JP2007253890A - Wall surface suction type traveling device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an inexpensive wall surface traveling device capable of ensuring the consistent vacuum suction force between the device and a contact surface for a long time, and obtaining the vacuum suction force even on a considerably uneven surface, and an application device capable of realizing the consistent traveling by suction even in an elevating/lowering movement as an additional device to a gondola. <P>SOLUTION: In a crawler type wall surface suction type traveling device 1, a traveling belt 2 of the wall surface suction type traveling device comprises a seal wall protective wall, a protective film forming a primary seal wall attached to a seal wall protective wall contact part, and a secondary seal wall 2-2 attached to an outer peripheral part of the seal wall protective wall so that suction vacuum can be ensured even on a considerably uneven surface. A vacuum changing mechanism for evacuating only a contact surface part and a valve mechanism are provided to enhance the vacuum utilization. By using a plurality of these devices, the suction force can be retained even when a gondola travels. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a wall surface adsorption traveling device.

  As an example of the adsorption mechanism of the wall surface adsorption traveling device, as an example of increasing the adsorption force with the adsorption surface and strengthening the contact surface friction force, the negative pressure adsorption device is provided by a rigid support leg arranged outside the adsorption cup and the adsorption cup. Example of construction (patent brother 1729156), a plurality of suction disks attached to a rotating wheel, an enclosure frame made of soft rubber, and an internal slide frame that moves up and down in the direction perpendicular to the contact surface to increase the frictional force at the time of contact (Example of Japanese Patent Laid-Open No. 07-052842), an example in which a vacuum chamber is formed by an elastic member such as single foam polyurethane on the outer peripheral portion of an endless metal belt (Japanese Patent Laid-Open No. 10-33439), and a vacuum locked to a crawler belt substrate. There is an example in which the chamber member is detachable (Japanese Patent Laid-Open No. 10-86865).

  As an open / close valve based on the pressure difference between the atmosphere and vacuum, the control valve for opening and closing the suction cup and the communication hole individually in the suction cup and the other side of the control valve fixing side of the communication hole opening An example in which a protrusion that can be adjusted so that the control valve is not completely closed (Patent Brother 1929985), a valve body that is urged in the opening direction by an elastic force due to slight air leakage when the communication hole is closed, and support There is an example in which a single thin plate is formed by drilling (Japanese Utility Model Laid-open No. 5-56376).

  There are two examples of steadying the gondola for building outer wall work such as buildings, such as a research prototype using adsorption wheels (research presentation from the Honshu-Shikoku Bridge Public Corporation Conservation Department) and adsorption to the outer wall only at a fixed position.

Negative pressure adsorption device Patent No. 1729156 Moving suction cup for robot for running on wall surface Japanese Patent Laid-Open No. 7-52842 Building wall cleaner and wall cleaning device provided with the same Suction unit for wall cleaner Japanese Patent Laid-Open No. 10-86865 Multi-cup type negative pressure adsorption device Patent Brother 1929985 Suction cup JP-A-11-2228 Gel sheet packing suction cup JP-A-11-230149 Article fixing device Japanese Patent Application Laid-Open No. 2004-293570 Travel controller for wall surface traveling robot-Patents.com Adsorption wheel type horizontal material slant side move gondola and adsorption wheel type horizontal material slant lower side gondola Japanese Patent Laid-Open No. 11-78869 Adsorption device Vacuum adsorbing wheel gondola Presentation of research from the Honshu-Shikoku Liaison Office, Ministry of Land, Infrastructure, Transport and Tourism 2004

In the wall surface adsorption traveling device, it is difficult to realize a wall surface adsorption traveling device that does not leak a vacuum even on a significantly uneven contact surface and does not reduce the adsorption force. When the suction means is a vacuum pump or an ejector pump system, the ultimate vacuum is as high as about -80 kpa, but the exhaust amount is generally small, and even a slight suction vacuum leak causes the suction power to be remarkably lowered, resulting in suction peeling. When a blower pump that obtains an adsorption force by sucking a large amount of air on the premise of vacuum leakage, the ultimate vacuum is as low as about -10 kpa, the adsorption force is inferior, and the noise and power consumption become high. For this reason, it has been common practice to use a low-hardness material such as single foamed urethane or soft rubber for the adsorbing surface, and flexibly adjust to the unevenness, steps, cracks, etc. of the contact surface to maintain the degree of vacuum. (JP 07-052842, JP 10-33439, JP 10-86865). In addition, in order to protect the contact surface seal wall from shearing force and strain due to adsorption stress and weight, there is a separate protective wall with durability that handles stress and shearing force on the inside and outside of the sealing wall forming the vacuum chamber. (Patent brother 1729156, JP 07-052842 A).
In this structure, the protective wall protects the sealing wall from compressive stress by limiting the over-compression of the single foam sponge sealing wall that forms the vacuum chamber. However, the protective wall is exposed to a vacuum of about -80 kpa for a long time. There was a problem in that the elasticity was deteriorated due to bubble destruction, and a vacuum leak occurred between the contact surface and the vacuum chamber formed by the seal wall.
Further, the seal wall of the vacuum chamber that is formed of a soft elastic body and is abused in a harsh environment does not have a long period of time, and there is a problem that a belt needs to be replaced even with a slight vacuum leak.
In addition, from the viewpoint of maintaining the degree of adhesion between the seal wall forming the vacuum chamber and the adsorption traveling belt substrate, the seal wall is fixed to the adsorption traveling belt substrate, and is used in field work such as cleaning, inspection, painting, and chipping. It is necessary to replace the traveling belt suitable for various wall properties, and in the case of damage to the seal wall, it is necessary to replace the expensive adsorption traveling belt as a whole, and there is a problem that it takes a long time to replace. It was.

In a vacuum switching mechanism of a crawler-type suction traveling belt that evacuates only the vacuum chamber of the contact surface portion, a mechanism or a motor complicated for synchronous rotation of the suction traveling belt formed with the vacuum chamber communicated by a vacuum tube and the vacuum switching mechanism However, there is a problem that the cost is high (Japanese Patent Laid-Open No. 7-52843).
In addition, a method of individually providing each suction cup with a valve that automatically opens and closes due to a pressure difference between the atmosphere and the vacuum during vacuum suction is an effective means for blocking vacuum leakage (Patent Brother 1929985, Japanese Utility Model Publication No. 5-56376). In the crawler type adsorption traveling belt having the vacuum chamber, this structure has a problem of increasing the cost.

No device has been provided for easily and stably traveling a gondola that moves up and down a non-magnetic building. Some skyscrapers over 100 m have expensive gondola travel guide rails laid on the building, but in mid-to-high-rise buildings, the gondola is shaken by the influence of wind and work reaction force, and stable travel is not possible. For this reason, the gondola can only be used in an environment where the wind speed is 8 m or less, the operating efficiency is low, and even in work that has started to be determined that the weather and wind speed are low, the gondola can be shaken due to sudden changes in the weather or gusts such as building winds. In many cases, the gondola work was stressful and caused many accidents.
In vacuum suction wheel gondola research (research presentation of the Honshu-Shikoku Bridge Public Corporation Conservation Department at the Ministry of Land, Infrastructure, Transport and Tourism's Ministry of Land, Infrastructure, Transport and Tourism in 2004) In order to obtain suction force, it is difficult to control the contact posture when the suction pad rotates from the arc part to the suction linear part and sucks the contact surface. There was a problem that the number of active suction pads for obtaining the suction force was small and the cost was high.

The present invention solves the above-mentioned problems, secures a stable vacuum suction force for a long period of time with the contact surface, and an inexpensive wall surface traveling device that obtains a vacuum suction force even on uneven surfaces, and attracts even during up-and-down movement. An object of the present invention is to provide an application device that can stabilize traveling by means of an add-on device to a gondola.

The present invention is formed by fitting an endless suction traveling belt in which a vacuum chamber is directly formed on the outer peripheral side of the belt substrate, or a suction disk provided with a vacuum chamber on a hard substrate at a predetermined position outside the circumference of the belt or chain. In the crawler type wall surface adsorption traveling device provided with the endless adsorption traveling belt, the rotation support portion provided with a pulley or a sprocket that supports the free rotation of the belt, and the vacuum switching mechanism that evacuates only the contact wall surface portion,
・ A vacuum chamber is formed on the contact surface side of the substrate of the suction belt or suction disk, and the substrate is a secondary made of rubber sponge, gel sponge, gel sheet, etc., which is detachably bonded with double-sided tape or simple adhesive. A sealing wall,
-The compression and compression of the secondary seal wall received when the suction running belt or the suction disk contacts the surface is limited to a predetermined value to prevent the secondary seal wall from being deteriorated by stress, and the secondary seal wall is evacuated. A protective wall made of a rubber elastic body fitted with a predetermined height and a predetermined width on the peripheral side of the vacuum chamber in order to prevent deterioration due to single foam breakage or deformation due to
A groove that circulates along the shape of the protective wall is formed in the contact surface portion of the protective wall, and a gel sheet having a columnar shape is provided in the groove so that the contact surface end of the sheet is about several millimeters higher than the protective wall contact surface. And a primary seal wall forming a vacuum chamber wall.

In the crawler type wall surface adsorption traveling device, a vacuum switching function that further rotates in synchronization with the adsorption traveling belt and evacuates only the contact surface side of the adsorption traveling belt;
Detects a vacuum leak in the vacuum chamber of the adsorption belt and opens and closes it by the pressure difference from the reference vacuum obtained from the vacuum chamber. Normally, it is urged in the opening direction. A vacuum switching mechanism is provided in which an automatic vacuum on-off valve having a flow rate hole capable of adjusting the leakage flow rate is provided.

  According to the present invention, the wall surface adsorption traveling device is detachably attached to the gondola, and the adsorption traveling to the wall surface is possible even when the gondola is moved up and down.

  By fixing the protective wall, the shearing force due to the stress and weight directly applied to the secondary seal wall is reduced, the sponge seal wall is prevented from being deteriorated, and the protective wall and the protective film are used as a wedge. The gel sheet was easily fitted on the outer peripheral side and damage was prevented. In addition, since consideration for stress and shearing force has been reduced, it is possible to easily attach the seal wall while paying attention only to the vacuum sealing property, and it is easy to replace the seal wall.

According to the wall surface traveling device of the present invention, the two-stage sealing makes it possible to perform adsorption running on a concrete, mortar, and tile wall of a significantly uneven wall surface and use it for a long time, eliminating the disadvantage of losing adsorption power even on a grooved wall surface. I was able to do it. In addition, replacement of the adsorption chamber seal wall according to the wall surface property and replacement of the adsorption chamber seal wall due to damage were facilitated, and it was possible to improve the operating rate and maintainability.

According to the present invention, it is possible to provide a gondola stable traveling device that can be easily mounted on an existing gondola and has a superior vacuum suction force that does not require electric power for driving rotation and the like.
This makes it easy to steady the gondola while it was only possible to use the travel guide rails, and it is possible to travel over steps of 100 mm or over obstacles by using multiple wall-adsorbing travel devices. became.

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 illustrates a wall surface adsorption traveling device.
FIG. 2 illustrates a part of the wall surface adsorption traveling belt.
FIG. 3 is a partial bird's-eye view of the wall surface adsorption traveling device.
FIG. 4 illustrates a vacuum switching mechanism of the wall surface adsorption traveling device.
FIG. 5 is an exploded view of the wall surface adsorption traveling device.
FIG. 6 is a view (side view) attached to the gondola.
FIG. 7 is a view (front view) attached to the gondola.
FIG. 8 illustrates a wall surface adsorption traveling device according to the second embodiment.
The following will be described in order.

  The traveling belt for wall surface adsorption traveling apparatus shown in FIGS. 1 and 2 is a soft single-shot in which a plurality of adsorption vacuum chambers 2-3 are formed at a predetermined position on the outer peripheral side of a substrate 2-1 of a circulating endless timing belt. A secondary seal wall 2-2 of foam sponge or gel sheet is detachably bonded with double-sided tape or simple adhesion, and the inside of the vacuum chamber 2-3 is deteriorated in the seal wall due to stress due to pressure or shear force due to gravity, or single shot A protective wall 2-6 made of a rubber elastic body having a predetermined height and a predetermined width for preventing deterioration of the seal wall due to bubble destruction or deformation is provided with the bottom portion fixed to the substrate 2-1. A groove 2-7 that circulates along the shape of the protective wall is formed in the contact surface portion of the protective wall 2-6, and the gel sheet that forms a columnar shape in the groove has a number of contact surface ends that are more than the surface of the protective wall. A primary seal wall 2-8 is provided which forms a vacuum chamber wall which is provided with a height of about millimeters.

The substrate 2-1 has a vacuum pulling hole 2-4 drilled in the vacuum chamber 2-3, and a vacuum joint 2-5 is screwed into the vacuum pulling hole to be vacuumed.
The adsorption traveling belt having the primary seal wall and the secondary seal wall according to the present configuration has less vacuum leakage and can obtain a stable adsorption force, and reduces the stress and shearing force applied to the contact surface portion of the belt. Deterioration of the secondary seal wall 2-2 was prevented, and wall surface adsorption running on glass, concrete, mortar, and tile walls was enabled.
Further, since the seal wall is detachably bonded to the suction traveling belt substrate 2-1, only the seal wall 2-2 can be replaced in the field without replacing the entire expensive suction traveling belt. It was.

In FIG. 3, the illustrated mechanism other than the traveling belt will be described.
The traveling belt is rotatably held in a circumferential direction of the belt by a pair of left and right pulleys 4 consisting of three sets, and a vacuum switching mechanism 3 is fixed inside the circulation. A vacuum switching mechanism drive belt pulley 4-1 is fitted to one of the suction travel belt pulleys 4 and rotates synchronously with the suction travel belt 2. The vacuum switching mechanism is provided with a vacuum switching mechanism drive pulley 3-11 fitted to the vacuum switching synchronous rotating unit 3-1. A vacuum switching mechanism driving belt 6 is installed between the vacuum switching mechanism driving belt pulley 4-1 and the vacuum switching mechanism driving pulley 3-11. The vacuum switching synchronous rotating unit 3-1 is threaded with the same number of vacuum joints 3-2 as the vacuum joints 2-5 provided on the adsorption traveling belt 2, and communicates with the vacuum tube 3-3.

  The vacuum switching mechanism shown in FIG. 4 includes the vacuum switching fixing unit 3-7 fixed to the outer frame 7 and the vacuum switching synchronous rotating unit that is fitted to the vacuum switching mechanism driving pulley 3-11 and rotates synchronously. 3-1. Vacuum joints 3-12 and 3-2 are screwed into the vacuum switching fixing portion and the vacuum switching synchronous rotation portion, respectively, and a vacuum pumping device such as a vacuum pump not shown by vacuum tubes 3-10 and 3-3, It communicates with the vacuum chamber 2-3 of the adsorption traveling belt.

  The vacuum switching synchronous rotating portion 3-1 is biased in the opening direction by an elastic body such as a spring to a communication hole communicating with the vacuum joint 3-2, and detects a vacuum leak in the contact surface vacuum chamber 2-3. A vacuum on-off valve mechanism 3-4 including an on-off valve 3-5 that opens and closes by a differential pressure from a reference vacuum obtained from a vacuum chamber that is not provided is provided. Further, the valve body of the on-off valve 3-5 is provided with a flow hole 3-13 drilled so that the leakage flow rate can be adjusted, and a vacuum communication hole 3-8 to the vacuum switching fixing part 3-7. . When the leakage of the vacuum chamber 2-3 is stopped by the leakage flow rate of the flow hole 3-13 and the vacuum degree of the vacuum chamber approaches the reference vacuum value, the elastic body 3-14 such as a spring is opened. The on-off valve 3-5 is opened by the urging force, and evacuation is performed.

The vacuum switching fixing portion 3-7 includes a sliding elastic body 3-9 on a sliding surface with the vacuum switching synchronous rotating portion 3-1, and a vacuum joint 3-12 at a predetermined position inside the sliding surface. Are provided with vacuum communication holes 3-8.
A vacuum tube 3-10 is screwed to the vacuum joint 3-12 that is screwed to the vacuum switching fixing portion 3-7. The vacuum tube is connected to a vacuuming device (not shown) and is vacuumed. The vacuum closing is performed only when the vacuum communication hole 3-8 between the vacuum switching fixing unit and the vacuum switching synchronous rotating unit is matched by the rotation of the vacuum switching synchronous rotating unit 3-1, which is synchronized with the suction traveling belt. Via the valve mechanism 3-4, it is possible to communicate with the vacuum joint 3-2, the vacuum tube 3-3, the vacuum joint 2-5 of the suction traveling belt, and the suction vacuum chamber of the suction traveling belt. This vacuum communication evacuates only the contact surface side of the suction traveling belt.

The vacuum on-off valve mechanism 3-4 embedded in the vacuum switching synchronous rotating unit 3-1 automatically closes the valve when a vacuum leak occurs in the suction vacuum chamber 2-3 of the contact surface portion suction traveling belt. Therefore, even if it is a low-evacuation vacuum pump, a strong high adsorption force can be obtained.
An electromagnetic valve can be used instead of the closing valve 3-5.

  As shown in FIG. 5, the housing outer frame 7 is provided with a suction traveling belt pulley 4 and a vacuum switching mechanism 3, and the traveling belt 2 is bridged by a plurality of suction traveling belt pulleys 4 to connect the connecting rod 7-2. It is fixed by a book. The wall surface adsorption traveling device can be easily disassembled and assembled, and the traveling belt itself can be easily replaced on site.

  In the example of mounting on the gondola shown in FIGS. 6 to 7, the wall surface adsorption traveling device is mounted on the gondola mounting base 10 one above the other, and the gondola mounting 10 and the gondola mounting base 9 serve as a fulcrum. It is fixed at a point and is fitted so as to be rotatable forward and backward. Moreover, between the gondola mounting base 10 and the gondola mounting base 9, it is urged | biased by the spring-like elastic body up and down for the contact surface adhesion degree improvement. The control lever 11 is fixed to the upper part of the gondola mounting base 10 for overcoming a large step. Two types of gondola mounting table 10 and gondola mounting table 9 are mounted on the left and right sides of the gondola so that the adsorbent traveling on the outer wall surface of the building with obstacles is possible.

  According to the present invention, it is possible to easily stop a gondola during movement, which can only be achieved by using a travel guide rail, and to easily get over obstacles with a gondola stable traveling device that can be easily added to an existing gondola. The device is ready.

FIG. 8 illustrates an example of a flat suction disk rotating wall surface traveling device.
A predetermined number of vacuum chambers are lacked on a flat plate made of a hard material such as aluminum of a predetermined size at a predetermined position of a rotation support mechanism consisting of a chain 13-1 bridged by a pair of upper and lower sprockets or pulleys or a timing belt. A crawler type traveling belt is provided in which a suction disk 13-3 formed by fixing a sealing wall on a rubber substrate is fitted up and down at a fixed angle.

  In the suction disk having the same structure as that of the suction running belt, a vacuum joint is screwed at the center of a predetermined plurality of vacuum chambers formed on the vacuum chamber seal wall and communicates with the vacuum tube. The predetermined plurality of vacuum tubes communicating from the vacuum chamber of the same suction disk are gathered into one vacuum joint in a connection joint fixed to the contact surface side rear surface of the suction disk, and communicated with the connection joint. Communicates with a vacuum joint screwed to a vacuum switching synchronous rotating portion of a vacuum switching mechanism fixed between the rotation support mechanisms.

  A plurality of the suction discs, which are fitted in a predetermined position on the chain or belt of the rotation support mechanism, can be turned up and down, and can be expanded and contracted in the direction of the normal line of the chain or belt by an elastic body such as a spring. Energized and provided.

Also, a vacuum switching mechanism drive belt pulley 4-1 is rotationally interlocked with one of the sprocket 13-1 and the pulley of the rotation support mechanism, and interlocked with the vacuum switching synchronous rotating unit 3-1 of the vacuum switching mechanism 3. A vacuum switching mechanism drive pulley 3-11 is provided.
A vacuum switching mechanism driving belt 6 is installed between the vacuum switching mechanism driving belt pulley 4-1 and the vacuum switching mechanism driving pulley 3-11, and the rotation of the rotation support mechanism rotating chain or belt and the rotation of the vacuum switching synchronous rotating unit. Synchronize with. The same number of vacuum joints 3-2 as the coupling joints of the plurality of suction cups are screwed to the vacuum switching synchronous rotating unit 3-1, and communicated by a vacuum tube.

  Only the vacuum joint 3-2 from the suction plate on the contact surface side is vacuumed in the vacuum joint 3-2 screwed to the vacuum switching synchronous rotation portion that rotates synchronously with the rotation of the chain or belt of the rotation support mechanism. The vacuum coupling 3-12 screwed to the switching fixing portion communicates with the vacuum coupling 3-12 and is evacuated by a vacuuming device such as a vacuum pump (not shown) through the inserted vacuum tube 3-10.

  The vacuum switching synchronous rotating part 3-1 is urged in the opening direction by an elastic body 3-4 such as a spring to a communication hole communicating with the vacuum joint 3-2 to detect a vacuum leak in the contact surface vacuum chamber 2-3. A vacuum on-off valve mechanism 3-4 including an on-off valve 3-5 that opens and closes by a differential pressure from a reference vacuum obtained from a vacuum chamber (not shown) is provided. Further, the valve body of the on-off valve 3-5 is provided with a flow hole 3-13 drilled so that the leakage flow rate can be adjusted, and a vacuum communication hole 3-8 to the vacuum switching fixing part 3-7. . When the leakage of the vacuum chamber 2-3 is stopped by the leakage flow rate through the flow hole 3-13 and the vacuum degree of the vacuum chamber approaches the reference vacuum, the elastic body 3-14 such as a spring is opened in the opening direction. The on-off valve 3-5 is opened by the urging force, and evacuation is performed.

Two pairs of plane suction surface rotating type wall surface traveling devices are mounted on the left and right sides of the gondola shown in FIG. 8, and the gondola mounting 10 and the gondola mounting base 9 are fixed at one point as a fulcrum and rotated back and forth. Fits freely. Moreover, between the gondola mounting base 9 and the gondola mounting base 8, it is urged | biased by the spring-like elastic body up and down for the contact surface adhesion degree improvement. The control lever 10 is fixed to the upper part of the gondola mount 9 in order to get over a large step. Two types of gondola mount 9 and gondola mount 8 are mounted on the left and right sides of the gondola, making it possible to perform suction running on the outer wall surface of a building with obstacles.

Illustration of wall surface adsorption traveling device Partial view of wall-adsorbing traveling belt Partial bird's-eye view of wall surface adsorption traveling device Diagram of vacuum switching mechanism Exploded view of main body of wall surface adsorption traveling device Gondola installation diagram (side view) Gondola installation (front) Diagram of a flat suction disk rotating wall surface adsorption traveling device

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Wall surface adsorption traveling apparatus 2 Wall surface adsorption traveling belt 2-1 Board | substrate 2-2 Secondary seal wall 2-3 Vacuum | suction vacuum chamber 2-4 Vacuum drawing hole 2-5 Vacuum joint 2-6 Protective wall 2-7 Groove 2-8 Primary seal wall 3 Vacuum switching mechanism 3-1 Vacuum switching synchronous rotating section 3-2 Vacuum joint 3-3 Vacuum tube 3-4 Vacuum on-off valve mechanism 3-5 On-off valve 3-7 Vacuum switching fixing section 3-8 Vacuum communication Hole 3-9 Sliding elastic body 3-10 Vacuum tube 3-11 Vacuum switching mechanism driving pulley 3-12 Vacuum joint 3-13 Flow hole 3-14 Spring elastic body 4 Adsorption traveling belt pulley 4-1 Vacuum switching mechanism driving belt Pulley 5 Obstacle climbing wheel 6 Vacuum switching mechanism drive belt 7 Outer frame 7-2 Connecting rod 8 Gondola mounting base 9 Gondola mounting base 10 Control lever 12 Gondola 13-1 Sprocket or pulley 13-2 Chain The belt 13-3 suction cups

Claims (3)

An endless suction running belt with a vacuum chamber formed directly on the outer circumference of the belt substrate, or an endless suction running with a suction plate with a vacuum chamber on a hard substrate fitted at a predetermined position on the outer circumference of the belt or chain. In a crawler-type wall surface adsorbing traveling device including a belt, a rotation support portion including a pulley or a sprocket that supports the free rotation of the belt, and a vacuum switching mechanism that evacuates only the contact wall surface portion,
・ A vacuum chamber is formed on the contact surface side of the substrate of the suction belt or suction disk, and the substrate is a secondary made of rubber sponge, gel sponge, gel sheet, etc., which is detachably bonded with double-sided tape or simple adhesive. A sealing wall,
-The compression and compression of the secondary seal wall received when the suction running belt or the suction disk contacts the surface is limited to a predetermined value to prevent the secondary seal wall from being deteriorated by stress, and the secondary seal wall is evacuated. A protective wall made of a rubber elastic body fitted with a predetermined height and a predetermined width on the peripheral side of the vacuum chamber in order to prevent deterioration due to single foam breakage or deformation due to
A groove that circulates along the shape of the protective wall is formed in the contact surface portion of the protective wall, and a gel sheet having a columnar shape is provided in the groove so that the contact surface end of the sheet is about several millimeters higher than the protective wall contact surface. A primary sealing wall forming a vacuum chamber wall;
A wall surface adsorbing travel device characterized by comprising: The crawler-type wall surface adsorption traveling device according to claim 1, further comprising: a vacuum switching function that rotates in synchronization with the adsorption traveling belt and evacuates only the contact surface side of the adsorption traveling belt;
Detects a vacuum leak in the vacuum chamber of the adsorption belt and opens and closes it by the pressure difference from the reference vacuum obtained from the vacuum chamber. Normally, it is urged in the opening direction. An automatic vacuum on-off valve having a flow hole with an adjustable leakage flow rate,
A wall surface adsorbing travel device comprising a vacuum switching mechanism for internally installing a wall. 3. A gondola stable traveling device, wherein the wall surface adsorbing traveling device according to claim 1 or 2 is detachably attached to a gondola so that the adsorbing traveling to the wall surface is possible even when the gondola is moved up and down.