JP2017213663A - Adsorption device and flight robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an adsorption device or an adsorption head capable of adsorbing various objects.SOLUTION: A body 20 has a base 21 and adsorption means 22 exhibiting adsorption power between an object 1 and the means, and has a recess 24 forming a closed space in an adsorption state formed thereon. A nonreturn valve 40 is provided on a flow channel 52 communicating a pressure control device 60 and the recess 24, permits a flow from the recess 24 toward the pressure control device 60 in a decompressed state by the pressure control device 60, and inhibits an opposite flow in the pressurized state by the pressure control device 60. A balloon 30 is provided in the recess 24, is connected to the pressure control device 60, and expands in the pressurized state by the pressure control device 60.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an adsorption device.

  The suction device is used for a transport mechanism for transporting an object (work) or an application for fixing the object to a part of a building such as a wall surface. As a suction device, a device using a vacuum suction pad described in Patent Documents 1 and 2 is known in addition to a device using a magnet and a device using viscosity.

  The suction device using a vacuum suction pad has a suction pad formed of a conical elastic body, and seals the suction pad between the suction pad and the target object after sealing the suction pad in contact with the target object. Is caused to generate a suction force between the suction pad and the object.

JP 2003-94370 A JP 2003-191191 A

  Such a conventional vacuum suction pad is effective for a flat object, but has a problem that the suction force for an object having irregularities is weak.

  The present invention has been made in view of such problems, and one of the exemplary purposes of an aspect thereof is to provide an adsorption device capable of adsorbing various objects.

  One embodiment of the present invention relates to an adsorption device. The adsorption device includes a main body, a check valve, and a balloon. The main body includes a base and suction means that exerts a suction force between the object and a recess that forms a sealed space in the suction state. The check valve is provided on a flow path that connects the pressure control device and the recess, and allows a flow from the recess to the pressure control device in the pressure-reduced state by the pressure control device, and the opposite flow in the pressurization state by the pressure control device. Stop. The balloon is connected to the pressure control device, is provided in the recess, and is inflated in a pressurized state by the pressure control device.

  When a reduced pressure state is generated by the pressure control device, the sealed space formed by the recess is reduced in pressure to form a negative pressure state, and functions as a suction cup. By exerting the suction force of the suction cup and the suction force of the suction means, it can be attracted to various objects. In addition, when the balloon is pressurized and inflated, the function as a suction cup is lost, and further, the balloon can push the object, so that the adsorption by the adsorption means can be released and the head part of the adsorption device can be detached from the object. it can.

  The balloon may be provided with an opening, and the check valve may be provided at the opening. In this case, the inside of the balloon functions as a flow path that connects the sealed space and the pressure control device, and the structure can be simplified.

  The check valve may include a check valve layer that is provided so as to overlap the opening along the inner wall of the balloon, and a part of which is joined to the inner wall in the vicinity of the opening. When the inside of the balloon is pressurized, the check valve layer closes the opening, and when the inside of the balloon is decompressed, the check valve layer deforms away from the check valve layer. Thereby, the function of the check valve can be realized.

  The suction force of the suction means may be any of adhesive force, magnetic force, electrostatic force, and van der Waals force.

  The adsorption means may include an adhesive member having adhesiveness and elasticity, and may be attached to the contact surface side of the substrate with the object. The adhesive member may be urethane gel or TPE (thermoplastic elastomer). The suction means in this case also exhibits a function of improving the sealing performance of the sealed space, and can further increase the suction force as a suction cup.

  Another aspect of the present invention also relates to an adsorption device. The adsorbing device includes a main body having a recess, an annular adhesive member having adhesiveness and elasticity, and attached to the contact surface side of the main body so as to surround the recess, and a sealed space surrounded by the main body recess and the adhesive member. A balloon that is housed and has an opening, a check valve that is provided in the opening of the balloon, prevents a flow from the inside of the balloon to the outside, and allows a flow from the outside to the inside of the balloon; and a pressure inside the balloon A pressure control device for controlling

  The adsorption device may further include a pressure sensor that measures the pressure in the sealed space. Thereby, the adsorption state and the non-adsorption state can be discriminated, or the adsorption force in the adsorption state can be estimated.

  The adsorption device may further include a pressure control device that controls the pressure of the balloon, and a tube that connects the balloon and the pressure control device.

  The adsorption device may further include a filter provided in the tube. Thereby, dust and garbage can be removed.

  The pressure control device includes: a pump; a first solenoid valve that connects the first end of the pump to the balloon in the first state; and a first solenoid valve that connects the first end of the pump to the exhaust side in the second state; A second electromagnetic valve that connects the second end of the pump to the intake side and connects the second end of the pump to the balloon in the second state may be included. Thereby, a pressurization state and a decompression state can be generated with one pump.

Another aspect of the present invention relates to a flying robot. The flying robot may include a multicopter and any of the above-described suction devices attached to the multicopter.
The adsorption device may be attached to the upper side of the multicopter. Thereby, the flying robot can stick to the ceiling. The adsorption device may be attached in front of the multicopter. Thereby, the flying robot can stick to the wall surface. The adsorption device may be attached below the multicopter. As a result, the flying robot can carry the object.

  According to the suction device according to an aspect of the present invention, it is possible to suck on various objects.

Fig.1 (a) is sectional drawing of the adsorption | suction apparatus based on 1st Embodiment, FIG.1 (b) is the top view seen from the bottom face side. FIG. 2A is a diagram illustrating a suction operation between the suction head and the target object in FIG. 1, and FIG. 2A is a diagram illustrating a separation operation of the suction head from the target object. 3A is an assembled perspective view of a balloon and a check valve, and FIGS. 3B and 3C are views for explaining the operation of the check valve in FIG. 3A. 4 (a) and 4 (b) are diagrams showing the measurement results of the adsorption force of the produced adsorption device. FIGS. 5A and 5B are diagrams illustrating a configuration example of the pressure control device. It is sectional drawing of the suction head (suction apparatus) which concerns on 2nd Embodiment. FIGS. 7A and 7B are diagrams showing a fluid circuit of the adsorption device of FIG. It is sectional drawing of the suction head (suction apparatus) which concerns on 3rd Embodiment. FIGS. 9A to 9C are diagrams showing modifications of the balloon. 10 (a) and 10 (b) are perspective views of a flying robot including a suction device.

  The present invention will be described below based on preferred embodiments with reference to the drawings. The same or equivalent components, members, and processes shown in the drawings are denoted by the same reference numerals, and repeated descriptions are omitted as appropriate. The embodiments do not limit the invention but are exemplifications, and all features and combinations thereof described in the embodiments are not necessarily essential to the invention.

(First embodiment)
Fig.1 (a) is sectional drawing of the adsorption | suction apparatus based on 1st Embodiment, FIG.1 (b) is the top view seen from the bottom face side. The adsorption device 10 is adsorbed on the object 1. The object 1 is not particularly limited, and may be a wall surface, a ceiling, a pillar, or the like of a building or a bridge. Alternatively, the object 1 may be an industrial product, an electronic component, food, a semiconductor wafer, or the like.

  The adsorption device 10 includes a main body 20, a balloon 30, a check valve 40, a tube 50, and a pressure control device 60. The main body 20, the balloon 30, and the check valve 40 are also referred to as the suction head 12. The suction head 12 may be detachable from the pressure control device 60.

  The main body 20 includes a base body 21 and suction means 22. The adsorbing means 22 exerts an adsorbing force between the object 1 and the object 1. The main body 20 is formed with a recess 24 that forms a sealed space with the object 1 in the suction state.

  The material of the base 21 is not particularly limited, but rubber, elastomer, plastic, or the like can be used. Nitrile may be used as an example. The base 21 is preferably circular when viewed from the bottom side, but may be rectangular, elliptical, polygonal, or the like.

  As the suction force of the suction means 22, any one of adhesive force, magnetic force, and electrostatic force can be used. In the present embodiment, the suction force is an adhesive force, and the suction means 22 is an annular pressure-sensitive adhesive member that is attached to the contact surface side of the base 21 with the object in a manner surrounding the recess 24. From another point of view, it can be said that the suction means 22 has the outer shape of the recess 24. As the adhesive member, a material having adhesiveness and elasticity such as urethane gel is suitable.

  The check valve 40 is provided on a flow path 52 that communicates the pressure control device 60 and the recess 24, and (i) allows a flow from the recess 24 toward the pressure control device 60 in a pressure-reduced state by the pressure control device 60. (Ii) Blocking the opposite flow in the pressurized state by the pressure control device 60. The structure and type of the check valve 40 are not particularly limited, and a ball type, poppet type, swing type, wafer type, lift type, foot type, or the like can be used.

  The balloon 30 is accommodated in the recess 24 of the main body 20 and is connected to the pressure control device 60 via the tube 50, and the pressure of a gas such as air or nitrogen accommodated in the interior 32 of the balloon 30 is controlled by pressure. It can be controlled by the device 60. The balloon 30 is inflated so as to protrude from the recess 24 in a pressurized state of the interior 32. A filter 54 may be provided inside the tube 50. As a result, dust and dirt sucked during operation can be removed.

  More specifically, in the present embodiment, an opening 34 is provided in the balloon 30, and the opening 34 forms a flow path 52 that communicates the pressure control device 60 and the recess 24. The check valve 40 is provided in the opening 34. The check valve 40 is closed when the balloon 30 is pressurized, in other words, when the pressure in the interior 32 of the balloon 30 is higher than the pressure in the recess 24, and thus the balloon 30 is inflated. When the pressure of the balloon 30 is reduced, in other words, when the pressure in the interior 32 of the balloon 30 is lower than the pressure in the recess 24, the check valve 40 is opened, so that the recess 24 is decompressed.

  In FIG. 1A, the opening 44 is formed on the bottom surface side of the balloon 30, but may be formed on the top surface side of the balloon 30.

  The above is the configuration of the adsorption device 10. Next, the operation will be described. 2A shows the suction operation between the suction head 12 and the target object 1 in FIG. 1, and FIG. 2A shows the separation operation of the suction head 12 from the target object 1. FIG.

  The adsorption operation will be described with reference to FIG. When the suction head 12 and the target object 1 come into contact with each other, a suction force is generated between the suction head 22 and the target object 1 due to the adhesive force of the suction means 22. A sealed space is formed by the object 1 and the main body 20. Since the suction means 22 has viscoelasticity, the suction means 22 and the object 1 are in close contact with each other, and the leakage of air in the sealed space can be made extremely small. This contributes to increasing the suction force as a suction cup.

When the inside 32 of the balloon 30 is decompressed by the pressure control device 60, the check valve 40 is opened, and the inside 32 and the recess 24 communicate with each other through the opening 34. In this state, the internal pressure of the interior 32 of the balloon 30 and the pressure of the sealed space of the main body 20 are substantially equal. When the inside 32 of the balloon 30 is depressurized, the pressure p in the sealed space formed by the concave portion 24 together with the object 1 is reduced accordingly. When a negative pressure p <p _EXT (p _EXT is atmospheric pressure) is formed in the sealed space, the main body 20 and the suction means 22 function as a suction cup, and suction force is generated. The above is the adsorption operation.

  Next, the separation operation will be described with reference to FIG. When the inside 32 of the balloon 30 is pressurized by the pressure control device 60, the check valve 40 is closed and the opening 34 is closed. When the inside 32 of the balloon 30 is pressurized in this state, the balloon 30 is inflated. The negative pressure state of the recess 24 is released by the expansion of the balloon 30, and the function as a suction cup is lost. When the balloon 30 is further inflated, a force that the balloon 30 pushes the object 1 is generated. When this force exceeds the suction force (adhesive force) between the suction means 22 and the object 1, the suction means 22 is peeled from the object 1, and the suction head 12 is completely detached from the object 1.

  The above is the operation of the adsorption device 10. The advantages of the adsorption device 10 will be described. The suction device 10 is attracted to the object 1 by the resultant force of the suction force by the suction cup and the adhesive force by the suction means 22. That is, due to the adhesiveness of the adsorbing means 22, it is possible to reliably adsorb the object 1 having an uneven shape on the surface. Moreover, since the airtightness of the sealed space formed between the adsorption device 10 and the object 1 can be increased by the adhering means 22 being in close contact with the object 1, the adsorption force as a suction cup can be increased. it can. That is, the suction force (adhesive force) by the suction means 22 and the suction force as a suction cup exhibit a synergistic effect.

  When the target object 1 is rod-shaped or the like and a sealed space cannot be formed, the function as a suction cup is not exhibited. In this case as well, the suction head 12 is attracted to the target object 1 by the adhesive force of the suction means 22. be able to.

  Further, when the suction control force of the suction cup decreases due to a failure or abnormality in the pressure control device 60, the suction state can be maintained by the adhesive force of the suction means 22.

  Then, the specific structural example of the adsorption | suction apparatus 10 is demonstrated. FIG. 3A is an assembled perspective view of the balloon 30 and the check valve 40. The balloon 30 includes a first sheet 70 and a second sheet 72. The first sheet 70 and the second sheet 72 may be urethane sheets, for example. The first sheet 70 and the second sheet 72 have substantially the same diameter, and are joined at their edges 74. Bonding is preferably performed by welding, but an adhesive may be used. An opening 76 is provided in the first sheet 70, and the tube 50 is joined to the opening 76. The second sheet 72 is provided with an opening 78 corresponding to the opening 34 in FIG.

  The check valve layer 80 is provided on the surface side of the second sheet 72 forming the inner wall of the balloon so as to overlap the opening 34 (78). In the check valve layer 80, a hatched part 82 is joined to the inner wall (the surface of the second sheet 72) in the vicinity of the opening 34.

  FIGS. 3B and 3C are diagrams for explaining the operation of the check valve 40. FIG. 3B shows a pressurized state. When the inside 32 of the balloon 30 is pressurized, the check valve layer 80 is pressed against the second sheet 72, the opening 78 is closed, and the check valve 40 is closed. FIG. 3C shows a reduced pressure state. When the pressure inside the balloon 30 is reduced, the non-joined portion of the check valve layer 80 is deformed so as to be separated from the second sheet 72, the check valve 40 is opened, and the flow path 84 (see FIG. 1 (a) flow path 52) is formed.

  In FIG. 3, the check valve layer 80 is bonded to the second sheet 72 on its two sides, but may be bonded to the second sheet 72 only on one side or on three sides. The shape of the check valve layer 80 is not limited to a rectangle.

  When the check valve 40 is provided on the upper side of the balloon 30, an opening 78 is formed on the first sheet 70 side, and the check valve layer 80 may be joined so as to overlap the opening 78.

  The inventors produced the adsorption device 10 and measured its characteristics. The produced adsorption device 10 has the structure of FIG. 3 with respect to the balloon 30 and the check valve 40, and the first sheet 70 and the second sheet 72 are human skin gel (urethane gel) manufactured by EXCIR Corporation. Is formed into a thickness of 0.2 mm. The thickness of the first sheet 70 and the second sheet 72 is 0.2 mm. The diameters of the first sheet 70 and the second sheet 72 are 44 mm, and the edge widths of the first sheet 70 and the second sheet 72 are 2 mm. The diameter of the opening 78 is 1 mm. The weight of the balloon 30 with the check valve 40 is 0.8 g, and the pressure resistance is 0.3 MPa or more. Moreover, the thickness of the balloon 30 before pressurization was 0.7 mm, and the thickness in the pressurized state was 25 mm. The main body 20 was a vacuum pad (product number VPA50RN6J) manufactured by PISCO.

  FIGS. 4A and 4B are diagrams showing measurement results of the adsorption force of the produced adsorption device 10. FIG. 4 (a) shows the adsorptive power to the allyl plate, and FIG. 4 (b) shows the adsorptive power to the gypsum board having irregularities. 4A and 4B show the theoretical calculation value (Theoretical) together with the measurement result (Experiment). The vertical axis represents force F, and the horizontal axis represents pressure p.

The suction force F generated by the suction device 10 is given by equation (1).
F = F _SUCKER + F _GEL (1)
F _SUCKER is a suction force as a suction cup, and is expressed by Expression (2) and is proportional to the pressure p [Pa] in the sealed space.
F _SUCKER = S1 × p (2)
However, S1 is an area [m ² ] surrounded by the suction means 22 in FIG.

F _GEL is the adhesive force of the adsorption means 22 and is represented by the formula (3).
F _GEL = S2 × p _GEL (3)
S2 is the contact area [m ² ] between the suction means 22 and the object 1, and p _GEL is the adhesive force [Pa] per unit area of the suction means 22. p _GEL is a constant depending on the object 1. As shown in FIGS. 4A and 4B, the theoretical calculation values and the actual measurement values are in good agreement. 4A and 4B, the force F when the pressure p is zero corresponds to the adhesive force F _GEL, and the slope of the force F depends on the area S1.

  For comparison, an attempt was made to attach a commercially available suction cup having a diameter of 50 mm to a gypsum board. According to the suction device 10 according to the embodiment, it is shown that a strong suction force is exhibited even on an uneven surface to which a conventional suction cup cannot be attached.

Next, a configuration example of the pressure control device 60 will be described. 5A and 5B are diagrams illustrating a configuration example of the pressure control device 60. FIG. FIG. 5A shows a pressurized state, and FIG. 5B shows a reduced pressure state.
The pressure control device 60 includes a pump 62, a first electromagnetic valve 64, and a second electromagnetic valve 66.

  The pump 62 has a first end on the intake side and a second end on the exhaust side. The first solenoid valve 64 connects the first end of the pump 62 to the balloon 30 in the first state φ1 and connects the first end of the pump 62 to the exhaust valve 68 in the second state φ2. The second electromagnetic valve 66 connects the second end of the pump 62 to the intake valve 69 in the first state φ1 and connects the second end of the pump 62 to the balloon 30 in the second state φ2.

  According to this pressure control device 60, it is possible to generate the pressurized state of FIG. 5A and the reduced pressure state of FIG. The pressure control device 60 (or the adsorption device 10) may further include a pressure sensor 90 that measures the pressure in the sealed space. In the adsorption state, the pressure in the tube 50, the inside 32 of the balloon 30, and the sealed space are substantially equal. Therefore, the pressure sensor 90 may be attached to the main body 20 and directly measure the pressure in the sealed space, or may be attached to the tube 50 or the pressure control device 60 to indirectly measure the pressure in the sealed space. May be.

  By measuring the pressure p in the sealed space, it is possible to detect whether the adsorption device 10 is in the adsorption state or the separation state. It can also be estimated how much suction force is generated in the suction state.

  Further, when the suction force estimated based on the output of the pressure sensor 90 is higher than a predetermined threshold value, the pump 62 is operated. When the estimated suction force is lower than the threshold value, the pump 62 is restarted. You may start. Thus, energy efficiency can be improved by operating the pump 62 intermittently according to the output of the pressure sensor 90.

(Second Embodiment)
FIG. 6 is a cross-sectional view of the suction head 12a (suction device 10a) according to the second embodiment. In the first embodiment, the opening 30 that forms the flow path 52 is provided in the balloon 30, but in the second embodiment, the flow path that connects the recess 24 and the pressure control device 60 to the base body 21. 52, and the check valve 40 is provided on the flow path 52. In FIG. 6, the check valve 40 is shown as a ball valve, but this is not a limitation.

  According to the second embodiment, as compared with the case where the check valve 40 is formed on the balloon 30, restrictions on the shape, structure, and size of the check valve 40 can be relaxed. In this case as well, the configuration may be applied to the pressure control device 60 in the same manner as in FIGS. 5A and 5B, and in this case, the entire adsorption device 10 is shown in FIGS. 7A and 7B. It can be represented by a circuit.

(Third embodiment)
FIG. 8 is a cross-sectional view of the suction head 12b (suction device 10b) according to the third embodiment. In the suction device 10 so far, the suction means 22 is in close contact with the object 1, so that the airtightness of the sealed space of the suction cup is ensured. In the third embodiment, an elastic member 26 for improving the airtightness of the sealed space is provided separately from the adsorption means 22b. The elastic member 26 does not need to be tacky, and it only needs to have viscoelasticity capable of being in close contact with the object 1. In this case, since the suction means 22 does not need a function of increasing the airtightness of the sealed space, the suction means 22 does not necessarily have an annular shape surrounding the recess 24.

  The adsorption device 10 has been described based on the embodiment. This embodiment is an exemplification, and it will be understood by those skilled in the art that various modifications can be made to combinations of the respective constituent elements and processing processes, and such modifications are within the scope of the present invention. is there. Hereinafter, such modifications will be described.

(About balloons)
FIGS. 9A to 9C are diagrams showing modifications of the balloon 30. FIG. The balloon 30a in FIG. 9A is a donut shape. In the case of the balloon 30 already described, as shown in FIG. 2 (b), the balloon 1 comes into contact with the object 1 only in a narrow area on the bottom surface side at the time of separation by expansion. Therefore, when an object having a large mass is attached on the suction head 12, the object may be tilted with the ground contact area as a fulcrum, and the balance may be lost. In the donut-shaped balloon 30a shown in FIG. 9A, the object 1 can be brought into contact with a large area, so that the balance at the time of separation can be maintained.

  Further, since the balloon 30a and the suction means 22 are concentric donut shapes, the detachment force by the balloon 30a is generated along the suction force generated by the suction means 22. Therefore, the entire circumference of the suction means 22 can be removed from the object 1 uniformly.

  The balloon 30b in FIG. 9B has a columnar shape that extends in the height direction by pressurization, and may be, for example, a bellows. By making the balloon 30b cylindrical, the ground contact area with the object 1 at the time of separation can be increased, and the balance can be improved as compared with the point ground contact. Further, as in the case of a donut shape, the entire circumference of the suction means 22 can be uniformly peeled from the object 1.

  The balloon 30c in FIG. 9C is a spiral tube, and extends in the height direction by pressurization.

(About adsorption means)
In the embodiments so far, the adhesive member having adhesive force is used as the adsorbing means 22, but is not limited thereto. The adsorbing means 22 may use magnetic force, electrostatic force or van der Waals force. For example, when the object 1 is a metal, a permanent magnet may be used as the attracting means 22.

  Although the present invention has been described using specific terms based on the embodiments, the embodiments merely show one aspect of the principle and application of the present invention. Many variations and modifications of the arrangement are allowed without departing from the spirit of the present invention defined in the scope.

(Use)
Finally, an example of the use of the adsorption device 10 will be described. FIGS. 10A and 10B are perspective views of the flying robot 100 including the suction device 10. The flying robot 100 includes a multicopter 102 and at least one suction device 10. The flying robot 100 is an unmanned aerial vehicle (UAV) that collects information and performs maintenance work on behalf of humans in work environments that are difficult for humans to enter, such as in dangerous buildings, on bridge inspections, and at high radiation levels. There may be.

  The multicopter 102 in FIG. 10A includes an adsorption device 10_1 provided on the upper side of the multicopter 102 and an adsorption device 10_2 provided in front of the multicopter 102. Adsorption to the ceiling is possible by the adsorption device 10_1, and adsorption to the wall surface is possible by the adsorption device 10_2.

  Many multicopters 102 of 1 kg or less are commercially available. As shown in FIG. 4, the adsorption device 10 can exert an adsorption force of several tens of N. Therefore, a 1 kg body is fixed to a wall surface or ceiling. It is easy to keep.

  Since the flying robot 100 flies with a battery, the flying time is limited, and the working time of the conventional flying robot is limited by the battery capacity. On the other hand, in the flying robot 100 of FIG. 10A, it can be adsorbed to a wall surface or a ceiling to be stationary. In a stationary state, the working time of the flying robot 100 can be greatly extended by stopping the rotation of the propeller. As described above, the adsorption device 10 can exert a large adsorption force on the uneven object 1, so that the airframe can be fixed to various structures such as concrete, gypsum board, painted steel frame, and the like.

  The flying robot 100 in FIG. 10B includes a suction device 10_3 below the multicopter 102. The suction device 10_3 can grip the object 1 having various shapes and structures and transport it.

  In the adsorbing devices 10_1 to 10_3, when an adhesive member such as urethane gel is used for the adsorbing means 22, the adhesive force decreases as the machine body is repeatedly attached and detached. Therefore, the flying robot 100 may be provided with a cleaning unit that cleans the suction unit 22. The cleaning means may be constituted by a brush soaked with a cleaning liquid such as alcohol, and an actuator that moves the brush and the suction means relative to each other while being in contact with each other.

  In addition, the suction device 10 can be used for industrial robots, manipulators in factory production lines, and the like.

  Although the present invention has been described using specific terms based on the embodiments, the embodiments only illustrate the principles and applications of the present invention, and the embodiments are defined in the claims. Many variations and modifications of the arrangement are permitted without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 1 ... Object, 10 ... Adsorption apparatus, 12 ... Adsorption head, 20 ... Main body, 21 ... Base | substrate, 22 ... Adsorption means, 24 ... Recessed part, 26 ... Elastic member, 30 ... Balloon, 32 ... Inside, 34 ... Opening part, 40 ... Check valve, 50 ... Tube, 52 ... Flow path, 54 ... Filter, 60 ... Pressure control device, 62 ... Pump, 64 ... First solenoid valve, 66 ... Second solenoid valve, 68 ... Exhaust valve, 69 ... Intake valve, 70 ... first seat, 72 ... second seat, 74 ... edge, 76, 78 ... opening, 80 ... check valve layer, 100 ... flying robot, 102 ... multicopter.

Claims (9)

A main body in which a concave portion that forms a sealed space in an adsorbed state is formed, and an adsorbing means that exerts an adsorbing force between the base and the object;
Provided on a flow path that connects the pressure control device and the recess, and allows a flow from the recess to the pressure control device in a reduced pressure state by the pressure control device, and an opposite flow in a pressurization state by the pressure control device. A check valve to block,
A balloon connected to the pressure control device and inflated in a pressurized state by the pressure control device;
An adsorption apparatus comprising:   The adsorption device according to claim 1, wherein the balloon is provided with an opening, and the check valve is provided in the opening.   The check valve includes a check valve layer provided so as to overlap the opening along the inner wall of the balloon, and a part of the check valve is joined to the inner wall in the vicinity of the opening. The adsorption apparatus according to claim 2.   The adsorption device according to any one of claims 1 to 3, wherein the adsorption force of the adsorption means is any one of adhesive force, magnetic force, electrostatic force, and van der Waals force.   The suction device according to any one of claims 1 to 4, wherein the suction means includes an adhesive member having adhesiveness and elasticity, and is attached to a contact surface side of the base with the object. A body having a recess;
An annular pressure-sensitive adhesive member having adhesiveness and elasticity, and attached in a manner surrounding the concave portion on the contact surface side of the main body;
A balloon housed in a sealed space surrounded by the concave portion of the main body and the adhesive member, and having an opening;
A check valve that is provided in the opening of the balloon, prevents a flow from the inside to the outside of the balloon, and allows a flow from the outside to the inside of the balloon;
A pressure control device for controlling the pressure inside the balloon;
An adsorption apparatus comprising:   The adsorption device according to claim 1, further comprising a pressure sensor that measures a pressure in the sealed space in the adsorption state. The pressure control device includes:
A pump,
A first solenoid valve connecting the first end of the pump with the check valve and the balloon in a first state, and connecting the first end of the pump with an exhaust valve in a second state;
A second solenoid valve for connecting the second end of the pump to the intake valve in the first state, and connecting the second end of the pump to the check valve and the balloon in the second state;
The adsorption apparatus according to claim 1, comprising: Multicopter,
The adsorption device according to any one of claims 1 to 8, attached to the multicopter,
A flying robot characterized by comprising:

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