JP2006326712A - Endless track system wall traveling robot having crossing-over mechanism - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an endless track system wall traveling robot having a function for crossing over a traveling obstacle on a building wall. <P>SOLUTION: This robot comprises an accommodation space for absorbing deformation due to bending flexure of a flexible adsorption traveling belt along a crossing-over mechanism on a traveling contact surface side, and a posture control mechanism for controlling swing of the adsorption traveling belt on the traveling contact surface side vertically to a winding direction of the belt, so as to cross over the obstacle. An auxiliary adsorption mechanism gripped by rotary arms swingable in a vertical direction to the traveling wall is provided at front and rear parts in a moving direction of the wall adsorption traveling robot, so as to enhance an adsorption force and an energizing force in crossing over the obstacle. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a wall traveling robot of an endless track system having a mechanism for getting over a traveling obstacle on a vertical outer wall surface of a building.

  Conventionally, in an endless track type wall surface adsorbing traveling vehicle used for vertical outer wall traveling of a building, as described in JP-A-10-082169, endlessly driven on both sides by driving means. A suction moving endless track mechanism having a belt member and a suction means for sucking a circumferential portion on the outer surface side of the endless belt member to a wall surface, wherein the endless belt includes a plurality of elastic members on the outer surface side of the bendable substrate. And a suction hole is formed at a predetermined position of the substrate corresponding to the suction chamber, and the suction means is disposed along the circular track inside the circular track of the endless belt member. A plurality of suction holes, which are long in the circumferential direction of the endless belt member that is independently sucked by the suction means, are discontinuously arranged in the circumferential direction of the endless belt member. The endless belt is attracted to the wall surface by the suction means sucking the suction chamber of the substrate through the suction hole of the substrate that matches the suction hole, and moved by the circulation of the endless belt. It is the wall surface adsorption movement device characterized by being carried out.

  Moreover, as described in JP-A-5-50955, a pair of left and right sprockets rotatably attached to both front and rear ends of the frame, and a pair of left and right drives for independently driving the pair of left and right sprockets, respectively. A motor, a pair of left and right endless chains wound around the front and rear sprockets, a telescopic cylinder having base ends attached to chain links forming part of the endless chain, and distal ends of these cylinders Vacuum pads in the bellows corresponding to the suction pads attached to the running wall and attached to the running wall and in close contact with the running wall provided with the expansion and contraction of the cylindrical body, respectively. This is a crawler-type wall surface adsorbing traveling having a suction means for pulling.

Building wall surface adsorption moving device and wall surface cleaning device using the same Crawler type wall surface adsorbing traveling robot Japanese Patent Laid-Open No. 5-50955 Wall surface adsorbing and moving device Japanese Patent Laid-Open No. 11-171063 Wall adsorption self-propelled device Vacuum adsorption self-propelled dolly JP-A-5-254464 Crawler-type wall-adsorption traveling robot Crawler type wall surface adsorption self-propelled device Wall moving device Japanese Patent Laid-Open No. 7-280734 Wall surface adsorption cleaning device Wall cleaner for building and wall cleaning device provided with the same Adsorbing unit for wall cleaner JP-A-10-86865 Wall cleaner unit Japanese Patent Laid-Open No. 10-86866 Exterior wall cleaner Japanese Patent Application Laid-Open No. 2003-247340

  In the wall surface adsorption moving device of the building and the wall surface cleaning device using the same (Japanese Patent Laid-Open No. 10-82169), in the circular orbit of an endless belt substrate in which a vacuum chamber for adsorption traveling is formed on the outer periphery of the circular track A suction mechanism having a low-friction coefficient slidable sheet and an elastic sheet adhered thereto is in sliding contact with the peripheral surface. In such a structure, it is possible to cope with irregularities on the wall surface only within the range of the elasticity of the elastic member that forms the suction chamber on the outer peripheral portion of the endless belt and the elasticity of the sliding elastic sheet that is in sliding contact with the inner peripheral surface of the endless belt substrate. There is a problem in that it is difficult to perform vacuum leakage, and is inferior in running stability because it cannot cope with various wall surfaces such as concrete, mortar, and tile, uneven surfaces, and wall surfaces having cracks.

In the crawler type wall surface adsorbing traveling robot (Japanese Patent Laid-Open No. 5-50955),
The structure is such that a pair of endless chains that are driven to rotate and a telescopic suction cylinder having a base portion pivoted and a suction pad fixed to the tip of the cylinder are used to take advantage of the slack of the endless chain and the expansion and contraction of the cylinder. As a result, the adsorption performance to the uneven wall surface was improved, but there was a problem that the vehicle could not travel over obstacles and was inferior in operability.

  The present invention solves the above-mentioned problems of the conventional endless track type wall-adsorbing traveling robot of the prior art, and provides an endless track type wall-adsorbing traveling robot excellent in operability by realizing stable traveling on the uneven wall surface and obstacle overpassing function. It is intended to provide.

In the endless track method wall surface adsorption traveling robot in the present invention,
The vacuum communication switching mechanism portions 8 and 9 that communicate with the vacuum chambers 7-4 formed in a plurality of rows at predetermined positions outside the endless suction traveling belt mechanism portion 7 and evacuate only the traveling contact surface portion are provided as the suction traveling belt mechanism. By separating from the predetermined position inside the circular orbit of the part, even if the adsorption traveling belt freely bends along the obstacle shape without contacting the vacuum communication switching mechanism parts 8 and 9, A storage space that absorbs the deformation of bending and bending along the obstacle shape of the suction traveling belt can be provided.
In addition, the posture control idlers 11-5 and 11 are connected to both ends of a pair of endless chains 7-8 that are fitted to both ends of a belt fixing stay 7-5 fixed to the suction traveling belt 7-1. A posture in which the other end of the posture control shaft 11-3 is clamped by a clamping mechanism consisting of -6 and is pivotally attached to one end by the cam mechanism 11-1 or other actuator in the vertical vertical direction of the contact surface. A plurality of control mechanisms 11 are provided at predetermined positions on both sides of the suction traveling belt 7-1 in the circumferential direction so that the bending control can be performed along the shape of the obstacle over the suction traveling belt 7-1.
Here, as a method of providing a space for accommodating the bending and bending deformation of the adsorption traveling belt, a sliding sheet 17-4 is provided on the inner surface of the endless adsorption traveling belt mechanism 17 in the direction of the orbit, and the sliding sheet is provided on the surface. A vacuum communication for urging a sliding vacuum block 18-3, which includes a sliding sheet 18-1 that is in sliding contact with a vacuum, in a direction perpendicular to the orbit of the suction traveling belt 17 by an elastic body 18-7 such as a spring. Even when the switching mechanism 18 is separated from the inside of the orbit of the suction traveling belt, the flexible traveling deformation of the suction traveling belt when overcoming an obstacle is accommodated by the expansion and contraction of the elastic body 18-7 such as the spring. A space to perform can be provided.

  The vacuum switching bar 9 of the vacuum switching mechanism for evacuating the vacuum chamber 7-4 is equipped with an automatic vacuum valve 10 as a vacuum communication on / off valve that automatically senses and operates the differential pressure between atmospheric pressure and vacuum when a vacuum leaks. It is possible to prevent the adsorption force from being lowered due to vacuum leakage when getting over.

  Before and after the movement direction of the wall surface adsorption traveling robot 2, auxiliary adsorption mechanisms 6U and 6D gripped by rotating arms 5U and 5D that can pivot in a direction perpendicular to the traveling wall surface are provided. It is possible to control the adsorption force and the urging force to the wall surface and to stabilize the running.

According to the present invention, a storage space is provided on the contact surface side in which the suction traveling belt absorbs free bending deformation along the shape of the traveling obstacle, and height control at the contact surface portion of the suction traveling belt is performed. Since the mechanism to perform is provided, it is possible to travel over obstacles on the wall surface.
This solves the problem that the traveling obstacles of the endless track system wall-adsorbing traveling robot cannot be overcome, and makes use of the simplicity of the structure, high speed travelability, and low cost characteristics of the endless track system. A wall-adsorption traveling robot with excellent versatility that is easy to implement can be realized.
When the automatic vacuum valve is provided, leakage of the suction vacuum generated even when the obstacle is climbed is prevented, so that a small vacuum device such as a vacuum pump can be used.
In addition, when the auxiliary suction mechanism is installed before and after the traveling direction of the wall surface adsorption traveling robot, the traveling robot is biased to the traveling wall surface, which is effective for stable overriding traveling on the vertical wall surface.
In addition, when a protective leg is fixed in the vacuum chamber inside the suction belt outer peripheral part, the shape of the vacuum chamber can be prevented and the elastic body is protected from overloading. This is effective in improving the force and extending the life of the adsorption traveling belt.

  Embodiments of the present invention will be described below with reference to the drawings.

1 to 8 are for explaining an embodiment according to the present invention.
FIG. 1 is an overall perspective view including auxiliary suction mechanisms before and after the traveling direction of a wall-surface adsorption traveling robot formed by connecting two traveling units having a climbing mechanism. It is for illustrating the formation method of the storage space which absorbs a flexible bending deformation. FIG. 2 is a partial perspective view of the attitude control mechanism for illustrating a method of controlling the height of the traveling belt in the direction of the orbit when the suction traveling belt is over the obstacle. FIG. 3 is a partial perspective view of the vacuum switching communication mechanism, which illustrates the vacuum switching communication mechanism that is separated from the suction traveling belt to provide a storage space. 4 is a cross-sectional view taken along the line aa of the vacuum switching communication mechanism unit of FIG. 3, and FIG. 5 is a cross-sectional view taken along the line bb of FIG. 3 for illustrating an automatic vacuum valve that automatically detects a vacuum leak. Is. FIG. 6 is a partial perspective view of the suction traveling belt, and FIG. 7 is a sectional view taken along the line aa for explaining the internal structure in detail. FIG. 8 is a partial perspective view of a modified example of the suction mechanism, and is for illustrating another method of forming a storage space that absorbs deformation of free bending and bending when the suction traveling belt passes over an obstacle.
The following will be described in order.

In the traveling unit 2 of the wall surface adsorption traveling robot shown in FIG. 1, a drive motor 3 is fixed to the front part on the short side of the outer frame 15 that forms a rectangular parallelepiped, and a rotating shaft 12-1 is used as a drive shaft of the drive motor. Is engaged so as to be rotatable. A pair of drive gears 13a and 13b are fitted to the left and right ends of the rotary shaft 12-1, and a pair of left and right drive gears 14a and 14b of the same PCD are fitted to the inside thereof. A rotating shaft 12-2 is fixed to the rear portion of the outer frame 15 so as to be rotatable, and gears 13c and 13d are fitted to the rotating shaft 12-2. 14c and 14d are fitted. In the gears arranged at the front, rear, left and right ends, an endless chain 7-8 that rotates by the rotation of the gear is bridged between the left gears 13a and 13c. The endless chain 7-8 is similarly bridged between the right gears 13b and 13d. A belt fixing stay 7-5 is installed between the endless chain 7-8 bridged in a pair of left and right. The belt fixing stay 7-5 is bent in a U shape at both ends, and the chain link of the endless chain is inserted into a chain link support hole 7-12 (shown in FIG. 7) drilled at both ends of the belt fixing stay 7-5. Pivot. The belt fixing stay 7-5 for mounting the endless suction traveling belt 7-1 communicates the vacuum chamber of the suction traveling belt with the vacuum switching communication mechanism portion, so that the elastic body at the outer periphery of the endless suction traveling belt is provided. The same number of belt fixing stays 7-5 as the number of vacuum chamber rows in the circumferential direction, which are lacking in 7-3, are pivotally mounted at predetermined positions of the pair of left and right endless chains 7-8.
The belt fixing stay 7-5 is disposed between the endless suction traveling belt elastic body and the inner stay 7-9 (shown in FIG. 7) disposed in the vacuum chamber 7-4. -2 and the screw joint 7-6 (shown in FIG. 7) screwed to the belt fixing stay are disposed in the vacuum suction hole 7-10 (shown in FIG. 7) and the vacuum chamber 7-4. Through the pierced hole in the internal stay 7-9 (shown in FIG. 7), it is communicated with the vacuum chamber 7-4.
Accordingly, the gears 13a, 13b, 13c, and 13d and the gears 14a, 14b, 14c, and 14d are rotated synchronously by the rotational drive of the drive motor, and the endless chain and the endless are rotated by the rotation of the gears 13a, 13b, 13c, and 13d. The endless adsorption traveling belt engaged with the chain rotates. The vacuum switching belt 8-1 is formed in such a manner that a vacuum joint 8-3 screwed to a vacuum piece 8-2 mounted on the vacuum switching belt meshes with the teeth of the gears 14a, 14b, 14c, 14d. It is wound between the gears 14a and 14b, 14c and 14d. Accordingly, as the gears 14a, 14b, 14c, and 14d rotate, the vacuum switching belt engaged with the gears obtains a rotational driving force and moves the outer periphery of the vacuum switching bar 9-1 (shown in FIG. 2). The vacuum switch bar slides and rotates.
A vacuum joint 7-6 screwed to the belt fixing stay communicating with the vacuum chamber of the endless adsorption traveling belt is mounted on the vacuum switching belt 8-1 of the vacuum switching communication portion by a vacuum tube 7-7. The vacuum joint 8-3 screwed to the vacuum piece 8-2 communicates with the vacuum, but the vacuum switching belt 7-1 and the vacuum switching belt 8-1 are rotated synchronously so that the vacuum switching belt 7-1 The vacuum tubes 7-7 bridged between the vacuum switching belts can be communicated with each other without being twisted and cut.
By the above mechanism, the endless adsorption traveling belt 7-1 and the vacuum switching belt 8-1 of the vacuum communication switching mechanism for switching the vacuum communication to the belt can be separated and installed, and the obstacles between the belts can be overcome. As a result, it is possible to secure a storage space that absorbs the flexible bending of the adsorption traveling belt along the shape.

The posture control mechanism 11 shown in FIGS. 1 and 2 is configured such that a pair of left and right endless chains 7-8 that engage with the endless suction traveling belt 7-1 through the belt fixing stays 7-5 are upper and lower ends in the circumferential direction. Is fixed to one end of the attitude control shaft 11-3 so as to be sandwiched by a plurality of attitude control idlers 11-5 and 11-6. An idler (not shown) that slides on the cam groove 11-2 of the cam mechanism is attached to the other end of the posture control shaft, and the posture control shaft 11-3 is fixed by a fixing bracket 11-4 so as to be vertically slidable. Fixed to the outer frame 15. Thereby, the sliding up and down motion of the idler (not shown) in the cam groove 11-2 is reached to the posture control idlers 11-5 and 11-6 by the posture control shaft 11-3, so that the suction traveling belt is rotated in the circumferential direction. The vertical height from the wall surface of the endless suction belt can be freely controlled by the vertical movement of the cam mechanism through rotation control of a predetermined number of motors (not shown) arranged on the left and right side surfaces of the outer frame 15. The suction running belt 7-1 can be freely controlled when the obstacle is passed.
Here, an actuator can be used instead of the cam mechanism.

The vacuum communication switching mechanisms 8 and 9 and the automatic vacuum valve 10 shown in FIGS. 3 to 5 will be described.
In the vacuum switching belt 8 of the vacuum communication switching mechanism portion, the endless vacuum switching belt 8-1 is slid into the vacuum pulling hole 8- at a predetermined fixed position in the circumferential direction in order to perform vacuum communication switching with the vacuum switching bar 9 through sliding. 5 (shown in FIG. 4) is continuously drilled, and a sliding sheet 8-4 excellent in slidability with the vacuum switching bar 9 is bonded to the inner peripheral surface of the vacuum switching belt. On the outer peripheral surface of the belt, a vacuum piece 8-2 is communicated with and aligned with the vacuum drawing hole 8-5 (shown in FIG. 4) formed in the vacuum piece. The rectangular parallelepiped longitudinal direction of the piece is attached and mounted perpendicularly to the belt circumferential direction. A vacuum joint 8-3 communicating with the vacuum drawing hole 8-5 is screwed at the center of the short side of the vacuum piece 8-2. The vacuum joint 8-3 screwed on both sides of the vacuum piece communicates with the vacuum joint 7-6 screwed to the belt fixing stay 7-5 by a vacuum tube 7-7. The vacuum chamber 7-4 is evacuated.

In the vacuum switching bar 9 of the vacuum communication switching mechanism portion, the vacuum pulling hole 9-7 (see FIG. 4) is formed at a predetermined fixed position in the long axis direction of the rectangular parallelepiped in order to switch the vacuum communication by sliding the contact surface with the vacuum switching belt 8. The vacuum automatic valve 10 is provided with a working space in the hole, and a common vacuum chamber 10-5 communicating with the space is provided.
A vacuum pulling hole 9-7 (shown in FIG. 4) is continuously provided at a predetermined fixed position in the long axis direction on the surface of the vacuum switching bar 9-1 having a rectangular parallelepiped shape where the vacuum pulling hole 9-7 is formed. An elastic body 9-5 for eliminating vacuum leakage and a sliding sheet 9-4 for improving slidability are fixed. Further, a vacuum chamber cover 9-9 is provided in which a vacuum joint 9-2 is screwed on the surface opposite to the vacuum pulling hole 9-7 of the vacuum switching bar 9-1 and a vacuum joint 9-2 is screwed. 6 is fixed.
The vacuum switching bar 9-1 has a sliding surface mounted on the inner peripheral side of the endless vacuum switching belt 8-1 so as to slide with the inner peripheral surface of the vacuum switching belt. The vacuum chamber of the suction traveling belt is evacuated only when the evacuation hole 9-7 and the evacuation hole 8-5 are in communication and alignment by rotation.
Since a flexible material is used for the vacuum switching belt 8-1, in combination with the effect of the elastic body 9-5 of the vacuum switching bar, it is possible to slide tightly by its own vacuum suction force. A lightweight and compact vacuum communication switching mechanism with excellent properties and adhesion was achieved.

In the automatic vacuum valve 10, the same number of the automatic vacuum valves as the number of the vacuum holes are accommodated in the valve vacuum chamber 10-1 formed in the vacuum switching bar 9-1 communicating with the vacuum hole 9-7. Buried (shown in FIGS. 4 and 5). The valve vacuum chamber communicating with the vacuum drawing hole 9-7 is formed in a reverse convex cylindrical shape, and a valve chamber communication hole 10 communicating with the adjusting screw 10-4 support hole and the common vacuum chamber 10-8 is formed at the bottom of the reverse convex portion. Drill -5. The vacuum switching valve 10-2 formed in a small-diameter reverse convex circular shape that is slidably fitted into the valve vacuum chamber is provided with a vacuum flow rate adjusting hole 10-3 in the large diameter portion and at the center of the bottom end. The adjusting screw 10-4 penetrating through the screw adjusting hole formed in the center of the bottom of the valve vacuum chamber 10-1 is screwed. A spring 10-6 is provided in a small-diameter column of the valve vacuum chamber 10-1 in order to give a pushing biasing force to the lower part of the vacuum switching valve 10-2.
In a certain vacuuming hole 9-7 of the vacuum switching bar 9, in the unlikely event that an air inflow occurs in the vacuuming hole, the valve vacuum chamber 10-1 communicating with the vacuuming hole is provided in the valve vacuum chamber 10-1. The vacuum switching valve 10-2 is pushed down by the downward urging force of the atmospheric flow generated from the air pressure difference on the upper surface of the vacuum switching valve 10-2, and the bottom of the vacuum switching valve 10-2 comes into close contact with the valve seat bottom 10-7 to cover the vacuum. A large amount of air flowing in excess of a minute flow rate communicating through the flow rate adjusting hole 10-3 is prevented, and a constant degree of vacuum is maintained.
When the situation related to the vacuum leakage is improved in the suction traveling and the inflow of air is stopped, the vacuum suction hole 9-7 is always evacuated through the vacuum flow rate adjusting hole 10-3, so that the vacuum switching is performed. The pressure difference between the upper surface portion and the bottom surface portion of the valve 10-2 is improved, and the vacuum switching valve 10-2 pushed up by the spring 10-6 is pushed up so that the vacuum switching valve and the valve seat bottom are in close contact with each other. By releasing the situation, the vacuum communication is resumed. The adjusting screw 10-4 is for adjusting the height of the vacuum switching valve 10-2 from the bottom of the valve vacuum chamber and adjusting the good sliding of the vacuum switching valve. The automatic vacuum valve according to claim 2, which can maintain a certain degree of vacuum in the suction traveling belt vacuum chamber and secure a good suction force. The vacuum pump with small and small displacement can be used by eliminating the vacuum leak in the adsorption run.

In the suction traveling belt shown in FIG. 6 or FIG. 7, since the structure in which the suction traveling belt is formed by adhering an elastic body having a vacuum chamber lacking on the outer peripheral side of the endless suction traveling belt, the suction traveling belt is generally used. A similar system was used for the belt.
The endless suction traveling belt 7-1 is formed on a bendable belt substrate 7-2 made of rubber or the like, in the vacuum chamber 7- formed by a rectangular shape perpendicular to the circumferential direction of the suction traveling belt and having a short side forming an arcuate shape. An endless belt is formed by adhering an elastic body 7-3 made of a closed foam material such as sponge in which a plurality of rows 4 are formed. A belt fixing stay 7-12 for screwing a vacuum joint 7-6 communicating with the vacuum chamber at a predetermined position corresponding to the vacuum chamber 7-4 formed in the elastic body on the outer peripheral side of the endless adsorption traveling belt; The endless suction traveling belt substrate 7-2 is nipped and screwed with an internal stay 7-9 disposed in the vacuum chamber 7-4. Since the suction traveling belt substrate 7-2 and the internal stay 7-9 are provided with a vacuum suction hole 7-10 for communicating the vacuum chamber 7-4 and the vacuum joint 7-6, the endless By the rotation of the vacuum switching belt 8-1, the vacuum joint 8-3 screwed on the vacuum piece 8-2 mounted on the vacuum switching belt and the belt fixing stay 7-12 are screwed. The vacuum joint 7-6 communicates with the vacuum tube 7-7, and the wall surface adsorption force can be obtained by evacuating the vacuum chamber 7-4 of the endless adsorption traveling belt.
In the material for forming the vacuum chamber 7-4, a sponge elastic body that can follow the concavo-convex surface is generally used in order to increase the adsorbing force without leaking the vacuum when adsorbing to the rough wall surface. Elastic body deterioration is accelerated by repeated strong vacuum pressing force exceeding the limit.
In this embodiment, when the elastic body is compressed by the vacuum pressing force lower than the partition wall height of the vacuum chamber 7-4 formed of an elastic body, the elastic body receives the pressing force so as not to exceed the compression elastic limit. The friction coefficient of which the width and the shape are adjusted so as to play the role of a strut aiming at prevention of pulling inward by vacuum suction of the vacuum chamber 7-4 side wall of the vacuum chamber 7-4 where the rectangular short side direction is circular. The protective leg 7-11 made of a hard elastic body such as high rubber is disposed in the vacuum chamber 7-4 and sandwiched between the belt fixing stay 7-12 and the endless suction traveling belt substrate 7-2. The inner stays 7-9 were fixed at both ends in the longitudinal direction.
By fixing the protective leg 7-11, it is possible to prevent the vacuum suction force from being lowered due to the shape change during suction of the vacuum chamber 7-4, which is essential, and in the elastic body 7-3 of the suction traveling belt 7-1. The protective leg prevents excessive force such as tearing force generated by the hill-climbing force applied to the outer periphery and the gravity applied to the inner periphery, and the pressing force to the wall surface, thereby preventing the deterioration of the elastic body and extending the life of the adsorption belt. And stabilization during adsorption running.

In addition, FIG. 1 includes auxiliary suction mechanisms 6U and 6D for supporting overcoming obstacles on the front and back of the movement direction of the wall-adsorbing traveling robot having the above-mentioned climbing function, and a mechanism for holding the wall so as to be able to turn vertically is added. And relates to claim 3.
In FIG. 1, auxiliary suction mechanisms 6U and 6D that are evacuated by a vacuum suction device before and after the movement direction of a wall-surface adsorption traveling robot in which a plurality of wall-surface adsorption traveling units 2 are connected can be swung vertically on the wall surface. It is installed via the rotating arms 5U, 5D. The auxiliary suction mechanisms 6U and 6D are maintained at a slight distance between the suction portion (not shown) and the contact surface of the auxiliary suction mechanism, and wheels (not shown) are pivotally attached to the lower corners of the auxiliary suction mechanisms 6U and 6D. It is provided to run freely. An elastic body (not shown) and a sliding sheet (not shown) are fixed below the contact surface of the suction portion of the auxiliary suction mechanisms 6U and 6D, and suction force and traveling slidability are ensured.
Wall surface vertical turning of the auxiliary suction mechanisms 6U, 6D is individually controlled by the rotating arms 5U, 5D.
The wall surface adsorbing traveling robot according to claim 3 can get over the obstacle because the wall surface adsorbing traveling robot can be pressed and urged to the wall surface side by the wall surface suction of the auxiliary adsorption mechanism 6U, 6D and the control of the rotating arms 5U, 5D. The adsorption power and biasing force to the wall surface at the time could be strengthened.

FIG. 8 shows the endless suction traveling belt mechanism 7 and the vacuum communication switching mechanism 8 in place of the endless suction traveling belt 17 and the vacuum communication switching mechanism 18. It is a modification which forms the storage space which absorbs water.
In the present embodiment, the endless suction traveling belt mechanism 7 is simplified and a storage space for overcoming obstacles is secured between the suction traveling belt 17 and the vacuum switching bar 18-10. It is characterized by.

  In FIG. 8, an endless adsorption traveling belt 17 is formed by joining a belt substrate 17-1 made of a bendable material such as rubber and an elastic body 17-2 lacking a vacuum chamber (not shown) to the circumferential outer periphery, The belt fixing stay 17-6 is sandwiched between the belt substrate 17-1 and a stay embedded in a vacuum chamber (not shown) at a predetermined position on the circumferential inscribed surface. In order to maintain the smoothness of the endless suction traveling belt 17 on the inner surface in the circumferential direction, the belt fixing stay 7-6 is notched in the belt substrate 17-1, and is slid on the belt substrate 17-1. The sliding sheet 17-4 was joined to the belt, and bank portions formed of a slidable material were attached to the left and right ends of the suction traveling belt 17 in the circumferential direction to form a sliding guide 17-3. In addition, the sliding surface 17-4 of the suction traveling belt 17 is provided with a vacuum pulling hole 17-5 that penetrates the belt fixing stay 17-6 and the belt substrate 17-1, and the outer periphery of the suction traveling belt 17 is provided. It was made to communicate with the predetermined | prescribed vacuum chamber not shown lacking in the elastic body 17-2 joined to the part.

  In the vacuum switching communication mechanism 18 shown in FIG. 8, a vacuum switching bar 18-10 in which a vacuum joint 18-11 communicating with the common vacuum chamber 10-8 (not shown) is screwed and the vacuum automatic valve is provided in the vacuum switching bar. 10 is urged by an elastic body 18-7 such as a spring to slide on the vacuum switching bar 18-10 with the sliding sheet 17-4 and evacuate only the vacuum chamber of the adsorption traveling belt 17. The slidable vacuum blocks 18-3 thus arranged were arranged in a predetermined position, and the vacuum switching bar was separated from the predetermined position inside the circulation track of the suction traveling belt 17. The sliding vacuum block 18-3 is provided with a vacuum pulling hole 18-2 and communicates with a vacuum joint 18-9 screwed to the vacuum switching bar 18-10 by a vacuum tube 18-8. .

Due to the rotation of the suction traveling belt, the vacuum pulling hole 17-5 of the suction traveling belt 17 is brought into contact with the sliding vacuum block 18-3 in close contact sliding contact with the sliding surface 17-4 on the inner surface of the suction traveling belt 17. Only the holes that match the provided vacuum pulling holes 18-2 are vacuumed. The sliding vacuum block 18-3 urged by an elastic body 18-7 such as a spring and having a swing mechanism 18-4 slides in close contact with the sliding surface 17-4 when the adsorption traveling belt 17 circulates. Since only the hole that matches the evacuation hole 17-5 can be evacuated, it is possible to form a storage space that absorbs the deformation of the flexible bending and bending along the shape of the obstacle over the adsorption traveling belt 17. It became.

Perspective view of endless track-type wall-adsorption traveling robot with climbing mechanism Partial perspective view of attitude control mechanism Partial perspective view of vacuum switching communication mechanism Vacuum switching communication mechanism section aa sectional view of FIG. Vacuum switching communication mechanism section bb cross-sectional view of FIG. Partial perspective view of adsorption running belt Adsorption traveling belt aa sectional view of FIG. Partial perspective view of a modification of the suction mechanism

Explanation of symbols

1 Endless track type wall-adsorbing traveling robot with overpass function
2 Traveling unit of a wall-adsorbing traveling robot with a climbing function
3 Drive motor
4 Vacuum suction part
5 Rotating arm
6 Auxiliary adsorption mechanism
7 Endless suction traveling belt mechanism
7-1 Endless adsorption traveling belt
7-2 Adsorption traveling belt board
7-3 Elastic body
7-4 Vacuum chamber
7-5 Belt fixing stay
7-6 Vacuum fitting
7-7 Vacuum tube
7-8 Endless chain
7-9 Internal stay
7-10 Vacuum hole
7-11 Protective legs
7-12 Chain link support hole
8 Vacuum communication switching mechanism (endless vacuum switching belt)
8-1 Endless vacuum switching belt
8-2 Vacuum piece
8-3 Vacuum fitting
8-4 Sliding sheet
8-5 Vacuum hole
9 Vacuum communication switching mechanism (vacuum switching bar)
9-1 Vacuum switching bar
9-2 Vacuum fitting
9-3 Vacuum tube
9-4 Sliding sheet
9-5 Elastic body
9-6 Vacuum chamber lid
9-7 Vacuum hole
9-8 Vacuum lid sealant
10 Vacuum automatic valve
10-1 Valve vacuum chamber
10-2 Vacuum switching valve
10-3 Vacuum flow adjustment hole
10-4 Adjusting screw
10-5 Valve chamber communication hole
10-6 Spring
10-7 Valve seat bottom
10-8 Common vacuum chamber
11 Attitude control mechanism
11-1 Cam mechanism
11-2 Cam groove
11-3 Attitude control axis
11-4 Fixing bracket
11-5, 11-6 Attitude control idler
12-1, 12-2 Rotary drive shaft
13a, 13b, 13c, 13d Adsorption traveling belt drive gear
14a, 14b, 14c, 14d Vacuum switching belt drive gear
15 Outer frame
16 Coupling mechanism
17 Endless adsorption traveling belt
17-1 Running belt board
17-2 Elastic body
17-4, 18-1 Sliding sheet
17-3 Sliding guide
17-5, 18-2 Vacuum hole
17-6 Belt fixing stay
18 Vacuum communication switching mechanism
18-3 Sliding vacuum block
18-4 Head swing mechanism
18-5 Push block
18-6 Support shaft
18-7 Elastic body (spring, etc.)
18-8 vacuum tube
18-9, 18-11 Vacuum fitting
18-10 Vacuum switch bar

Claims (3)

  In the endless track type wall-adsorption traveling robot that vacuum-adsorbs and travels to the vertical outer wall surface of the building, it has a storage space that absorbs the bending deformation of the flexible adsorption traveling belt along the obstacle shape on the traveling contact surface side, An endless track system wall surface having a climbing mechanism, characterized in that it has a posture control mechanism that swings and controls the suction running belt on the running contact surface side in the direction of rotation of the belt vertically. A traveling robot.   The vacuum switching mechanism that evacuates a vacuum chamber in which a predetermined number is formed in the outer periphery of the suction running belt is equipped with a vacuum communication on-off valve that automatically detects and operates a vacuum leak, and the suction force due to the vacuum leak 2. An endless track-type wall traveling robot having a climbing mechanism according to claim 1, wherein a drop is prevented. It is equipped with an auxiliary suction mechanism that is gripped by a rotating arm that can pivot in a direction perpendicular to the traveling wall surface before and after the movement direction of the wall surface adsorption traveling robot, and strengthens the adsorption force and urging force when overcoming obstacles An endless track type wall traveling robot having the climbing mechanism according to claim 1.