated, so that the vacuum chamber 4 defined by the seal member 5 and wall H may be evacuated. This causes a pressure drops in the vacuum chamber 4 to a level below atmospheric pressure, resulting in the seal member 5 being held on the wall H by the low friction member 6 by vacuum suction, when the crawler travels on the wall H. During the time, while vacuum suction force is acting on the crawler, said force is substantially received by the wheels 2 so that the bottom of the vacuum chamber 4 is prevented from coming into abutment against the wall H. Thus, the crawler may smoothly travel on the wall while being held on the wall H by the low friction member 6 by vacuum suction.
  • one such vacuum-suction mechanism K is arranged on the frame 1.
  • a plurality of such mechanisms may be used, too.
  • a plurality of recesses 42 may be arranged for forming the vacuum chamber 4.
  • the recess 4 and therefore the seal member 5 and the low friction member 6 are formed into a circular or annular shape.
  • they may also have any suitable shape other than a circular shape such as a square shape or the like.
  • the wheels 23 may be arranged at the vacuum chamber 4 rather than on the frame 1.
  • FIGs. 6 to 9 show another embodiment of a vacuum held crawler according to the present invention.
  • vacuum-suction mechanisms are arranged and mounted on a frame in a manner different from that described above.
  • the apparatus of the embodiment includes a frame 11 on which working equipment S is mounted in a manner to be positioned at the central portion thereof and a plurality of vacuum-suction mechanisms K are arranged on each of the two sides of each of the front and rear portions of the frame 11.
  • a plurality of vacuum-suction mechanisms K arranged in rows in the width or lateral direction of the frame 11 perpendicular to the longitudinal direction thereof are mounted through support members 13 on the bottom surface of a common connecting plate 12 arranged so as to extend in the lateral direction of the frame 11.
  • Two mechanisms K each are mounted together on each of the connecting plates 12.
  • the crawler also includes a plurality of wheels 2 mounted on both sides of the connecting plate 12 in the longitudinal direction thereof.
  • a pair of support beams 14 is arranged in a manner as to be opposite to each other.
  • the connecting plates 12 which are arranged at the front and rear portions of the frame 11 are connected with both sides thereof to the support beams 14 by air cylinders 15 in a manner as to be movable in vertical direction or in a direction perpendicular to the wall H.
  • the air cylinders 15 each may be operated in such a manner that a sensor (not shown) sensing the passage of the vacuum-suction mechanism K across any obstacle such as a projection T on the wall H, supplies a detection signal to a control means (not shown) which is operatively connected to the air cylinder 15, to thereby actuate the control means.
  • the positioning of the wheels 2 with respect to the connecting plates 12 and the positioning of the vacuum chamber 4 of the vacuum-suction mechanism K with respect to height or vertical direction may carried out by causing the vacuum suction force generated in the vacuum chamber to be substantially received by the wheels 2 in order to prevent the bottom of the vacuum chamber 4 from coming into abutment against or contacted with the wall H.
  • Reference numeral 16 designates fitting members provided on the front face of the frame 11 so as to project in forward direction therefrom.
  • a lifting rope extends through the fitting member 16 between a winch and the frame 11.
  • the movement of the apparatus may be effected in the same manner as in the embodiment described with reference to Figs 1. to 5. More particularly, the crawler is pulled by means of the winch. Alternatively, the crawler is moved by self-propelling operation by connecting part of the wheels 2 to a drive motor and connecting the remaining wheels to the drive wheel by means of a chain or the like.
  • the working equipment S may be mounted on the frame 11 so that the entire equipment S or a part thereof which is arranged adjacent to the wall H, is spaced from the wall H by a distance sufficient to avoid any obstacle on the wall H.
  • one vacuum-suction mechanism K is arranged on each side of each connecting plate 12.
  • a plurality of vacuum-suction mechanisms K may be arranged on each side of each connecting plate 12.
  • the vacuum chambers 4 may be formed at the connecting plates 12, wherein a suitable number of recesses 42, seal members 5 and members 6 are provided on the bottom of each of the connecting plates 12.
  • the vacuum chambers 4 may rather be arranged in a manner other than the above-described manner of the first embodiment, wherein the chamber 4 together are mounted in groups on the connecting plates 12.
  • they may be mounted on the frame 11 being vertically movable by the air cylinders 15.
  • any suitable lifting or spacing means other than the air cylinder 15 may be conveniently used in the present invention as far as it can enable the wall vacuum-­suction mechanism K to avoid the projection T on the wall H.
  • the crawler of the present invention constructed as described above substantially decreases frictional resistance between the apparatus and the wall of a building or the like, and thereby improves the efficiency of the crawler and reduces the power required for driving the crawler, as compared with the conventional crawler.
  • the trumpet-shaped seal member provided on the lower peripheral edge of the bowl-like sucker is in close contact with the wall by vacuum suction, thus substantially increasing frictional resistance between the seal member and the wall.
  • the flexible seal member in the present invention provided so as to surround the recess of the vacuum chamber is arranged so that it projects vertically by a suitable length from the bottom of the vacuum chamber and the low friction member is mounted on the distal end of the seal member.
  • the seal member and low friction member are thin-walled parts. Such construction permits the flexible seal member to come into close contact by means of the low friction member with the wall while being held on the wall by the low friction member by vacuum suction, thereby preventing the bottom of the vacuum chamber from coming into contact with the wall. This is more efficiently accomplished when the positioning of the wheels with respect to the frame and the position of the vacuum chamber in vertical direction of the crawler is suitably chosen.
  • the apparatus of the present invention highly reduces frictional resistance and can smoothly travel on the wall by means of the low friction member while being held thereto by the low friction member.
  • the crawler of the present invention also continuously and positively travels on the wall irrespective of any obstacle such as a projection on the wall, and thereby enables the working equipment to safely and efficiently carry out dangerous operations at an elevation.
  • the conventional crawler is constructed so as to travel on the wall by means of one single large-size sucker, and thereby fails to continuously travel across a projection on the wall so that it is required to stop the movement and to remove the entire crawler from the wall in order to enable the crawler to pass the projection and then to again place it on the wall for restarting the operation.
  • a plurality of the vacuum-suction mechanisms is arranged in the present invention at the front and rear portions of the frame in a manner to be vertically movable with respect to the frame.
  • Such construction of the present invention permits the vacuum-suction mechanisms to be lifted in order to avoid a projection, only when they encounter the projection, and the remaining mechanisms are kept on the wall by suction, so that the apparatus may continuously travel on the wall irrespective of the projection while being held on the wall by suction.

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)
  • Diaphragms For Electromechanical Transducers (AREA)
  • Surgical Instruments (AREA)
  • Superconductors And Manufacturing Methods Therefor (AREA)
  • Catching Or Destruction (AREA)
  • Auxiliary Devices For And Details Of Packaging Control (AREA)
  • Sealing Devices (AREA)
  • Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)
EP90111093A 1989-06-14 1990-06-12 Appareil susceptible d'être tenu par vide Expired - Lifetime EP0407745B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP149705/89 1989-06-14
JP1149705A JPH0316887A (ja) 1989-06-14 1989-06-14 壁面吸着走行装置

Publications (3)

Publication Number Publication Date
EP0407745A2 true EP0407745A2 (fr) 1991-01-16
EP0407745A3 EP0407745A3 (en) 1991-10-09
EP0407745B1 EP0407745B1 (fr) 1994-06-08

Family

ID=15481014

Family Applications (1)

Application Number Title Priority Date Filing Date
EP90111093A Expired - Lifetime EP0407745B1 (fr) 1989-06-14 1990-06-12 Appareil susceptible d'être tenu par vide

Country Status (6)

Country Link
EP (1) EP0407745B1 (fr)
JP (1) JPH0316887A (fr)
AT (1) ATE106979T1 (fr)
CA (1) CA2018708A1 (fr)
DE (1) DE69009600T2 (fr)
DK (1) DK0407745T3 (fr)

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0584520A1 (fr) * 1992-08-25 1994-03-02 Hidetsugu Nishiguchi Robot se déplaçant sur un mur
WO2003101664A1 (fr) * 2002-05-31 2003-12-11 Bae Systems Plc Systeme de deplacement et de positionnement d'outil
US6742617B2 (en) * 2000-09-25 2004-06-01 Skywalker Robotics, Inc. Apparatus and method for traversing compound curved and other surfaces
DE102012021708A1 (de) 2012-10-31 2014-04-30 Achim Meyer Saugglocke für ein Kletterfahrzeug mit hochflexibler Abdichtung und darauf basierende Fahrzeugvarianten
EP2835082A4 (fr) * 2012-04-05 2015-06-10 Ecovacs Robotics Co Ltd Appareil d'aspiration ayant une ventouse et son dispositif d'essuie-vitre
CN105035283A (zh) * 2015-08-17 2015-11-11 深圳先进技术研究院 水射流清洗装置以及船舶壁面除锈爬壁机器人
CN107662214A (zh) * 2016-07-28 2018-02-06 天津创来智能光伏科技有限公司 真空吸附履带单元、真空吸附履带以及履带吸附机器人
WO2018076706A1 (fr) * 2016-10-25 2018-05-03 大连理工大学 Dispositif de commande de mouvement de véhicule à attraction magnétique sur une face structurale d'une coque en acier, et procédé pour son utilisation
WO2018220289A1 (fr) * 2017-06-02 2018-12-06 Erylon Dispositif robotise
EP3362232A4 (fr) * 2015-10-13 2019-08-21 Reliance Industries Limited Dispositif électromécanique pour retirer un matériau d'un espace clos
CN110745194A (zh) * 2019-12-04 2020-02-04 安徽工业大学 一种爬墙机器人及其串联机器人组
CN111608407A (zh) * 2020-06-07 2020-09-01 钟李城 一种环保的建筑装修用墙皮清理装置
CN112236357A (zh) * 2018-04-04 2021-01-15 圣-戈贝恩普拉科公司 用于建筑板的自动化设备
WO2021037461A1 (fr) * 2019-08-29 2021-03-04 Hermes Fassadenreinigung GmbH Bande d'adhérence destinée à des façades
CN114275065A (zh) * 2022-01-28 2022-04-05 巢湖学院 一种可靠性高的吸附式攀爬机器人及其控制方法
CN114802512A (zh) * 2022-04-30 2022-07-29 中国建筑第八工程局有限公司 一种用于横断面为圆弧形构筑物质量检测的壁面爬行自适应机器人及控制方法

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103356120B (zh) * 2012-04-05 2015-08-19 科沃斯机器人有限公司 具有吸附装置的擦玻璃装置
JP6199607B2 (ja) * 2013-05-30 2017-09-20 中部電力株式会社 浄化装置、浄化システム及び吸着シール機構
CN104930226B (zh) * 2014-03-17 2019-04-19 科沃斯家用机器人有限公司 用于吸附装置的泄气阀及具有该泄气阀的吸附机器人
CN108016654B (zh) * 2017-12-05 2024-05-07 中山简良包装有限公司 一种真空贴体包装机
CN110997251A (zh) * 2019-05-16 2020-04-10 深圳市大疆创新科技有限公司 可拆装机器人
CN110103196A (zh) * 2019-06-19 2019-08-09 广东电网有限责任公司 一种gis的检修机器人和gis的检修系统

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2648949A1 (de) * 1976-10-28 1978-05-03 Ulrich Schnelle Vakuum-klettermaschine
US4688289A (en) * 1985-02-25 1987-08-25 Uragami Fukashi Device capable of adhering to a wall surface by suction and treating it
FR2599772A1 (fr) * 1986-06-04 1987-12-11 Hyper Robotics Inc Robot pour l'entretien des immeubles

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6050088B2 (ja) * 1978-07-13 1985-11-06 ソニー株式会社 受信機
JPS6060076A (ja) * 1983-09-09 1985-04-06 Agency Of Ind Science & Technol 不整地走行用４輪移動体

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2648949A1 (de) * 1976-10-28 1978-05-03 Ulrich Schnelle Vakuum-klettermaschine
US4688289A (en) * 1985-02-25 1987-08-25 Uragami Fukashi Device capable of adhering to a wall surface by suction and treating it
FR2599772A1 (fr) * 1986-06-04 1987-12-11 Hyper Robotics Inc Robot pour l'entretien des immeubles

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
ROBOTICS vol. 8, no. 12, December 1986, pages 27-30, Peterborough, NH, US; "The skywasher" *

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0584520A1 (fr) * 1992-08-25 1994-03-02 Hidetsugu Nishiguchi Robot se déplaçant sur un mur
US6742617B2 (en) * 2000-09-25 2004-06-01 Skywalker Robotics, Inc. Apparatus and method for traversing compound curved and other surfaces
US7311162B2 (en) 2000-09-25 2007-12-25 Skywalker Robotics, Inc. Apparatus and method for traversing compound curved and other surfaces
WO2003101664A1 (fr) * 2002-05-31 2003-12-11 Bae Systems Plc Systeme de deplacement et de positionnement d'outil
EP2835082A4 (fr) * 2012-04-05 2015-06-10 Ecovacs Robotics Co Ltd Appareil d'aspiration ayant une ventouse et son dispositif d'essuie-vitre
DE102012021708A1 (de) 2012-10-31 2014-04-30 Achim Meyer Saugglocke für ein Kletterfahrzeug mit hochflexibler Abdichtung und darauf basierende Fahrzeugvarianten
CN105035283A (zh) * 2015-08-17 2015-11-11 深圳先进技术研究院 水射流清洗装置以及船舶壁面除锈爬壁机器人
EP3362232A4 (fr) * 2015-10-13 2019-08-21 Reliance Industries Limited Dispositif électromécanique pour retirer un matériau d'un espace clos
CN107662214A (zh) * 2016-07-28 2018-02-06 天津创来智能光伏科技有限公司 真空吸附履带单元、真空吸附履带以及履带吸附机器人
CN107662214B (zh) * 2016-07-28 2022-11-01 天津创来智能光伏科技有限公司 真空吸附履带单元、真空吸附履带以及履带吸附机器人
WO2018076706A1 (fr) * 2016-10-25 2018-05-03 大连理工大学 Dispositif de commande de mouvement de véhicule à attraction magnétique sur une face structurale d'une coque en acier, et procédé pour son utilisation
FR3066993A1 (fr) * 2017-06-02 2018-12-07 Erylon Dispositif robotise
CN110997467A (zh) * 2017-06-02 2020-04-10 埃尔隆公司 机器人设备
WO2018220289A1 (fr) * 2017-06-02 2018-12-06 Erylon Dispositif robotise
CN112236357A (zh) * 2018-04-04 2021-01-15 圣-戈贝恩普拉科公司 用于建筑板的自动化设备
WO2021037461A1 (fr) * 2019-08-29 2021-03-04 Hermes Fassadenreinigung GmbH Bande d'adhérence destinée à des façades
CN110745194A (zh) * 2019-12-04 2020-02-04 安徽工业大学 一种爬墙机器人及其串联机器人组
CN110745194B (zh) * 2019-12-04 2024-05-24 安徽工业大学 一种爬墙机器人及其串联机器人组
CN111608407A (zh) * 2020-06-07 2020-09-01 钟李城 一种环保的建筑装修用墙皮清理装置
CN114275065A (zh) * 2022-01-28 2022-04-05 巢湖学院 一种可靠性高的吸附式攀爬机器人及其控制方法
CN114802512A (zh) * 2022-04-30 2022-07-29 中国建筑第八工程局有限公司 一种用于横断面为圆弧形构筑物质量检测的壁面爬行自适应机器人及控制方法

Also Published As

Publication number Publication date
JPH0316887A (ja) 1991-01-24
DE69009600T2 (de) 1994-09-22
DE69009600D1 (de) 1994-07-14
EP0407745B1 (fr) 1994-06-08
CA2018708A1 (fr) 1990-12-14
ATE106979T1 (de) 1994-06-15
EP0407745A3 (en) 1991-10-09
DK0407745T3 (da) 1994-07-04

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