JP2016074401A - Wall surface suction type travelling device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a wall surface suction type travelling device which can flexibly contact with a suctioned surface such as a wall surface according to uneven shapes of the suctioned surface, and can travel while the device suctions the suctioned surface even in various surface states.SOLUTION: A wall surface suction type travelling device comprises: a decompression chamber formed on the lower surface of a base, and arranged with a flexible member formed of a semi-closed semi-open cell type low stress compression sponge having a predetermined width at an opening contacting with a suctioned surface; a motor fan which makes the pressure inside the decompression chamber negative, and forcibly exhausts the inside thereof with an air volume larger than an air volume flowing in through a fine space between the flexible member and the suctioned surface; and a plurality of drive wheels arranged at the peripheral edge of the decompression chamber.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a wall surface adsorption traveling device that can be used for maintenance inspection of a vertical surface of a large structure such as a building wall.

Self-propelled devices for inspecting and maintaining vertical surfaces of large structures such as building walls, highways and bridge piers are desired. For example, Patent Document 1 discloses a wall surface adsorption type moving device including an adsorption mechanism using a permanent magnet and a draft mechanism using wheels. Further, Patent Document 2 discloses a self-running robot that includes a vacuum pad and includes two rotatable driving wheels and two idle wheels.

JP-A-10-151586 JP-A-6-64570

  However, since the wall surface adsorption traveling device described in Patent Document 1 has an adsorption mechanism using magnets, it can be used for iron bridges and the like, but it cannot be used for concrete bridges and buildings. . Moreover, although the vacuum cup type self-propelled robot described in Patent Document 2 does not disclose a mechanism for depressurization, for example, when a vacuum pump is assumed as a depressurization device, the degree of vacuum increases, but the air flow rate is small. Therefore, when the length of the hose is increased, the efficiency is reduced and the vacuum pressure is also reduced. In particular, it is a vacuum pad that has a plurality of petal pieces formed by a plurality of cuts processed at predetermined intervals in the inward radial direction at equal intervals at the hem end part. Flows in, the performance of the vacuum pump is significantly reduced. Furthermore, running the robot adsorbed in vacuum with only two drive wheels has a problem that a very large torque is required because friction is concentrated on the two wheels.

  An object of the present invention is to provide a wall surface adsorption traveling device that can be flexibly bonded in accordance with the uneven shape of an adsorption surface such as a wall surface and can travel while adsorbing the device even in various surface states. .

  A wall surface adsorption traveling device according to the present invention includes a decompression chamber in which a flexible member made of a semi-independent semi-continuous cell type low-stress compression sponge is formed in an opening in contact with the adsorption surface and having a predetermined width. An electric fan that makes negative pressure in the decompression chamber and forcibly exhausts air with a larger air volume than the amount of air flowing in through the minute gap between the flexible member and the suction surface, and a plurality of drives disposed on the periphery of the decompression chamber The gist is that it has wheels.

  Moreover, it is desirable to arrange a low friction member at least at a portion of the flexible member that contacts the traveling wall surface.

  Further, the flexible members are arranged in two rows of the inner side and the outer side, and are provided with cuts for separating at least the side in contact with the traveling wall surface of each of the flexible members into a plurality of flexible member pieces. It is desirable that the lines be staggered on the inner and outer flexible members.

  According to the wall surface adsorption traveling device of the present invention, by using an electric fan such as an electric fan for a vacuum cleaner, the confidentiality between the flexible member and the adsorption surface is low, and there is a possibility that the air flows from a minute gap. However, since the amount of air to be exhausted is large, the required negative pressure can be obtained. For this reason, a wall surface and an apparatus can be reliably adsorbed by a negative pressure. In addition, by using a flexible member made of a semi-independent semi-open cell type low stress compression sponge as the flexible member, even if the adsorption surface such as the wall surface has irregularities, it can be flexibly joined to the irregular shape. Even in various surface states, the apparatus can be adsorbed and run.

  In addition, by arranging the low friction member at least at a portion of the flexible member in contact with the traveling wall surface, even if the adsorption surface such as the wall surface is uneven or flat, the low friction member can smoothly travel.

  Furthermore, since the soft members are arranged in two rows on the inner side and the outer side, the contact between the decompression chamber and the outside air can be reduced as much as possible. It becomes. In addition, by providing a cut for separating the flexible member into a plurality of flexible member pieces, even if there are irregularities on the adsorption surface such as the wall surface, the flexible member pieces are deformed more flexibly by the cut, so the bonding area is increased. It increases, and it becomes possible to further increase the suction force. Moreover, since the separated cutting lines are alternated between the flexible member on the inner side and the outer side, the gap between the flexible member pieces is blocked, so that it is possible to prevent the adsorption force from decreasing.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows a side view of an embodiment of a wall surface adsorption traveling device according to the present invention. A decompression chamber wall 11 is provided in the lower part of the frame-shaped base body 10, and a flexible member 12 is disposed on the lower surface thereof. As a material of the flexible member, a member having both flexibility and confidentiality is appropriate, and for example, a commercially available strip-like low-stress compressed sponge using semi-independent semi-open cells can be used. A low-stress compressed sponge is a material such as a urethane material that is deformed with a small pressure and requires a certain time for the deformation to recover. In this example, a sponge having a width and height of about 20 mm to 40 mm was used. An electric fan 13 as a decompression generator is disposed on the decompression chamber wall 11. In the case of this wall surface adsorption traveling device, since it is necessary to travel up and down, left and right while adsorbing to the wall surface by decompression, if the confidentiality of the flexible member 12 is too high, a large driving force is required for traveling, which is not practical. In addition, since unevenness is assumed on the wall of a building, it is essential to maintain the adsorption force even in such a case. Therefore, the wall surface adsorption traveling device according to the present invention uses an electric fan 13 for a vacuum cleaner instead of a vacuum pump. An electric fan is suitable for this application because it has a large air flow rate and a strong suction force. If possible, it is preferable that the intake air discharge port and the motor drive exhaust port are grounded separately. In addition, a plurality of wheel stays 25 are connected to the base body 10, and three sets of wheels 20 are connected to the lower portion of the base 10 via each of three sets of wheel driving devices 24 on one side.

  FIG. 2 shows a front view of the embodiment shown in FIG. Each wheel (20 in FIG. 1) includes a differential device 22 and two wheel pieces 21 arranged on both sides of the differential device 22, and is further connected to a wheel drive device 24 through power transmission means such as a belt. Has been. Each wheel (20 in FIG. 1) is arranged at a predetermined distance from the traveling device main body (base 10 and decompression chamber wall 11) so that it can rotate 360 degrees on the spot. Further, the lower surface of each wheel (20 in FIG. 1) is configured to be substantially flush with the lower surface of the flexible member 12.

  A cross-sectional view taken along the plane A-A 'of FIG. 2 is shown in FIG. A cavity is formed inside the decompression chamber wall 11 to constitute a decompression chamber 14. A suction port 15 penetrating the decompression chamber wall 11 is provided in the upper portion of the decompression chamber 14 and communicates with the electric fan 13.

  Although not shown in the drawing, a control device for controlling the electric fan 13 and each wheel drive device 24 is disposed on or outside the travel device main body (base 10 and decompression chamber wall 11). Wireless communication can be used for this control, but it is also possible to perform wired control by connecting with a control cable. In addition, a battery can be mounted as a power source for the electric fan 13 and each wheel driving device 24. However, the weight of the traveling device increases, so that the capacity of the electric fan 13 and each wheel driving device 24 is increased. It's not realistic because you have to. Costs can be reduced by extending the power cable to the outside and supplying power from the outside. In that case, at least the power cable plays the role of a fall prevention rope when the traveling device is detached from the wall surface due to a sudden situation.

  Next, the operation of the above embodiment will be described. First, the wall surface adsorption traveling device is brought into contact with the wall surface to be actually operated to operate the electric fan 13. As a result, a negative pressure is generated in the decompression chamber 14, and the traveling device is adsorbed to the wall while pressing the flexible member 12. In this state, since each wheel 20 is also pressed against the wall surface, the adhesion with the wall surface is increased and the friction coefficient during rotation is increased. Next, each wheel drive device 24 is operated to rotate each wheel in the direction in which it wants to travel. Thereby, a traveling apparatus moves along a wall surface in the state adsorb | sucked to the wall surface.

  In order to change the traveling direction, it is necessary to change the direction of each wheel. In the wall surface adsorption traveling apparatus according to the present invention, each wheel is a double wheel composed of two inner and outer wheel pieces. Since the pieces are connected to each other by a differential device, by rotating the two wheel pieces in directions opposite to each other, the traveling device main body can be turned by rotating only the wheels while still. Therefore, the direction can be changed at a right angle, and the operability of the traveling device is enhanced. Further, the number of wheels in the above embodiment is a total of 6 sets, 3 sets on each side. When there are few wheels, the torque required for each wheel increases, so a higher output motor is required and the weight increases. Further, if the number of wheels is increased, the motor output can be reduced, but the weight of the wheels as a whole increases. Therefore, the preferred number of wheels is 4 to 8 sets.

  In order to make the running smoother, a low friction member such as a fluororesin or a plastic resin may be disposed on the surface of the flexible member 12, and a high friction member such as rubber may be disposed on the surface of each wheel. However, since it is desirable that the wheel itself does not deform, it is desirable that the wheel be formed of a lightweight and rigid resin or aluminum.

  FIG. 4 is a bottom view showing the decompression chamber 14 in the second embodiment of the wall surface adsorption traveling device according to the present invention. In the above embodiment, only one row of the flexible members 12 is arranged. Since it is a low stress compression sponge, it can be easily deformed by a dent or a step and the negative pressure in the decompression chamber 14 can be maintained to some extent, but if that is not enough, the flexible member 12 is placed inside as shown in FIG. It is divided into two rows of 121 and outer side 122 and provided with cuts 124 at regular intervals for each member. However, the incision 124 is prevented from overlapping the inner member 121 and the outer member 122. When the flexible member 12 is doubled, the sealing performance is improved. Further, by providing the notch 124, the followability of the flexible member 12 with respect to a dent, a step or the like is remarkably enhanced.

  The wall surface adsorption traveling device according to the present invention can provide a traveling device with a simple structure and high adsorptivity and traveling property, and in combination with a desired work mechanism, a building wall, a highway, a bridge pier, etc. Contributes to the inspection and maintenance of vertical surfaces of large structures.

It is a side view which shows the Example of the wall surface adsorption travel apparatus by this invention. It is a front view of the Example shown in FIG. It is sectional drawing in the AA 'surface shown in FIG. It is a bottom view which shows the decompression chamber in another Example of the wall surface adsorption traveling apparatus by this invention.

DESCRIPTION OF SYMBOLS 10 Base | substrate 11 Decompression chamber wall 12 Flexible member 13 Electric fan 14 Decompression chamber 15 Suction port 20 Wheel 21 Wheel piece 22 Differential device 23 Power transmission means 24 Wheel drive device 25 Wheel stay 121 Inner flexible member 122 Outer flexible member 123 Cut flexible member piece 124

Claims (3)

A decompression chamber in which a flexible member made of a semi-independent semi-open cell type low-stress compression sponge having a predetermined width is formed in an opening that is formed on the lower surface of the substrate and is in contact with the adsorption surface;
An electric fan that forcibly exhausts air with a larger amount of air than the amount of air flowing in from a minute gap between the flexible member and the suction surface while making the decompression chamber negative pressure;
A wall surface adsorption traveling device comprising a plurality of drive wheels disposed on a peripheral edge of the decompression chamber.   The wall surface adsorption traveling device according to claim 1, wherein a low friction member is arranged at least on a portion of the flexible member that is in contact with the traveling wall surface.   The flexible members are arranged in two rows on the inner side and the outer side, and each of the flexible members is provided with a notch for separating at least a side in contact with a wall surface that travels into a plurality of flexible member pieces. The wall surface adsorption travel device according to claim 1, wherein the inner wall and the outer flexible member are staggered.

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