JP2000302071A - Self-propelled working vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a self-propelled working vehicle capable of reducing the whole vehicle weight as much as possible and manufacturing at a low cost. SOLUTION: On the left and the right side of a vehicle body 1, front wheels 3 and rear wheels 4, endless crewlers 2 set on these wheels 3 and 4, and a wheel drive motor 5 are installed, and between the front 3 and rear wheels 4, a plurality of sliding type vacuum suction cells 9 sliding in association with the motion of the crawlers 2 are arranged at certain intervals in the running direction wherein the under open end face of each serves as a suction slide surface 8 which is attracted to the inner side face of the crawler 2, and each crawler 2 is furnished at least one through hole at all times for vacuum suction for attracting the cell 9 to the work surface S through the crawler inside the opening of the cell 9 irrespective of slide motion of the crawler 2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for replacing a worker in a work place where a danger exists in manual work such as a bridge, a ship, a large tank or the like, or a place where oxygen is lacking in a tunnel or a chimney. The present invention relates to a remotely controllable self-propelled working vehicle used for performing various operations such as welding, polishing, painting, cutting, polishing, and transporting.

[0002]

2. Description of the Related Art Conventionally, this type of working vehicle has been
It is known that a magnetic attraction type traveling wheel in which a magnetic attraction element is embedded is provided on the front, rear, left and right sides of a vehicle body, and a motor for driving a wheel, a steering mechanism, and a receiver for remote steering are mounted on a self-propelled vehicle body. For example, in order to perform a cleaning operation using such a self-propelled vehicle, a grinder for cleaning is provided on a required part of the vehicle body, and the self-propelled vehicle is mounted on a work (object to be processed). The self-propelled vehicle body is moved in a predetermined direction by remote operation while the traveling wheels are attracted to the work surface by the magnetic attraction force of the magnetic attraction element, and the grinding operation is performed by the grinder. .

[0003]

In the above-mentioned conventional working self-propelled vehicle, a metal magnetic attraction element is embedded in each traveling wheel, so that the specific gravity of the metal magnetic attraction element is large, and the self-propelled vehicle has a large specific gravity. The total weight of the vehicle is very heavy, about 150 kg, so that the intended mounting on vertical or ceiling walls is extremely difficult or impossible by hand. Further, the magnetic attraction type traveling wheel requires a large number of expensive magnetic attraction elements, so that the manufacturing cost is very high. Further, such a magnetically attractable self-propelled vehicle cannot be applied to a work made of a non-magnetic material such as a concrete wall.

[0004] It is an object of the present invention to provide a working self-propelled vehicle that can reduce the weight of the entire self-propelled vehicle as much as possible and can be manufactured at low cost.

[0005]

According to the first aspect of the present invention, a self-propelled working vehicle is provided with front and rear wheels 3, 3 on both right and left sides of a vehicle body 1, respectively.
4 and an endless track belt 2 hung on the front and rear wheels 3 and 4 and a wheel driving motor 5 are arranged. A plurality of sliding vacuum suction cells 9 in which the sliding surface 8 is attracted to the inner surface of the endless track belt 2 and slides as the endless track band 2 moves are arranged at intervals in the running direction. Each of the endless track belts 2 is provided with a through-hole 10 for vacuum suction for sucking each vacuum suction cell 9 onto the work surface S via the corresponding track belt.
Irrespective of the sliding movement of the vacuum suction cell 9, there is always provided one or more in the opening of each vacuum suction cell 9.

According to a second aspect of the present invention, a work vehicle is provided on a required portion of a vehicle body 1 by a forward / backward drive means 32 so as to be capable of moving forward and backward with respect to a work surface S.
In order to keep the relative distance α between the work machine 31 and the work machine 31 facing the work machine 31 constant, the amount of change in the relative distance α between the work surface S in the vicinity of the work machine and the vehicle body 1 is detected. A work machine advance / retreat control means for moving the work machine forward / backward is provided. The work machine advance / retreat control means can be provided in a type of self-propelled vehicle other than the work self-propelled vehicle according to the first aspect of the present invention.

According to a third aspect of the present invention, there is provided a self-propelled vehicle for work provided with a grinder 31 as a working machine at a required portion of the vehicle body 1 so as to be able to advance and retreat with respect to the work surface S by means of advance and retreat driving means 32. In order to keep the relative distance α between the grinder 31 and the grindstone 31a opposed thereto constant, the fluctuation amount of the relative distance α between the work surface S near the grinder and the vehicle body 1 and the wear amount of the grindstone are detected. A work machine advance / retreat control means for moving the grinder 31 forward / backward in accordance with the fluctuation amount and the wear amount of the grindstone is provided. The work machine advance / retreat control means can be provided in a type of self-propelled vehicle other than the work self-propelled vehicle according to the first aspect of the present invention.

According to a fourth aspect of the present invention, there is provided the working vehicle according to the first aspect, wherein each endless track belt 2 is formed by laminating rubber-like bodies having a small coefficient of friction on both inner and outer surfaces of a flexible track belt body. It consists of

According to a fifth aspect of the present invention, there is provided the work vehicle according to the first or fourth aspect, wherein the vehicle body 1 is provided with a strip-shaped adsorption cell mounting plate 11 which is deformable in a curved shape along the traveling direction. The plurality of vacuum suction cells 9 are mounted on a cell mounting plate 11.

According to a sixth aspect of the present invention, in the working vehicle according to any one of the first to fourth aspects, each vacuum suction cell 9 is
It is attached to the belt-shaped suction cell mounting plate 11 via a suspension mechanism 14 so as to be tiltable back and forth and left and right and vertically movable.

A seventh aspect of the present invention relates to the working self-propelled vehicle according to any one of the first, fourth, fifth and sixth aspects.
Is a cylindrical suction cell main body 15 made of an elastic material having high elasticity, and the suction cell main body 15 is fitted and supported by the frictional force from the endless track belt 2 and the vacuum suction force to the inside of the cell. A cylindrical support 16 made of a rigid body for preventing lateral displacement of the cell main body 15, and the lower opening end face of the suction cell main body 15 serves as the suction sliding surface 8.

[0012]

FIG. 1 is a side view showing a work vehicle K according to the present invention, and FIG. 2 is a bottom view of the work vehicle K. In these figures, reference numeral 1 denotes a vehicle body formed in a rectangular frame shape by a metal frame or the like, and a pair of front and rear wheels 3, 4 and front and rear wheels 3,
An endless track belt 2 stretched over four pairs and a wheel drive motor 5 for driving, for example, each rear wheel 4 of the front and rear wheels 3 and 4 pairs are provided. The transmission mechanism 6 is operatively connected to the axle 4 a of the rear wheel 4. 7 is a guide wheel. Although illustration is omitted,
A steering voltage setter that changes the traveling direction of the vehicle body 1 by differentially controlling the rotation speeds of the left and right wheel drive motors 5 and 5 and a remote control receiver are mounted. The remote control receiver receives a control signal from a remote control transmitter that is controlled on the ground, and automatically controls the wheel drive motor 5 and the steering voltage setter based on the control signal.

As can be seen from FIGS. 1 and 2, a lower opening end surface is adsorbed between the front wheel 3 and the rear wheel 4 in each endless track belt 2 on the lower side of the vehicle body 1. Sliding surface 8
The three sliding vacuum suction cells 9 in which the suction sliding surface 8 is sucked on the inner side surface of the endless track band 2 and slides as the endless track band 2 moves are spaced apart in the running direction. Each is arranged independently. Each endless track belt 2 is provided with a vacuum suction through hole 10 for sucking each vacuum suction cell 9 onto a work surface (work surface of a work object) S via the track belt 2. Regardless of the sliding movement of No. 2, one or more are always provided in the openings of the vacuum suction cells 9.

As shown in FIGS. 2 and 5, on the lower surface of the vehicle body 1, there is provided a vertical frame 1 made of a U-shaped cross section extending in the running direction.
a are attached to the left and right sides, two in each case, and a strip-shaped suction cell mounting plate 11 is mounted on the lower surface side of each of these vertical frames 1a.
Each of the sliding vacuum suction cells 9 is mounted in a suspended state. When the work surface S forms a concave curved surface or a convex curved surface, each of the suction cell mounting plates 11 is attached by being curvedly deformed into a convex curved surface shape or a concave curved surface shape substantially matching the curvature of the work surface S. When S is a parallel (straight) surface, it is mounted parallel to the lower surface of the vehicle body 1.

If the work vehicle K is used only when the work surface S is a parallel (straight) surface, the suction cell mounting plate 11 is omitted and each vacuum suction cell 9 is removed.
May be directly attached to the lower surface of the vehicle body 1.

When the work surface S has a concave curved surface as shown in FIGS. 1 and 5, each of the suction cell mounting plates 11 is curved and deformed into a convex curved surface substantially matching the curvature of the work surface S. As shown in FIGS. 3 and 5, the bolts 12 are attached to the vertical frames 1a from a plurality of locations on both ends in the longitudinal direction of the suction cell mounting plate 11 and a central portion thereof, as shown in FIGS. 1a through the bolts 12 at both ends.
Is moved up to the maximum by the rotation of the nut 13 abutting on the upper surface of the vertical frame 1a, so that both ends of the suction cell mounting plate 11 are in contact with the lower surface of the vertical frame 1a. The nut 1 that contacts the positioned bolt 12 with the upper surface of the vertical frame 1a
The suction cell mounting plate 11 can be curved into a downwardly convex curved surface substantially matching the curvature of the work surface S by appropriately moving the suction cell mounting plate 11 downward by the rotation of the third rotation. in this case,
Of the three nuts 13 screwed to each bolt 12, the upper nut 13 is a nut for vertically moving the bolt, and the other 2
These nuts are locking nuts.

As shown in FIG. 5, each vacuum suction cell 9 is mounted on a suction cell mounting plate 11 via a suspension mechanism 14 so as to be vertically movable and tiltable to the left and right and back and forth.
When the suction cell mounting plate 11 is omitted, each vacuum suction cell 9 may be mounted on the vehicle body 1 side, that is, on the lower surface side of the vertical frame 1a via the suspension mechanism 14.

Prior to describing the mounting state of the vacuum suction cell 9 on the suction cell mounting plate 11 and the structure of the suspension mechanism 14, the structure of the vacuum suction cell 9 will be described in detail.

Each vacuum suction cell 9 is, as shown in FIG.
Square-tube-shaped adsorption cell main body 1 made of an elastic material with high elasticity
5 and a rigid body that fits and supports the rectangular tubular suction cell body 15 to prevent lateral displacement of the suction cell body 15 due to frictional force from the endless track belt 2 and vacuum suction force to the inside of the cell. And a box-shaped support 16. The support 16 includes a rectangular cylindrical main body 16a, a top plate 16b, and a flange 16c protruding from the outer periphery of the rectangular cylindrical main body 16a. The portion 16c is integrally or integrally formed of a synthetic resin material, and the inside of the box-shaped support 16 is
7 is formed.

A suction nozzle 18 is provided in each suction cell body 15 at the center of the top plate 16b.
Is connected to an ejector vacuum pump 19 (see FIG. 6) via an air hose H1, and the air in the vacuum chamber 17 is sucked by the operation of the ejector vacuum pump 19. The ejector vacuum pump 19 for evacuating the vacuum chamber 17 will be described later.

As shown in FIG. 3, each adsorption cell main body 15 is made of a foamed rubber material as a highly elastic elastic body and has a thick rectangular tube which can be externally fitted to the rectangular cylindrical main body 16a of the support 16. The suction cell body 15 is fitted around the lower end of the rectangular tubular main body 16a,
6 and is supported in contact with the flange 16c, and the lower end of the suction cell main body 15 projects a required length from the open end face of the rectangular cylindrical main body 16a. In this case, the inner peripheral surface and the upper end surface of the suction cell main body 15 are adhered to the lower peripheral portion outer peripheral surface of the rectangular tubular main body 16a and the flange portion 16c by an adhesive. The lower opening end surface of the suction cell body 15 is the suction sliding surface 8. In addition, as the elastic body which is rich in elasticity forming the adsorption cell main body 15, any other suitable elastic body other than the foamable rubber material can be used.

Each suction cell body 15 is provided with an upper layer 15a.
And a lower layer portion 15b including the suction sliding surface 8. The upper layer portion 15a and the lower layer portion 15b are formed separately from foamable rubber materials having different shrinkage coefficients from each other. Are integrally joined to each other by a suitable adhesive. In this case, the lower layer portion 15b has a smaller shrinkage coefficient than the foamable rubber material forming the upper layer portion 15a so that the suction sliding surface 8 slides in close contact with the work surface S so as not to cause lateral displacement as much as possible. It is formed of a small foamable rubber material.

The suspension mechanism 14 of each vacuum suction cell 9 and the mounting structure of the vacuum suction cell 9 to the suction cell mounting plate 11 will be described. As can be seen from FIGS. The two side plates 2 of the U-shaped mounting frame 20 comprising an upper plate 20a and both side plates 20b, 20b
0b and 20b are pivotally mounted on the upper plate 20a of the U-shaped mounting frame 20 at four corners thereof by the pins 21 and 21 so as to be swingable in the left and right directions. A spring pressure adjusting member 23 is screwed to the lower end of the screw shaft 22, a coil spring 24 is fitted over the screw shaft 22, and a screw shaft fixing nut 25 that can be screwed to each screw shaft 22 is prepared.

The upper plate 20 of each U-shaped mounting frame 20
a, the four screw shafts 22 erected on the left and right sides of the four suction cell mounting plates 11 attached to the four vertical frames 1a forming the vehicle body 1 are respectively attached to the two suction cell mounting plates 1
1 and 11 are respectively inserted into required screw shaft insertion holes 11 a (see FIG. 3), and a screw fixing nut 25 is screwed to the screw shaft 22 from above the suction cell mounting plate 11. Is appropriately compressed between each suction cell mounting plate 11 and the spring pressure adjusting member 23 so that each vacuum suction cell 9 is suspended at a predetermined position between the two suction cell mounting plates 11 and 11. Install it.

In this case, each U-shaped mounting frame 20, four screw shafts 22 erected on the upper plate 20 a of the mounting frame 20,
The suspension mechanism 14 is constituted by the coil springs 24 fitted on the screw shafts 22, respectively. Therefore, each vacuum suction cell 9 is connected to the suction cell mounting plate 11,
11 is attached directly to the vehicle body 1 such that it can be tilted back and forth and left and right and can be shifted up and down (FIGS. 3 and 5).
reference). The coil spring 24 of each suspension mechanism 14 can adjust its spring pressure by rotating the spring pressure adjusting member 23 forward and backward.

The ejector vacuum pump 19 for evacuating the vacuum chamber 17 of each vacuum suction cell 9 has a well-known structure.
As shown in the figure, a pump body 26 having a suction chamber a at one end side, a throat b at the center, and a divergent portion c at the other end,
A divergent nozzle 27 protrudes in the axial direction from one end of the pump body 26. The air suction port 28 of the pump body 26 and the air suction nozzle 18 of each vacuum suction cell 9 are connected by an air hose H1. Is connected to the air compressor 29 via the air hose H2.
Further, a muffler 30 is attached to the end of the pump body 26 on the divergent portion c side.

Therefore, in the vacuum pump 19, when the compressed air from the air compressor 29 is jetted from the divergent nozzle 27 as a supersonic flow into the suction chamber a in the pump body 26, the air is drawn through the air suction nozzle 18 and the air hose H1. The outside air flows as an accompanying flow from the air suction port 28 to the pump body 26.
And the vacuum chamber in the suction cell body 15 is evacuated. Then, the mixed air of the jet flow and the outside air generates a shock wave in the throat portion b, becomes a subsonic flow, and is discharged after recovering the pressure in the divergent portion c. In this work vehicle K, six vacuum suction cells 9 are connected to ejector vacuum pumps 19 via air hoses H1, respectively, and the air hoses H1 of these six vacuum pumps 19 are connected to various pipes (not shown).
To one air hose H (see FIG. 9)
This air hose H is connected to one air compressor 29.

As shown in FIG. 1, FIG. 2, FIG. 7, and FIG. 8, a grinder 31 as a working machine is provided at the rear end of the vehicle body 1 by a reciprocating drive means 32 so as to be able to advance and retreat with respect to the work surface S. In addition, in order to maintain a constant relative distance between the work surface S and the outer peripheral edge of the grindstone 31a of the grinder 31 facing the work surface S, the relative distance between the work surface S near the grinder 31 and the vehicle body 1 is changed. Quantity and whetstone 31a
There is provided a working machine advance / retreat control means for detecting the amount of wear of the grinder and moving the grinder 31 forward and backward in accordance with the amount of change and the amount of wear of the grindstone, that is, feeding the grinder 31. The grinder 31 is a bead slag Ws of the welded portion W.
Is to clean up.

As shown in FIG. 8, the grinder 31 has a grinder body 31b containing a motor (not shown) for rotating the grindstone 31a, and a rectangular tubular holder 31c for integrally holding the grinder body 31b. The holder 31c is slidably supported by a guide member 33 on the vehicle body 1 side, and is screwed to a rotating shaft 35 that is rotated by a motor 34 installed on the vehicle body 1 side. Therefore, the grindstone 31a of the grinder main body 31b moves forward and backward with respect to the work surface S via the holder 31c by the rotation of the rotating shaft 35 by the motor 34. A guide member 33 that slidably supports the holder 31c of the grinder 31, a motor 34, and a rotating shaft 35 constitute the advancing / retreating drive 32 of the grinder 31.

The work machine advance / retreat control means includes a grinder 3
It has a relative distance fluctuation amount detecting means 36 for detecting a fluctuation amount of a relative distance between the work surface S in the vicinity of 1 and the vehicle body 1, and a wear amount detecting means 37 for detecting the amount of wear of the grindstone 31a. As shown in FIGS. 7 and 8, the relative distance fluctuation amount detecting means 36
A roller 40, which is always in contact with the work surface S and is rotatable, is axially attached to the distal end of a rod 39 slidably supported by guides 38a, 38a of the stay 38, and a magnet 41 is attached to the base end of the rod 39. And a magnet sensor 42 facing the magnet 41 is installed on the stay 38, and a roller 40 at the tip of the rod 39 is elastically contacted with the work surface S between the rod 39 and the stay 38. The stay 38 is integrally connected to the holder 31c of the grinder 31 with a biasing coil spring 43 interposed therebetween. The magnet scale MS1 including the magnet 41 and the magnet sensor 42
The amount of change in the relative distance between the work surface S and the vehicle body 1 near the grinder 31 is detected.

On the other hand, means for detecting the amount of wear of the grindstone 31a 37
As shown in FIGS. 7 and 8, the middle portion in the longitudinal direction is attached to the tip end of the balance rod 44 pivotally connected to the vehicle body 1 by the pivot 48.
An abutment plate 45 made of cemented carbide, which is vertically abutted on the outer peripheral surface of the disc-shaped grindstone 31a, is fixed, and a magnet 46 is installed at the base end of the balance rod 44. Magnet sensor 4 along the movement direction of 46
7 is installed on the vehicle body 1 side, and the wear amount of the grinder 31 is detected by a magnet scale MS2 composed of a magnet 46 and a magnet sensor 47.
The distance between the fulcrums of the balance bar 44 is set such that the amount of wear of 1a is reflected on the amount of movement of the magnet 46 on a one-to-one basis.

Now, as shown in FIG. 7 and FIG.
When the relative distance between the outer peripheral edge of the workpiece 1a and the work surface S adjacent thereto is set to a predetermined value α, and the grindstone 31a of the grinder 31 is polishing the bead slag Ws of the welded portion W in this state, Assuming that the relative distance becomes longer than the initial set value α due to the progress, the amount of the increase, that is, the amount of change is detected by the magnet scale MS1 of the relative distance change amount detecting means 36 and is proportional to this amount of change. Output voltage V _S is output by amplifier 48.

At this time, if the grindstone 31a is worn by the radial thickness δ as shown by the imaginary line in FIG.
Its abrasion amount δ is detected by magnetic scale MS2 via the contact plate 45 of the wear amount detecting means 37 is in contact with the outer peripheral surface of the grinding 31a, the output voltage V _D which is proportional to the amount of wear δ is the amplifier 49 Is output. Thus, the difference amount between the output voltage (V _S -V _D) is converted into the feed amount of the grinder 31 by the motor 34 in the grinder advancing drive means 32, the grinding wheel 31a is driven forward and backward, i.e. feeding a predetermined amount Can be As a result, the relative distance between the outer peripheral edge of the grindstone 31a and the work surface S adjacent thereto is maintained at the initial set value α.

In this embodiment, since the grinder 31 is used as a working machine, the wear amount detecting means 37 is provided. However, when a working machine such as a gas welding machine is used, the grindstone 31a is used. Since there is no such wear, the wear amount detecting means 37 becomes unnecessary, and only the relative distance fluctuation amount detecting means 36 may be provided. In FIG. 7, reference numerals 48 and 49 denote amplifying circuits, 50 and 51 denote DC power supplies, respectively.
₁ is a magnet sensor sensitivity adjustment volume, and VR ₂ is a grinder feed amount setting volume.

As shown in FIGS. 2 and 3, the vacuum suction through holes 10 of each endless track band 2 are provided with a plurality of vacuum suction cells 9 provided in the length direction of the endless track band 2. It is provided in two rows along the length direction of the endless track belt 2 at a pitch corresponding to about 1/2 of the pitch, and the vacuum suction through holes 10 in one row and the vacuum in the other row adjacent to the left and right are provided. The suction through hole 10 is located at a position slightly shifted from each other in the longitudinal direction of the endless track band 2 as shown in FIG. 2, and the lower end of each vacuum suction cell 9 regardless of the sliding movement of the endless track band 2. One or more vacuum suction through-holes 10 are always present in the opening, so that a portion corresponding to each vacuum suction cell 9 between the outer surface of the endless track belt 2 and the work surface S is always evacuated. Attraction force is generated.

This vacuum suction through-hole 10 may be located anywhere in the opening of the vacuum suction cell 9 as long as it is located in the opening. The vacuum suction through-holes 10 may be provided in a single row or in three or more rows along the length direction of the endless track belt 2. If the vacuum suction cell 10 is provided so as to be present, the tensile strength becomes weak.
About one to three through holes 10 for vacuum suction per opening
Is preferably provided.

Although not shown, the endless track belt 2 is preferably formed by laminating a rubber-like body having a small coefficient of friction on both inner and outer surfaces of a flexible and non-stretchable track belt body.
As described above, if the endless track belt 2 made of a flexible, non-stretchable track belt body and rubber-like bodies having a small friction coefficient adhered to both inner and outer side surfaces, the traveling drive of the track belt 2 can be performed. It is possible to perform satisfactorily, and to perform vacuum suction on the work surface S accurately. Also,
Although not shown, the outer circumference of the wheels 3 and 4 is ensured so that the wheels 3 and 4 and the endless track zone 2 do not slip and the rotation of the wheels 3 and 4 is transmitted to the endless track zone 2 reliably. The surface and the inner peripheral surface of the endless track belt 2 are provided with concave and convex portions that can engage with each other.

When performing the cleaning operation of the welded portion W on the inner peripheral portion of the large cylindrical tank T as shown in FIG. The mounting plate 11 is deformed into a curved shape so as to substantially match the curvature of the work surface S (the inner peripheral surface of the cylindrical tank T), and the suction sliding surface 8 of each vacuum suction cell 9 is moved through the endless track belt 2. The work surface S is to be properly adsorbed.

Then, the work vehicle K is brought sideways as shown in FIG. 9 and brought to a required position on the concavely curved work surface S, and the air compressor 29 (see FIG. 6) is operated. After the suction slide surface 8 of the vacuum suction cell 9 is sucked to the work surface S via the endless track zone 2, the remote control transmitter is operated on the ground, and the wheel drive motor 5 and the steering voltage are controlled. While the setting device is remotely controlled, the vehicle body 1 is caused to travel along the welded portion W by the endless track zone 2, and the slag of the welded portion W is polished by the grinder 31. Although the power cord of the grinder 31 is not shown, it is assumed that the cord extends from the grinder 31 on the vehicle body 1 to a power source on the ground.

During traveling of the work vehicle K, each vacuum suction cell 9 is, as shown in FIG.
5, the suction sliding surface 8 is deformed into a convex curved surface corresponding to the curvature of the concavely curved work surface S, and is kept in close contact with the inner side surface of the endless track band 2 along with the sliding movement of the endless track band 2. The lever slides on the workpiece surface S. At this time, the adsorption cell body 15
The frictional force on the inner surface of the endless track belt 2 and the vacuum suction force on the inside of the suction cell body 15 try to cause a lateral displacement.
Since the suction cell main body 15 is fitted and supported by the support 16 made of a rigid body, such lateral displacement is prevented,
Therefore, the suction cell main body 15 can slide in a stable state on the inner surface of the endless track belt 2 without breaking in vacuum.

Further, the adsorption cell body 15 is formed of a double layer of an upper layer 15a and a lower layer 15b, and the foamed rubber material forming the lower layer 15b is more than the foamable rubber material forming the upper layer 15a. Since it is formed of a foamable rubber material having a small shrinkage coefficient, the occurrence of the lateral displacement can be more reliably prevented. In addition, by attaching a sheet material made of a material having excellent slipperiness and abrasion resistance to the suction sliding surface 8 of the suction cell main body 15, that is, the suction sliding surface 8 of the lower layer portion 15b. The wear of the suction sliding surface 8 can be reduced, the frictional resistance with the work surface S can be reduced, and the suction cell body 15 can be slid in a more stable state. Life can be extended.

Also, in this work vehicle K, since each vacuum suction cell 9 is attached to the suction cell mounting plate 11 via the suspension mechanism 14, the work vehicle K can travel during the travel.
If a mountain-shaped projection or a mountain-shaped ridge extending in the traveling direction appears on the work surface S, the vacuum suction cell 9 itself moves up and down independently of the vehicle body 1, or moves right and left or back and forth. Or the contraction action of the suction cell main body 15 can wrap the mountain-shaped projection or the mountain-shaped ridge. Therefore, even if such a protrusion or a ridge on the work surface S is encountered, each vacuum suction cell 9 does not break in vacuum, and a strong suction force is obtained. Therefore, the vehicle can run stably while always maintaining a constant interval, so that various operations can be performed accurately.

The suction cell body 1 of each vacuum suction cell 9
5 is made of an elastic material having a high elasticity such as a foamable rubber material, so that it can be easily attracted to the work surface S, can reliably maintain a vacuum state, and promote stable running of the vehicle body 1. Can be. When the suction cell body 15 is formed of a foamable rubber material, there is a concern that the airtightness of the vacuum chamber 17 may be impaired due to the foaming property. It has been found that the airtightness is sufficiently maintained because it is contracted by the suction force.

In this embodiment, assuming that the work surface S is a concave curved surface, each suction cell mounting plate 11 is deformed into a convex curved surface corresponding to the concave curved work surface S, and the vehicle body 1 is formed. Although the work surface S may naturally have a convex curved shape, the suction cell mounting plate 11 is attached to the suction cell mounting plate 11 when the work surface S has a convex curved shape.
May be attached to the vehicle body 1 after being deformed into a concave curved surface shape corresponding to. Further, in this embodiment, the suction cell body 15 and the support 16 of the vacuum suction cell 9 are each formed in a rectangular tube shape, but these may also be formed in a cylindrical shape.

[0045]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A working vehicle K having the above-mentioned structure actually manufactured by the inventor of the present application has a total weight of about 50 kg, and a vacuum suction cell 9 of the working vehicle K is connected to an ejector vacuum pump. As a result of suction at 19, an adsorption force of about 240 kgf was obtained.

Then, the vacuum suction cell 9 of the working self-propelled vehicle K
While the vacuum is sucked, the endless track belt 2 is moved vertically and vertically along a rough steel wall surface and a concrete wall surface, and is turned, and further horizontally along a similar iron and concrete ceiling surface. After traveling or turning, the working vehicle K could travel in a stable state in any case.

Further, each suction cell mounting plate 11 is curved and fixed to the vehicle body 1 when its curvature is close to the curvature of the work surface S. In this state, each vacuum suction cell of the work vehicle K is operated. 9 is vacuum-sucked, and the endless orbit belt 2 has a radius of 1
When traveling along the circumferential direction on the inner peripheral surface of the iron pipe having a length of m, any of the vacuum suction cells 9 was able to travel stably without breaking in vacuum.

Similarly, while the vacuum suction cells 9 of the working vehicle K are suctioned under vacuum, the endless track belt 2 is moved to a radius of 1
When it was run along the circumferential direction on the outer peripheral surface of the iron pipe having a length of m, any of the vacuum suction cells 9 was able to run stably without breaking in vacuum.

Further, while the vacuum suction cells 9 of the above-mentioned working vehicle K are vacuum-suctioned, the endless track belt 2 is caused to travel over a 1 cm-height projection on the outer peripheral surface of an iron pipe having a radius of 1 m. As a result, stable running was possible without breaking the vacuum.

Further, while each vacuum suction cell 9 of the above-mentioned working vehicle K is evacuated, the endless track belt 2 is formed on the inner peripheral surface of an iron pipe having a radius of 1 m and a mountain shape perpendicular to the running direction having a height of 1 cm. After traveling through the mountains, some vacuum adsorption cells 9
Even if there was a vacuum break, stable running was possible.

Further, while the vacuum suction cells 9 of the work vehicle K are being evacuated to vacuum, the endless track zone 2 has a radius of 2 m.
When the steel pipe was ground about 20 times along a weld bead having a height of about 1 cm and a width of 1.5 cm on the inner peripheral surface of the iron pipe, a substantially work surface S (work surface Grinding up to the reference surface).

[0052]

According to the working self-propelled vehicle according to the first aspect of the present invention, the weight can be reduced, the loading and unloading to the site can be easily performed, and the initial mounting on the work surface can be easily performed manually. It can be easily performed and can be manufactured at low cost.
In addition, since a vacuum suction cell is employed, a strong suction force can be obtained, and the present invention can be applied to a non-magnetic work such as concrete, which cannot be applied to a conventional magnetic adsorption type self-propelled vehicle.

According to the self-propelled vehicle for work according to the second aspect of the present invention, a work machine is provided in a required portion of the vehicle body so as to be able to advance and retreat with respect to the work surface by means of advance / retreat driving means. In order to maintain a constant relative distance between the work surface and the vehicle body, a work machine advance / retreat control means for detecting a variation amount of the relative distance between the work surface and the vehicle body and moving the work machine forward / backward according to the variation amount is provided. The relative distance between the machine and the work surface can always be kept constant, and work defects of the work machine or damage to the work machine due to fluctuations in the relative distance can be avoided.

According to the working self-propelled vehicle according to the third aspect of the present invention, the grinder as the working machine is provided so as to be able to advance and retreat with respect to the work surface by the advance / retreat driving means. Work to detect the variation of the relative distance between the work surface and the vehicle body and the amount of wear of the grindstone, respectively, and to move the working machine in accordance with the variation and the amount of wear of the grindstone in order to maintain the relative distance between Since the machine advance / retreat control means is provided, the relative distance between the grinder and the work surface can always be kept constant, and work defects or damage to the work machine due to fluctuations in the relative distance can be avoided.
Regardless of the amount of wear of the grindstone, the grinding depth can be controlled to an arbitrary position on the basis of the work surface, and the grinding can be performed accurately and accurately.

According to a fourth aspect of the present invention, if each of the endless track belts is formed by laminating a rubber-like body having a small coefficient of friction on both inner and outer side surfaces of a flexible and non-stretchable track belt main body, The traveling drive in the endless track zone can be favorably performed, and the vacuum suction on the work surface can be accurately performed.

According to the fifth aspect, a strip-shaped suction cell mounting plate which can be deformed into a curved shape is provided on the vehicle body along the traveling direction.
Since the plurality of vacuum suction cells are mounted on the suction cell mounting plate, the entire plurality of vacuum suction cells can be uniformly suctioned to the work surface having an arbitrary curvature.

According to the sixth aspect, each vacuum suction cell is attached to the vehicle body via the suspension mechanism so that it can be tilted back and forth and left and right and can be moved up and down. Strong suction force can be obtained without breaking in vacuum.

According to the seventh aspect, each of the vacuum suction cells includes a cylindrical suction cell main body made of an elastic material having high elasticity, and a rigid cylindrical support for fittingly supporting the suction cell main body. , The lateral displacement of the suction cell body due to the frictional force from the endless track zone and the vacuum suction force to the inside of the cell is prevented, so that the suction cell body slides on the work surface in a stable state without breaking in vacuum. Can move.

[Brief description of the drawings]

FIG. 1 is a side view showing a working vehicle according to the present invention.

FIG. 2 is a bottom view of the work vehicle.

FIG. 3 is a partially enlarged detailed sectional view of FIG. 1;

FIG. 4 is an enlarged perspective view showing the external shape of the vacuum suction cell.

FIG. 5 is a sectional view taken along line XX of FIG. 3;

FIG. 6 is an explanatory diagram showing a connection relationship among a vacuum suction cell, an ejector vacuum pump, and an air compressor.

FIG. 7 is an enlarged side view showing a work machine and a work machine advance / retreat control means provided on the rear side of the vehicle body.

FIG. 8 is a sectional view taken along line YY of FIG. 7;

FIG. 9 is a schematic perspective view showing a use state of the work vehicle.

[Description of Signs] K Self-propelled vehicle for work S Work surface 1 Body 2 Endless track belt 3,4 Running wheel 5 Wheel drive motor 8 Suction sliding surface 9 Vacuum suction cell 10 Vacuum suction through hole 11 Suction cell mounting Plate 14 Suspension mechanism 15 Suction cell main body 31 Grinder (working machine) 31a Grinding stone 32 Working machine advance / retreat driving means 36 Relative distance variation detecting means 37 Wear detecting means

Claims (7)

[Claims] 1. A front and rear wheel, an endless track belt and a wheel drive motor suspended around the front and rear wheels, respectively, are disposed on both left and right sides of a vehicle body, and a lower opening end face is adsorbed between front and rear wheels of the vehicle body. A plurality of sliding vacuum suction cells, in which the sliding surface is adsorbed on the inner surface of the endless track band and slides with the movement of the endless track band as a moving surface, are arranged at intervals in the running direction, A vacuum suction through-hole for adsorbing each vacuum suction cell to the work surface via the track belt is always provided in the opening of each vacuum suction cell regardless of the sliding movement of the track belt. A self-propelled vehicle for work provided so that there is at least one. 2. A work machine is provided at a required portion of a vehicle body so as to be able to advance and retreat with respect to a work surface by means of advance / retreat driving means, and work is performed to maintain a constant relative distance between the work surface and the work machine facing the work machine. A self-propelled work vehicle provided with a work machine advance / retreat control means for detecting a variation in a relative distance between a work surface near the machine and a vehicle body and moving the work machine forward / backward according to the variation. 3. A grinder as a working machine is provided at a required portion of the vehicle body so as to be able to advance and retreat with respect to a work surface by means of advance / retreat drive means, and a relative distance between the work surface and a grindstone of the grinder opposed thereto is kept constant. A work machine advance / retreat control means for detecting the amount of change in the relative distance between the work surface near the grinder and the vehicle body and the amount of wear of the grindstone and moving the grinder forward and backward in accordance with the amount of change and the amount of wear of the grindstone are provided. A self-propelled vehicle for work. 4. The self-propelled working belt according to claim 1, wherein each of the endless track belts is made of a flexible, non-stretchable track belt body having rubber members having a small coefficient of friction bonded to both inner and outer side surfaces thereof. car. 5. The vehicle body is provided with a strip-shaped suction cell mounting plate capable of being deformed in a curved shape along the traveling direction, and the plurality of vacuum suction cells are mounted on the suction cell mounting plate. The self-propelled vehicle for work described in. 6. The vacuum suction cell mounting plate according to claim 1, wherein each of the vacuum suction cells is attached to the strip-shaped suction cell mounting plate via a suspension mechanism so as to be capable of tilting back and forth and left and right and vertically moving. The self-propelled vehicle for work described. 7. Each vacuum suction cell has a cylindrical suction cell body made of an elastic material having high elasticity, and the suction cell body is fitted and supported, so that the frictional force from the endless track zone and the inside of the cell are generated. And a cylindrical support made of a rigid body for preventing lateral displacement of the adsorption cell main body due to the vacuum suction force.
The work vehicle according to any one of claims 1, 4, 5, and 6, wherein an end surface of a lower opening of the suction cell body is a suction sliding surface.