JP2008120252A - Crawler type sucking/traveling robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To achieve the improvement of traveling performance, cost reduction, and the improvement of versatility of a crawler type sucking/traveling robot. <P>SOLUTION: The crawler type sucking/traveling robot is provided with a frame 100, sprockets 200a-200d mounted at the front and rear sides, a drive means 300 which drives the rotation of the sprockets, and a crawler chain 400 formed by connecting a plurality of crawler plates 401 in an endless chain state and wrapped around the front and rear sprockets. The sprockets 200a-200d have portions formed at three positions equally in the circumferential direction to be engaged with the crawler plates. The crawler chain can be structured with five or six pieces of crawler plates. The crawler plates 401 making up the crawler chain 400 can be structured in such a way that sucking pads 403 are rotatable to the crawler plates 401. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a crawler-type suction traveling robot.

  A crawler that travels with a pair of left and right crawlers adsorbed to the floor surface and wall surface (travel surface) as a work robot to freely run on a vertical wall surface as well as a general floor surface. A mold suction traveling robot has been proposed.

For example, Japanese Patent Laid-Open No. 5-4594 describes a crawler-type adsorption traveling robot in which a pair of left and right sprockets are rotatably attached to rotary shafts attached to the front and rear of a frame, and an endless chain is wound around such sprockets. ing. The endless chain includes a bellows having a suction pad attached to the tip which can be in close contact with the running surface. And the bellows which contact | abuts a driving | running | working surface is evacuated with driving | running | working, and the structure which adsorb | sucks the suction pad of the said bellows to a driving | running surface is provided.
JP-A-5-4594

  The crawler-type suction traveling robot disclosed in Japanese Patent Laid-Open No. 5-4594 has a large number of crawler plates constituting a crawler chain, and the control becomes complicated. In addition, the number of parts is large, and the manufacturing cost increases. The crawler-type suction traveling robot disclosed in the publication travels while simultaneously attracting a plurality of crawler plates to the traveling surface, but the crawler-type suction traveling robot cannot be rotated while the crawler plates are attracted.

  The crawler type adsorption traveling robot according to the present invention travels by adsorbing a crawler chain to a wall surface. The crawler-type adsorption traveling robot has a frame, sprockets attached to the front and rear sides of the frame, driving means for rotationally driving the sprocket, and a plurality of crawler plates connected in an endless chain shape, and hung around the front and rear sprockets. Positioned below the crawler chain, intake holes formed in the crawler plate, suction pads disposed on the outer surface of the crawler plate so as to surround the intake holes, an intake device attached to the intake holes, and the frame And a control device for operating an intake device attached to the intake hole of the crawler plate. Furthermore, the sprocket is configured by a sprocket that is provided with three portions that are meshed with one crawler plate equally in the circumferential direction.

  The crawler chain may be an odd number of crawler plates of 5 or more. Further, the crawler chain may be an even number of crawler plates of 6 or more.

  For example, the frame may be configured such that the distance between the rotation axes of the sprockets attached to the front and rear changes according to the rotation of the crawler chain. In addition, a first slide shoe that guides the crawler plate located below the frame, a second slide shoe that guides the crawler plate located above the frame, and a space between the frame and the first slide shoe It is good also as a structure provided with the 1st support member which supports 1st, and the 2nd support member which supports between a flame | frame and a 2nd slide shoe. In this case, the first support member and the second support member can be configured by either a spring or a cylinder device, for example.

  The suction pad is preferably rotatable with respect to the crawler plate. In addition, an erection frame can be spanned between the frames of a plurality of crawler type adsorption traveling robots. Further, in this case, a moving table may be provided on the installation frame.

  The crawler-type adsorption traveling robot has at least one crawler plate among the crawler plates of the plurality of crawler-type adsorption traveling robots, and a suction pad can rotate. Among the plurality of crawler-type adsorption traveling robots, one crawler Direction change structure that changes the direction of the crawler type adsorption traveling robot by running another crawler type adsorption traveling robot with the crawler plate that can rotate the adsorption pad adsorbed on the traveling surface May be provided.

  A crawler-type adsorption traveling robot including sprockets that have three portions that are meshed with one crawler plate evenly in the circumferential direction can reduce the number of crawler plates in the crawler chain. Thereby, the number of parts can be reduced and the manufacturing cost can be reduced.

  For example, the distance between the rotation axes of the sprockets attached to the front and rear of the frame changes according to the rotation of the crawler chain, so that the crawler-type adsorption traveling robot can travel more smoothly.

  In addition, a first slide shoe that guides the crawler plate located below the frame, a second slide shoe that guides the crawler plate located above the frame, and a space between the frame and the first slide shoe The crawler-type adsorption traveling robot including the first support member that supports the second support member and the second support member that supports between the frame and the second slide shoe can prevent the crawler from being bent, and thus travels more smoothly.

  A crawler-type suction traveling robot in which the suction pad is rotatable with respect to the crawler plate improves the degree of freedom of travel of the crawler-type suction traveling robot. Moreover, the versatility of the crawler type adsorption traveling robot is improved by providing the installation frame between the frames of the plurality of crawler type adsorption traveling robots and further providing the moving frame on the installation frame.

  The present inventor has considered that if the crawler-type suction traveling robot can be smoothly turned, the degree of freedom in traveling of the crawler-type suction traveling robot is improved and can be used for more applications. In the development of such a crawler-type suction traveling robot, the crawler-type suction traveling robot was also examined for size reduction, weight reduction, and cost reduction. As a result, as will be described below, a completely new crawler-type adsorption traveling robot that can be rotated while adsorbing the crawler plate has been developed.

  Hereinafter, a crawler type adsorption traveling robot according to an embodiment of the present invention will be described with reference to the drawings. In the following description, members / parts having the same action are denoted by the same reference numerals.

  In this embodiment, as shown in FIGS. 1, 2, and 3, the crawler-type suction traveling robot 1000 includes a frame 100, sprockets 200 a to 200 d, a driving unit 300, a crawler chain 400, and an intake device 500. And a control device 600.

  In this embodiment, as shown in FIGS. 1 and 2, the frame 100 has left and right side members 101 and 102 and front and rear side members 103 and 104 assembled in a rectangular shape. On the other hand, the left and right slabs 101 and 102 are long rectangular frames. The side members 101 and 102 constituting the long sides on the left and right sides and the side members 103 and 104 constituting the short sides on the front and rear sides are fixed by screws or welding.

  As shown in FIG. 1, the sprockets 200 a to 200 d are attached to the front side and the rear side of the frame 100. Each of the sprockets 200a to 200d includes three portions where one crawler plate meshes evenly in the circumferential direction. In this embodiment, each of the sprockets 200a to 200d is configured by a substantially equilateral triangular sprocket. The length of one side of the sprockets 200a to 200d is set so that one crawler plate of a crawler chain 400 described later meshes. FIG. 4 is a plan view showing a state in which the sprockets 200 a to 200 d are attached to the frame 100. In this embodiment, as shown in FIG. 4, the left and right side members 101, 102 are arranged so that the sprockets 200a to 200d face the front and rear sides of the left and right side members 101, 102 of the frame 100. The rotating shafts 201a to 204a of the sprockets 200a to 200d are rotatably attached. A gear 202 is attached to the sprocket 200b to receive power from the driving means.

  The driving means 300 is a device that rotationally drives the sprockets 200a to 200d. In this embodiment, as shown in FIG. 1, the driving unit 300 includes a motor 301 attached to the frame 100, a speed reduction mechanism 302, and a gear 303. The gear 303 meshes with the gear 202 attached to the sprocket 200b. In the driving unit 300, the driving force of the motor 301 is transmitted to the sprocket 200b through the speed reduction mechanism 302, the gear 303, and the gear 202 in this order. Since the crawler chain 400 is wound around the sprockets 200a to 200d, when the sprocket 200b rotates, the crawler chain 400 rotates and the sprockets 200a, 200c, and 200d rotate. The drive unit 300 controls the rotation direction of the sprockets 200a to 200d (in other words, the rotation direction of the crawler chain 400) by switching the rotation of the motor 301 between normal rotation and reverse rotation.

  As shown in FIG. 1, the crawler chain 400 includes a plurality of crawler plates 401 connected in an endless chain shape, and is wound around the front, rear, left and right sprockets 200 a to 200 d of the frame 100.

  In this embodiment, as shown in FIG. 1, the crawler chain 400 connects five rectangular crawler plates 401 in an endless chain shape. One side of the crawler plate 401 has a length corresponding to one side of the sprockets 200a to 200d. The five crawler plates 401 are arranged in an annular manner with sides corresponding to one side of the sprockets 200 a to 200 d arranged in the circumferential direction of the crawler chain 400, and are connected by a hinge 410 to constitute the crawler chain 400. The crawler chain 400 is engaged with one crawler plate 401 on one side of the substantially equilateral triangular sprockets 200 a to 200 d described above and is wound around the front, rear, left and right sprockets 200 a to 200 d of the frame 100.

  In this case, as shown in FIG. 1, in a state where the sprockets 200a to 200d on both front and rear sides of the frame 100 are oriented in an inverted triangle, two crawler plates 401 are formed along the upper side of the sprockets 200a to 200d. The crawler plate 401 is disposed between the lower vertices of the sprockets 200a to 200d.

  As shown in FIG. 2, each crawler plate 401 is formed with an intake hole 402. In this embodiment, the intake hole 402 is formed at the center of the crawler plate 401. Further, a suction pad 403 is disposed on the outer surface of the crawler plate 401 facing outward in the crawler chain 400 so as to surround the intake hole 402. In this embodiment, the suction pad 403 is formed of a ring-shaped seal member made of an elastically deformable foaming resin. For this reason, even when the floor surface or the wall surface (travel surface) 2000 on which the crawler-type adsorption travel robot 1000 travels has some unevenness, it can be in close contact with the travel surface 2000.

  In this embodiment, as shown in FIGS. 1 and 2, a rubber plate 404 is attached to the outer surface of the crawler plate 401 inside a region surrounded by the suction pads 403. When the crawler-type suction traveling robot 1000 travels, if the suction pad 403 is brought into close contact with the traveling surface 2000 and evacuation is performed, the rubber plate 404 contacts the traveling surface 2000 and a gap is formed between the traveling surface 2000 and the crawler plate 401. Is formed.

  By attaching the rubber plate 404, the suction pad 403 is not excessively compressed and excessive shearing force does not act. For this reason, it is possible to prevent the suction pad 403 from being damaged. Further, by attaching the rubber plate 404, a slight gap is formed between the running surface 2000 and the crawler plate 401, so that the inner region surrounded by the suction pad 403 can be evacuated more reliably. Further, when the crawler-type suction traveling robot 1000 travels while being attracted to a vertical wall surface, the rubber plate 404 is non-slip, so that the crawler-type suction traveling robot 1000 can travel more stably.

  The intake device 500 is attached to the intake hole 402 as shown in FIG. The control device 600 operates the intake device 500 attached to the intake hole 402 of the crawler plate 401 located on the lower side with respect to the frame 100. FIG. 3 illustrates the crawler chain 400 deployed and a schematic structure inside thereof.

  In this embodiment, as shown in FIG. 3, the intake device 500 includes an ejector pump 501 and a compressor 502 installed outside. The ejector pump 501 is a device that receives supply of compressed air from the compressor 502 and generates negative pressure therein. The control device 600 includes a switch 601. The switch 601 is attached to each crawler plate 401 and is a device that switches the supply of compressed air to the ejector pump 501.

  As shown in FIG. 3, a ventilation pipe 611 is connected in an annular shape inside the crawler chain 400, and a branch pipe 612 is provided in the ventilation pipe 611 so as to communicate with the switch 601 of each crawler plate 401. Is arranged. A ventilation pipe 614 is communicated from the switch 601 to an ejector pump 501 as an intake device. The ejector pump 501 is connected to the intake hole 402 of each crawler plate 401 by a ventilation pipe 615 inside the crawler chain 400. A branch pipe 616 is attached to a ventilation pipe 611 that is connected in an annular shape inside the crawler chain 400, and a ventilation pipe 617 that supplies compressed air from an external compressor 502 is connected thereto. As shown in FIG. 2, the ventilation pipe 617 is connected to an external compressor 502 via a rotary joint 618 attached to the frame 100. Since the rotary joint 618 rotates in accordance with the rotation of the crawler chain 400, even if the crawler chain 400 rotates, the ventilation pipe 617 disposed inside the crawler chain 400 does not get entangled and can follow the rotation of the crawler chain 400. .

  As shown in FIG. 3, the switch 601 is a device that switches between supplying compressed air to the ejector pump 501 serving as an intake device or stopping the supply of compressed air. In this embodiment, the switch 601 includes a sensor (not shown) that detects the proximity of the traveling surface. When the crawler plate 401 faces the traveling surface based on a detection signal from the sensor, compressed air is supplied to the ejector pump 501. When the crawler plate 401 is separated from the traveling surface, a mechanism for stopping the supply of compressed air to the ejector pump 501 is provided.

  As described above, when the crawler plate 401 faces the traveling surface, the ejector pump 501 is supplied with compressed air from the compressor 502 to generate negative pressure. For this reason, when the crawler plate 401 faces the traveling surface, air is sucked from the suction holes 402 of the crawler plate 401, and the inside of the suction pads 403 disposed so as to surround the suction holes 402 is evacuated. The As a result, the suction pad 403 of the crawler plate 401 is attracted to the traveling floor surface or wall surface 2000.

  In this embodiment, as described above, the crawler chain 400 includes five rectangular crawler plates 401 connected in an endless chain shape. FIGS. 5A to 5D are schematic views showing the traveling state of the crawler-type suction traveling robot 1000. 201a and 201b in the figure indicate the rotation axes of the sprockets 200a and 200b, and 100 in the figure indicates a frame. In addition, among the suction pads 403 of the crawler plate 401 shown in FIGS. 5A to 5D, hatched suction pads 403 indicate suction pads that are attracted to the running surface 2000.

  As shown in FIG. 5A, when the sprockets 200a and 200b on both the front and rear sides are in an inverted triangular posture with the apexes facing down, one lower crawler plate 401 is attracted to the traveling surface 2000. When the sprockets 200a and 200b are rotated clockwise by 30 ° in the drawing from the state shown in FIG. 5A, the apexes of the sprockets 200a and 200b face the right side in the drawing as shown in FIG. 5B. It becomes a state. Further, when the sprockets 200a and 200b are rotated clockwise by 30 ° in the drawing from the state shown in FIG. 5B, the sprockets 200a and 200b face the apex upward as shown in FIG. 5C. It becomes a state. In this state, the crawler chain 400 is in a state where the two crawler plates 401 are attracted to the traveling surface 2000 along the lower sides of the sprockets 200a and 200b on both sides. Further, when the sprockets 200a and 200b are rotated clockwise by 30 ° therefrom, the state shown in FIG. 5D is obtained, and when the sprockets 200a and 200b are further rotated clockwise by 30 °, FIG. The state shown in a) is obtained. When the sprockets 200a and 200b are rotated clockwise, the crawler-type suction traveling robot 1000 advances to the right in the drawing while changing the state in the order of FIGS. 5 (a) to 5 (d). Conversely, when the sprockets 200a and 200b are rotated counterclockwise, they move in the left direction in the figure while changing their states in the order of FIGS.

  This crawler type adsorption traveling robot 1000 uses substantially equilateral triangular sprockets 200a to 200d in which one crawler plate 401 meshes with one side of the sprockets 200a to 200d. For this reason, it can respond also to the crawler chain 400 comprised by the 5 sheet crawler plate 401 mentioned above, and can reduce the number of the crawler plates 401 very much. Thereby, since the number of parts of the crawler type adsorption traveling robot 1000 can be reduced, the crawler type adsorption traveling robot 1000 can be reduced in size and weight.

  As shown in FIGS. 5A to 5D, the crawler-type suction traveling robot 1000 moves up and down with respect to the traveling surface according to the posture of the sprockets 200a to 200d during traveling. That is, as shown in FIG. 5 (a), in a posture where the vertices of the sprockets 200a and 200b face downward, the frame 100 is raised, and as shown in FIG. 5 (c), the vertices of the sprockets 200a and 200b are raised. In the posture facing the frame 100, the frame 100 is lowered.

  In this embodiment, as shown in FIG. 1, the crawler-type suction traveling robot 1000 supports the crawler-type suction traveling robot 1000 to keep the distance between the frame 100 and the crawler chain 400 appropriately in order to realize more stable traveling. A device 700 is attached.

  The support device 700 includes, for example, a first slide shoe 701 that guides the crawler plate 401 on the traveling surface 2000 side on which the crawler-type suction traveling robot 1000 travels, and a side opposite to the traveling surface 2000 on which the crawler-type suction traveling robot 1000 travels. A second slide shoe 702 that guides the crawler plate 401, a first support member (703, 705) that supports between the frame 100 and the first slide shoe 701, and between the frame 100 and the second slide shoe 702. It is good to have a structure provided with the 2nd supporting member (704, 705) which supports the. Further, the first support members (703, 705) appropriately maintain the distance between the frame 100 and the first slide shoe 701, and the second support members (704, 705) appropriately maintain the distance between the frame 100 and the second slide shoe 702. It is a support device, for example, a spring, a cylinder device, or a combination of these may be employed.

  In this embodiment, as shown in FIG. 1, the support device 700 includes a double rod type cylinder device 705 and upper and lower slide shoes 701 and 702. The cylinder device 705 is a device that combines the functions of the first support member and the second support member described above. As shown in FIGS. 1 and 6A and 6B, the cylinder device 705 is attached to the front side and the rear side on both the left and right sides of the frame 100, and the rods 703 and 704 are extended vertically. The tips of 703 and 704 are coupled to slide shoes 701 and 702. The upper slide shoe 701 is a member corresponding to the above-described second slide shoe, and as shown in FIGS. 6A and 6B, is an L-shaped member that supports the inside of the crawler chain 400. ing. The lower slide shoe 702 is a member corresponding to the first slide shoe described above, and has a cross-sectional shape that sandwiches the crawler chain 400 vertically. Fig.6 (a) is an end elevation in the AA cross section of FIG. FIG. 6A shows a state where the frames 101 and 102 are at a high position, and FIG. 6B shows a state where the frames 101 and 102 are at a low position. In addition, in FIG. 6, illustration of ventilation piping etc. inside the crawler chain 400 is omitted.

  As shown in FIGS. 5A to 5D described above, the crawler-type adsorption traveling robot moves the frame up and down with respect to the traveling surface according to the posture of the sprockets 200a to 200d during traveling. In this embodiment, the cylinder device 705 applies an appropriate reaction force between the frame 100 and the slide shoes 701 and 702. In addition, the cylinder device 705 absorbs the amount of fluctuation in height between the frames 101 and 102 and the upper and lower crawlers during traveling. That is, in the cylinder device 705, the rods 703 and 704 expand and contract with respect to the cylinder 705 in accordance with the rotation of the sprockets 200a to 200d and the rotation of the crawler chain 400, and the distance between the frame 100 and the slide shoes 701 and 702 Adjust appropriately. The slide shoes 701 and 702 guide the traveling of the crawler chain 400 while preventing the crawler from bending and sliding the crawler chain 400 traveling up and down the frame 100. Accordingly, the crawler chain 400 rotates smoothly according to the rotation of the sprockets 200a to 200d, and the traveling of the crawler type adsorption traveling robot 1000 is stabilized. For example, since the crawler does not bend when traveling on a vertical wall surface, the suction pad is more reliably attracted to the traveling surface, which is particularly advantageous for traveling on a vertical wall surface.

  Further, the crawler-type adsorption traveling robot 1000 can move up and down on a vertical wall surface. When the crawler type adsorption traveling robot 1000 moves up and down a vertical wall surface, gravity acts in a direction away from the crawler plate 401 where the frame 100 is adsorbed on the traveling surface. In this embodiment, the lower slide shoe 702 has a cross-sectional shape sandwiching the crawler chain 400 up and down, and the cylinder device 705 resists the action of gravity, and the crawler plate 401 adsorbed on the running surface 2000 and A force is applied so as to maintain a distance from the frame 100. Therefore, the crawler-type suction traveling robot 1000 can travel stably even when moving up and down a vertical wall surface.

  The crawler-type suction traveling robot according to the embodiment of the present invention has been described above, but the crawler-type suction traveling robot according to the present invention is not limited to the above-described embodiment.

  For example, although the sprocket has a substantially regular triangle shape, it does not have to be a regular regular triangle. That is, the substantially equilateral triangular sprocket only needs to be provided with three portions where one crawler plate is meshed with the sprocket plate in the circumferential direction.

  Moreover, the control apparatus 600 should just operate the air intake apparatus 500 attached to the air intake hole 402 of the crawler board 401 located below with respect to the flame | frame 100, and is not limited to embodiment mentioned above. Further, the arrangement structure of the ventilation piping of the crawler chain 400, the structure of the frame, and the like are not limited to the above-described embodiment.

  Further, for example, the crawler plate 401 constituting the crawler chain 400 may have a structure in which the suction pad 403 can rotate with respect to the crawler plate 401.

  In this case, as shown in FIGS. 7A and 7B, the crawler plate 401 is provided with a suction hole 402 in the center, a turntable 411 is provided so as to surround the suction hole 402, and a suction pad is provided on the turntable 411. 403 may be attached. Further, the turntable 411 may be provided with a driving device 810 and a turning control device 820. In this case, for example, a motor may be used as the driving device 810, and the turntable 411 may be rotated with a speed reduction mechanism 811 interposed. The electrical wiring to the motor may be wired so as not to prevent the crawler chain 400 from rotating. For example, an electrical joint may be provided in the frame 100 to connect the electrical wiring disposed inside the crawler chain 400 and the electrical wiring outside the frame 100. Thereby, even if the crawler chain 400 rotates, it can be comprised so that the electrical wiring arrange | positioned inside the crawler chain 400 may not get entangled. The turning control device 820 may be provided outside the frame 100 so as to send a control signal to the driving device 810 as appropriate.

  As shown in FIG. 5 (a), the crawler type adsorption traveling robot 1000 provided with such a crawler chain composed of five crawler plates is in a state where one crawler plate 401 is adsorbed to the traveling surface 2000. The crawler plate 401 rotates by rotating the suction pad 403. That is, the crawler-type suction traveling robot 1000 rotates with the crawler plate 401 being sucked and changes the traveling direction. At this time, since only one crawler plate 401 is in the posture of being attracted to the traveling surface 2000, the crawler-type attracting traveling robot 1000 rotates smoothly.

  According to the crawler type adsorption traveling robot 1000 that performs such a turning operation, an installation frame may be spanned between the frames 100 of the plurality of crawler type adsorption traveling robots 1000. For example, when two crawler type adsorption traveling robots 1000 are used as a unit, as shown in FIG. 8, two crawler type adsorption traveling robots 1000a and 1000b are arranged so that the frame 100 is parallel. It is good to install and erection frame 900 between the frames 100. By unitizing a plurality of crawler-type suction traveling robots 1000 in this way, a larger work unit can be loaded. In this case, it is preferable to provide a control device so that the crawler type adsorption traveling robots 1000a and 1000b move in conjunction with each other.

  In addition, when the installation frame 900 is spanned between the frames 100 of the plurality of crawler type adsorption traveling robots 1000 and the plurality of crawler type adsorption traveling robots 1000 are unitized, a moving table 910 is provided on the installation frame 900. May be. For example, the moving base 910 may be provided with an attachment portion for attaching the work device. When a plurality of crawler-type suction traveling robots 1000 are unitized as described above, the function of the crawler-type suction traveling robot 1000 can travel while attracting a vertical wall surface and further move the installation frame 900. By providing the movable table 910 and attaching a working device to the movable table 910, it is possible to work in a wider range. In addition, a heavier working device can be attached by unitizing a plurality of crawler-type suction traveling robots. For this reason, the versatility of the crawler type adsorption traveling robot is improved.

  Among the crawler plates of a plurality of crawler type adsorption traveling robots, at least one crawler plate can rotate the adsorption pad, and among the plurality of crawler type adsorption traveling robots, one crawler type adsorption traveling robot can perform adsorption. You may provide the direction change structure which changes the direction of a crawler type adsorption traveling robot by making another crawler type adsorption traveling robot drive in the state where the crawler plate which can rotate a pad was made to adsorb to a running surface. For example, as shown in FIG. 8, when a plurality of (two in the illustrated example) crawler-type suction traveling robots 1000a and 1000b are unitized by attaching the installation frame 900, one crawler-type suction traveling robot 1000a is turned. It is possible to have a structure in which the unitized crawler-type suction traveling robots 1000a and 1000b are rotated by moving the other crawler-type suction traveling robot 1000b in a free state. Thus, by providing the crawler-type suction traveling robots 1000a and 1000b with the direction changing structure, the degree of freedom of traveling of the apparatus in which the plurality of crawler-type suction traveling robots 1000a and 1000b are unitized is increased, and more advanced work is performed. Can adapt to.

  In this case, it is not necessary to provide the driving device 810 and the turning control device 820 for rotating the suction pad 403 with respect to the crawler plate 401 on the crawler plate capable of rotating the suction pad. For this reason, the suction pad 403 may have a structure in which a turntable is attached to the crawler plate 401 and installed on the turntable, for example.

  Further, when the crawler-type suction traveling robot 1000 is used as a single unit and the crawler-type suction traveling robot 1000 is rotated, only one crawler plate 401 capable of rotating the suction pad 403 is in a state of being attracted to the traveling surface. This is not a problem when the number of crawlers of the crawler type adsorption traveling robot 1000 is small, but the adsorption force decreases when the number of crawlers of the crawler type adsorption traveling robot 1000 is large. For example, in a crawler-type suction traveling robot having a crawler chain in which eight crawler plates are connected in an endless chain shape, the robot travels while adsorbing three to four suction pads. The suction pad is sucked. For this reason, the attraction force of the crawler type attraction traveling robot is reduced when it is rotated. For example, in an application where the vehicle travels on a vertical wall surface, the loadable weight is reduced.

  On the other hand, when a plurality of crawler type adsorption traveling robots 1000 are unitized, one crawler type adsorption traveling robot 1000 has only one crawler plate 401 on which the adsorption pad 403 can rotate. Although it is in a state of being adsorbed on the traveling surface, the crawler plate 401 is adsorbed as usual in the other crawler-type adsorption traveling robot 1000. For this reason, adsorption power can be maintained as a whole unit. By unitizing a plurality of crawler-type suction traveling robots 1000 in this way, it is possible to maintain a loadable weight even when turning around in an application traveling on a vertical wall surface.

  The crawler-type adsorption traveling robot 1000 using a sprocket having three portions that are meshed with one crawler plate evenly in the circumferential direction is not limited to the case where the crawler chain is composed of five crawler plates. For example, the crawler chain may be composed of an odd number of crawler plates of 5 or more.

  For example, a crawler-type suction traveling robot 1000c in which the crawler chain 400 is composed of seven crawler plates, as shown in FIG. 9A, has an inverted triangular posture in which the front and rear sprockets 200a and 200b face the apex downward. Then, the lower two crawler plates 401 are attracted to the traveling surface 2000. When the sprockets 200a and 200b are rotated and the sprockets 200a and 200b on both sides face the apex upward as shown in FIG. 9C, the lower three crawler plates 401 are attracted to the running surface 2000. To do. The crawler-type suction traveling robot 1000c moves to the right while changing the state in the order of FIGS. 9A to 9D when the sprockets 200a and 200b are rotated clockwise in the drawing. In addition, when the crawler-type suction traveling robot 1000c rotates the sprockets 200a and 200b in the left direction in the figure, the crawler type adsorption traveling robot 1000c advances in the left direction while changing the state in the order of FIGS. In FIGS. 9A to 9D, 201a and 201b indicate the rotation axes of the sprockets 200a and 200b, and 100 in the figure indicates a frame. In addition, among the suction pads 403 of the crawler plate 401 illustrated in FIGS. 9A to 9D, the suction pads 403 that are hatched indicate suction pads that are attracted to the running surface 2000.

  In this way, the crawler-type adsorption traveling robot 1000d, which is composed of sprockets 200a to 200d that are provided with three portions where the crawler plates mesh with each other evenly in the circumferential direction, has an odd number of five or more crawler chains. The present invention can also be applied to a case where the crawler plate is used. As the number of crawler plates increases to 9 or 11, the number of crawler plates 401 traveling above and below the crawler-type suction traveling robot 1000d increases accordingly. As the number of crawler plates 401 increases, the number of crawler plates attracted to the traveling surface increases accordingly, so that the stability of adsorption is improved, the loadable weight increases, and traveling such as a vertical wall surface is easy. Become.

  Also, the crawler-type adsorption traveling robot 1000 using the sprocket having three portions that mesh with one crawler plate evenly in the circumferential direction can be used even when the crawler chain is composed of an even number of six or more crawler plates. Can be applied.

  For example, as shown in FIG. 10A, a crawler-type adsorption traveling robot 1000d having a crawler chain composed of an even number of six or more crawler plates hangs the crawler chain 400 around the sprockets 200a and 200b on both the front and rear sides. Turn it. FIGS. 10A to 10D are schematic views of the crawler-type suction traveling robot 1000d. In FIGS. 10A to 10D, 201a and 201b indicate the rotation axes of the sprockets 200a and 200b, and 100 in the figure indicates a frame. In addition, among the suction pads 403 of the crawler plate 401 illustrated in FIGS. 10A to 10D, the suction pads 403 that are hatched indicate suction pads that are attracted to the traveling surface 2000.

  As shown in FIG. 10A, such a crawler-type suction traveling robot 1000d has a single lower crawler plate 401 in a posture in which the apexes of the sprockets 200a and 200b on both the front and rear sides of the frame 100 are directed outward. Is in a posture adsorbed to the running surface 2000. Then, when the sprockets 200ab and 200b are rotated clockwise by 30 °, as shown in FIG. 10B, the vertex of one sprocket 200a faces downward and the vertex of the other sprocket 200b faces upward. In this state, in the crawler plate 401 that moves along the lower side of the sprocket 200b whose apex is directed upward, the suction pad 403 is moved to the traveling surface at the timing when the suction pad 403 of the crawler plate 401 contacts the traveling surface 2000. Adsorb to 2000.

  When the sprocket is rotated clockwise by 30 ° from the state shown in FIG. 10B, as shown in FIG. 10C, the sprockets 200a and 200b on both the front and rear sides of the frame 100 face the apexes inward. It becomes a posture. Further, when the sprockets 200a and 200b are rotated clockwise by 30 ° therefrom, the state shown in FIG. 10 (d) is obtained, with the top of one sprocket 200a facing upward and the top of the other sprocket 200b facing downward. Turn to. At this time, in the sprocket 200a whose apex is directed upward, the crawler plate 401 meshes with the sprocket 200a along the lower side. At this timing, the suction from the suction hole 402 of the crawler plate 401 may be released. Further, when the sprockets 200a and 200b are rotated clockwise by 30 °, the state shown in FIG.

  When the sprockets 200a and 200b are rotated clockwise, the crawler-type adsorption traveling robot 1000d advances in the right direction in the figure while sequentially changing the states to FIGS. 10 (a) to 10 (d). On the other hand, when the sprockets 200a to 200d are rotated counterclockwise, they sequentially move to the left in the figure while changing the states to FIGS. 10 (d) to 10 (a).

  Such a crawler-type suction traveling robot 1000d can always run smoothly because one or two crawler plates 401 are always attracted. In addition, it is easy to adjust the timing of suction from the intake holes 402 of the crawler plate 401 and the timing of releasing suction from the intake holes 402 of the crawler plate 401. In addition, as shown in FIG. 10A, the crawler-type suction traveling robot 1000d is in a state where only one suction pad 403 is sucked. For this reason, when it uses for the use which drive | works a vertical wall surface, the weight which can be loaded is a weight which can be supported in the state which only such one suction pad 403 adsorb | sucked.

  In addition, the crawler-type suction traveling robot 1000d provided with such a crawler chain composed of six crawler plates has a sprocket 200a, a state shown in FIG. 10A and a state shown in FIG. The distance between the rotating shafts 201a and 201b of 200b changes. Therefore, it is desirable that the frame 100 has a structure in which the distance between the rotation shafts 201a and 201b of the sprockets 200a and 200b attached to the front and rear changes according to the rotation of the crawler chain 400. In this embodiment, the frame 100 is a separate member when the rotating shaft 201a of the front sprocket 200a and the rotating shaft 201b of the rear sprocket 200b are attached, and the frame 100 is compressed between the two. A spring 110 is attached. As a result, the frame 100 automatically adjusts the distance between the rotation shafts 201a and 201b of the front and rear sprockets 200a and 200b according to the rotation of the crawler chain 400, and can apply an appropriate tension to the crawler chain 400. The crawler-type suction traveling robot 1000d can travel more smoothly.

  As shown in FIG. 10 (a), the crawler-type adsorption traveling robot 1000d having a crawler chain composed of six crawler plates is in a state where only one crawler plate 401 is adsorbed to the traveling surface 2000 during traveling. is there. For this reason, a structure in which the suction pad 403 rotates with respect to the crawler plate 401 is adopted, and when only the crawler plate 401 is attracted to the traveling surface 2000, the suction pad 403 is rotated to thereby perform the crawler type suction travel. The robot 1000 can be turned smoothly. In addition, the crawler-type adsorption traveling robot 1000d including the sprockets 200a and 200b, which are sprockets provided with three portions where the one crawler plate is meshed evenly in the circumferential direction, has the crawler plate 401 constituting the crawler chain 400 in this way. Can be made up to six. As a result, the crawler-type suction traveling robot 1000d has a small number of crawler plates 401 and a small number of parts, and thus can be reduced in size and weight.

  Further, the crawler-type adsorption traveling robot 1000 configured by sprockets having sprockets 200a to 200d, which are provided with three portions where one crawler plate is meshed evenly in the circumferential direction, has an even number of crawler plates with six or more crawler chains. It can be applied even when it is configured with.

  As mentioned above, although the crawler type adsorption | suction traveling robot which concerns on one Embodiment of this invention, and its modification were variously demonstrated, the crawler type adsorption | suction traveling robot which concerns on this invention is not limited to any embodiment mentioned above.

  For example, the position of the suction pad 403 relative to the crawler plate 401 and the position of the intake hole 402 are not necessarily provided at the center of the crawler plate 401. A plurality of intake holes 402 may be provided for one crawler plate 401. In this case, one suction pad 403 may be provided for each of the plurality of intake holes 402, or may be provided so as to surround all of the plurality of intake holes 402.

  Next, a crawler type adsorption traveling robot according to another embodiment of the present invention will be described.

  As shown in FIGS. 11 to 14, the crawler-type suction traveling robot 3000 includes a frame 3100, sprockets 3200 a to 3200 d, and a crawler chain 3400. FIG. 11 is a plan view mainly illustrating the structure of the frame 3100 and the sprockets 3200a to 3200d with respect to the crawler-type suction traveling robot 3000, and a part of the configuration is omitted for convenience. FIG. 12 is a side view of FIG. 13 is a cross-sectional side view taken along the line AA in FIG. 14 is a cross-sectional side view taken along the line B-B in FIG. 11.

  As shown in FIG. 11, the frame 3100 includes a rectangular frame 3110, an inner frame material 3120, and outer frame materials 3131 and 3132. The rectangular frame 3110 has left and right side members 3111 and 3112 and front and rear side members 3113 and 3114 assembled into a rectangle. The rectangular frame 3110 is a rectangular frame in which the left and right side members 3111 and 3112 extending in the front-rear direction of the traveling direction of the crawler-type suction traveling robot 3000 are longer than the front and rear side members 3113 and 3114. The inner frame member 3120 is stretched between the front and rear side members 3113 and 3114 in the front-rear direction. Hollow rotating shafts 3201 and 3202 are inserted through the left and right side members 3111 and 3112. Two hollow rotating shafts 3201 and 3202 are inserted in the left and right side members 3111 and 3112 in the left and right width direction with a predetermined interval suitable for disposing the sprockets 3200a to 3200d.

  The sprockets 3200a to 3200d are provided with three portions where one crawler plate meshes equally in the circumferential direction, and are rotatably attached to the rotating shafts 3201 and 3202 outside the left and right side members 3111 and 3112. . A gear 3210 is attached to one sprocket 3200d among the four sprockets 3200a to 3200d on the front and rear and the left and right. Each of the sprockets 3200a to 3200d is formed of a substantially equilateral triangular sprocket. The length of one side of the sprockets 3200a to 3200d is such that one crawler plate 3410 of a crawler chain 3400, which will be described later, is engaged. Outside the outer frame members 3131 and 3132 and the sprockets 3200a to 3200d, they are installed on the front and rear rotating shafts 3201 and 3202.

  In this embodiment, the crawler chain 3400 has five rectangular crawler plates 3410 connected in an endless chain shape. Although not shown in the drawings, each crawler plate 3410 has an intake hole, and a suction pad 3420 is attached to the outer surface of the crawler plate 3410 so as to surround the intake hole as shown in FIG. Yes. An intake device is attached to the intake hole. The crawler-type adsorption traveling robot 3000 includes a control device that operates an intake device attached to an intake hole of a crawler plate 3410 positioned below the frame 3100. As shown in FIG. 12, a rubber plate 3430 is attached to the crawler plate 3410, and the crawler plate 3410 constituting the crawler chain 3400 is connected by a hinge 3440.

  Although not shown, an ejector pump (intake device) is attached to the intake hole of each crawler plate 3410. As shown in FIG. 13, a limit switch is attached to a ventilation pipe that supplies compressed air to the ejector pump.

  As shown in FIGS. 11, 13, and 14, cylinder devices 3511 and 3512, slide shoes 3521 and 3522, a drive device 3531, and a limit switch control plate 3540 are attached to the frame 3100.

  In this embodiment, two cylinder devices 3511 and 3512 are attached in the middle of the inner frame material 3120 as shown in FIG. As shown in FIG. 14, the cylinder devices 3511 and 3512 extend rods 3513 and 3514 up and down, respectively. Slide shoes 3521 and 3522 are attached to the tips of the upper and lower rods 3513 and 3514, respectively. The upper and lower slide shoes 3521 and 3522 slide and support the upper and lower inner surfaces of the crawler chain 3400, respectively. The slide shoes 3521 and 3522 may be provided with a guide for guiding the crawler chain 3400 in the width direction. For example, the guide may be provided with a protrusion and a recess between the crawler chain 3400 and the slide shoes 3521 and 3522.

  As shown in FIG. 11, a drive motor 3531 is attached to the inner frame material 3120 as a drive device. The drive gear 3532 of the drive motor 3531 is meshed with the gear 3533 of the sprocket 3200d. A power cable insertion port and a compressed air distributor 3600 are attached to the outer frame members 3131 and 3132. As shown in FIG. 15A, the compressed air distributor 3600 includes a supply pipe 3601 to which compressed air is supplied and a distribution pipe 3602. The distribution pipe 3602 communicates with the supply pipe 3601 and is connected to the supply pipe 3601 through a rotatable connection portion 3604. As shown in FIG. 15B, the distribution pipe 3602 includes a plurality of connection pipes 3603 in the circumferential direction. The distribution pipe 3602 is rotatably attached to an intermediate part of the outer frame material 3131 via a rotatable connection part 3605. The connection pipe 3603 is connected to the ejector pump (not shown) of each crawler plate 3410 from the distribution pipe 3602. In this embodiment, notches 3203 are provided in the sprockets 3200a and 3200b, and connection pipes 3603 are connected to the ejector pumps of the respective crawler plates 3410 through the notches 3203. The distribution pipe 3602 rotates according to the rotation of the crawler chain 3400. In this embodiment, the number of crawler plates 3410 of the crawler chain 3400 is as small as five, and the variation in the distance from the compressed air distributor 3600 installed in the intermediate portion of the outer frame materials 3131 and 3132 to each crawler plate 3410 is small. For this reason, compressed air can be supplied to each crawler plate 3410 of the crawler chain 3400 by the compressed air distributor 3600 having the above-described configuration.

  Although not shown in the drawings, the compressed air distribution pipes (venting pipes) and power cables arranged on each crawler plate 3410 are not entangled with the upper and lower slide shoes 3521 and 3522 and the cylinder devices 3511 and 3512 described above. It is attached.

  In addition, as shown in FIG. 12, the crawler-type adsorption traveling robot 3000 is provided with a limit switch 3610 in the middle of the connection pipe 3603 communicating with the ejector pump of each crawler plate 3410. A limit switch control plate 3540 is provided on the frame 3100. The limit switch 3610 and the limit switch control plate 3540 function as a control device that operates an ejector pump (intake device) attached to the intake hole of the crawler plate 3410 positioned below the frame 3100 in cooperation. To do. In this embodiment, the limit switch 3610 protrudes from the crawler plate 3410 toward the inside of the crawler chain 3400, and the limit switch control plate 3540 protrudes downward from the frame 3100. Then, an ejector pump attached to an intake hole of a crawler plate 3410 located below the frame 3100 is operated.

  In this embodiment, the limit switch control plate 3540 is attached to the lower surface of the left side member 3111 extending in the front-rear direction of the rectangular frame 3110. The limit switch 3610 is attached to the crawler plate 3410 so as to hit the limit switch control plate 3540 during traveling. The limit switch control plate 3540 adjusts the timing for operating the limit switch 3610. That is, when the crawler plate 3410 passes below the frame 3100, the suction pad 3420 of the crawler plate 3410 passing through the range is adsorbed to the traveling surface 2000 within a predetermined range defined by the limit switch control plate 3540. Can do.

  The crawler-type suction traveling robot 3000 includes a frame 3100 of a crawler chain 3400 in which five crawler plates 3410 are connected in an endless chain shape by a control device including a limit switch 3610 and a limit switch control plate 3540. The ejector pump attached to the suction hole of the crawler plate 3410 located on the lower side is operated.

  Further, in this embodiment, the crawler chain 3400 is formed by connecting five crawler plates 3410 in an endless chain shape. Therefore, as shown in FIG. The frame position changes up and down. For this reason, in this embodiment, the control plate 3540 of the limit switch absorbs the change in the position of the frame up and down, so that the middle is lower than before and after.

  In the crawler type adsorption traveling robot 3000, when the sprockets 3200a to 3200d are rotated by the driving device 3531, the crawler chain 3400 is rotated. When the crawler plate 3410 passes below the frame 3100 by the action of the limit switch 3610 and the limit switch control plate 3540, the crawler passes through the range within a predetermined range determined by the limit switch control plate 3540. The suction pad 3420 of the plate 3410 is sucked to the running surface 2000. As a result, it is possible to travel while adsorbing the suction pads 3420 of the crawler plate 3410 of the crawler chain 3400 to the traveling surface 2000 as appropriate. For this reason, it can drive | work also on a vertical wall surface.

  Further, the crawler-type suction traveling robot 3000 uses sprockets 3200a to 3200d that are provided with three portions that are meshed with one crawler plate 3410 equally in the circumferential direction. Therefore, the crawler chain 3400 configured by the five crawler plates 3410 described above can be handled, and the number of crawler plates 3410 can be extremely reduced. Thereby, since the number of parts of the crawler type adsorption traveling robot 3000 can be reduced, the crawler type adsorption traveling robot 3000 can be reduced in size and weight.

  The crawler-type suction traveling robot 3000 is configured with the frame 3100 inside the sprockets 3200a to 3200d. However, the crawler-type suction traveling robot 3000 is configured such that the frame 3100 is configured inside the sprockets 3200a to 3200d. Good.

  Although not shown, the crawler-type suction traveling robot 3000 includes a plurality of crawler-type suction traveling robots 3000 that span a frame 3100 between the plurality of crawler-type suction traveling robots 3000. Can be unitized.

  Furthermore, a modified example of the crawler type adsorption traveling robot 3000 according to another embodiment will be described.

  For example, in the above-described embodiment, a total of four sprockets 3200a to 3200d are attached to the frame 3100, but the number of sprockets 3200a to 3200d may be smaller than this.

  For example, the crawler-type suction traveling robot 3000a shown in FIGS. 16 and 17 includes a frame composed of two side members, left and right side members 3111 and 3112, and rotating shafts 3201 and 3202 of front and rear sprockets. In addition, one sprocket 3200a may be disposed on the front rotating shaft 3201, and two sprockets 3200b and 3200c may be disposed on the rear rotating shaft 3202. Also, the crawler-type adsorption traveling robot 3000b shown in FIGS. 18 and 19 may be arranged with one sprocket 3200a and 3200b on the front and rear, respectively, and the crawler chain 3400 may be wound around the sprocket 3200a. If the number of sprockets is reduced, it becomes easy to arrange the ventilation pipe 3603 to the ejector pump and the electric cable to the limit switch 3610 so as not to get entangled with the rotating sprocket. Further, when the number of sprockets is reduced in this way, the posture of the crawler chain may be stabilized by increasing the width with which the sprocket meshes with the crawler chain 3400. 18 and 19, the sprocket 3200b is rotated by meshing the drive gear 3532 of the drive motor 3531 with the gear 3203 attached to the rotation shaft 3201.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to embodiment mentioned above. Moreover, the structure of each embodiment mentioned above can be combined suitably.

  As described above, the crawler-type suction traveling robot according to the present invention can be widely used as a robot that travels while attracting to a floor surface or a wall surface. For example, by mounting an inspection apparatus, it can be used as an apparatus for inspecting a scratch at a high position on a wall surface of a plant or the like. Moreover, if a coating apparatus is mounted, it can be used for an apparatus for repairing coating at a high position on the wall surface of a plant or the like.

The side view which shows the crawler type adsorption traveling robot which concerns on one Embodiment of this invention. The top view which shows the crawler type adsorption traveling robot which concerns on one Embodiment of this invention. The figure which expand | deploys the crawler chain of the crawler type adsorption | suction travel robot which concerns on one Embodiment of this invention, and shows the structure inside it. The top view which shows the state which attached the sprocket to the flame | frame of the crawler type adsorption | suction travel robot which concerns on one Embodiment of this invention. (A)-(d) is a side view which shows the driving | running | working state of the crawler type adsorption | suction driving robot with which the crawler chain was comprised with five crawler plates. The figure which shows the support structure of the crawler chain of the crawler type adsorption traveling robot which concerns on one Embodiment of this invention. (A) is a top view which shows the structure of the crawler plate in which a suction pad rotates with respect to a crawler plate, (b) is the sectional view on the AA line of (a). The top view which shows the apparatus which united two crawler type adsorption | suction travel robots. (A)-(d) is a side view which shows the driving | running | working state of the crawler type adsorption | suction driving robot with which the crawler chain was comprised by seven crawler plates. (A)-(d) is a side view which shows the driving | running | working state of the crawler type adsorption | suction driving robot with which the crawler chain was comprised by the six crawler plates. The top view which shows the crawler type adsorption traveling robot which concerns on other embodiment of this invention. FIG. 12 is a side view of FIG. 11. It is AA crossing side view of FIG. It is a BB crossing side view of FIG. (A) is a top view which shows an example of a compressed air distributor, (b) is a front view which shows distribution piping. The top view which shows the crawler type adsorption traveling robot which concerns on other embodiment of this invention. FIG. 17 is a side view of FIG. 16. The top view which shows the crawler type adsorption traveling robot which concerns on other embodiment of this invention. FIG. 19 is a side view of FIG. 18.

Explanation of symbols

1000, 1000a, 1000b Crawler type adsorption traveling robot 2000 Running surface (floor surface, wall surface)
100 Frame 200a-200d Sprocket 201a-201d Rotating shaft 202 Gear 300 Driving means 301 Motor 302 Reduction mechanism 303 Gear 400 Crawler chain 401 Crawler plate 402 Intake hole 403 Adsorption pad 404 Rubber plate 410 Hinge 411 Turntable 500 Intake device 501 Ejector pump 502 Compressor 600 Control device 601 Switch 611 Vent pipe 612 Branch pipes 613, 614, 615, 617 Vent pipe 616 Branch pipe 618 Rotating joint 700 Support device 701 Slide shoe 702 Slide shoe 703, 704 Rod 705 Cylinder device 810 Drive device 811 Deceleration mechanism 820 Turning control device 900 installation frame 910 moving table

Claims (12)

A crawler-type adsorption traveling robot that travels by adsorbing a crawler chain to a wall surface,
Frame,
Sprockets attached to the front and rear sides of the frame;
Drive means for rotationally driving the sprocket;
A plurality of crawler plates connected in an endless chain shape, and a crawler chain hung around the front and rear sprockets;
An intake hole formed in the crawler plate;
A suction pad disposed on the outer surface of the crawler plate so as to surround the intake hole;
An intake device attached to the intake hole;
A control device for operating an intake device attached to an intake hole of a crawler plate located below the frame;
A crawler-type adsorption traveling robot characterized in that the sprocket is constituted by a sprocket having three portions equally meshed with each other in the circumferential direction.   The crawler type adsorption traveling robot according to claim 1, wherein the crawler chain is an odd number of crawler plates of 5 or more.   The crawler type adsorption traveling robot according to claim 1, wherein the crawler chain is an even number of crawler plates of 6 or more.   The crawler-type adsorption traveling robot according to claim 1, wherein a distance between rotation axes of sprockets attached to the front and rear of the frame changes according to the rotation of the crawler chain. A first slide shoe for guiding a crawler plate located below the frame;
A second slide shoe for guiding a crawler plate located above the frame;
The first support member that supports a space between the frame and the first slide shoe, and a second support member that supports a space between the frame and the second slide shoe. Crawler type adsorption traveling robot.   The crawler type adsorption traveling robot according to claim 5, wherein the first support member and the second support member are configured by either a spring or a cylinder device.   The crawler-type suction traveling robot according to claim 1, wherein the suction pad is rotatable with respect to a crawler plate.   The crawler type adsorption traveling robot according to claim 1, wherein an installation frame is stretched between the frames of a plurality of crawler type adsorption traveling robots.   The crawler type adsorption traveling robot according to claim 8, wherein a moving table is provided on the installation frame. Among the crawler plates of the plurality of crawler-type suction traveling robots, at least one crawler plate can rotate a suction pad,
Among the plurality of crawler-type suction traveling robots, one of the crawler-type suction traveling robots travels with another crawler-type suction traveling robot in a state where a crawler plate capable of rotating a suction pad is attracted to a traveling surface. The crawler type adsorption traveling robot according to claim 8, further comprising a direction changing structure that changes a direction of the crawler type adsorption traveling robot.   An installation frame provided between a plurality of crawler-type adsorption traveling robots that run while adsorbing a crawler chain to a wall surface is provided, and a moving base is provided so as to be movable along the mounting frame. A crawler-type adsorption traveling robot characterized by comprising an attaching portion to be attached. Among the crawler plates of the plurality of crawler-type suction traveling robots, at least one crawler plate can rotate a suction pad,
Among the plurality of crawler-type adsorption traveling robots, in one crawler-type adsorption traveling robot, another crawler-type adsorption traveling robot is in a state where the adsorption pad of the crawler plate that can rotate the adsorption pad is adsorbed on the traveling surface. The crawler-type adsorption traveling robot according to claim 11, further comprising a direction changing structure that changes a direction of the crawler-type adsorption traveling robot by causing the vehicle to travel.

Images