JP2018126850A - Wall surface adsorption device and wall surface moving device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a wall surface adsorption device that can change frictional-force to a wall surface with good responsiveness.SOLUTION: A wall surface adsorption device 1 includes: a partition wall 4 for partitioning a recess part space 3 facing a wall surface 2; a suction part 6 capable of continuously sucking air of the recess part space 3; and an opening/closing operation part 7 having an opening/closing part 7a provided at the partition wall 4 to communicate the recess part space 3 to the outside while being opened and operating so as to change an open area S of the opening/closing part 7a.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a wall surface adsorption device and a wall surface moving device.

  2. Description of the Related Art A wall surface adsorption device that can adsorb on a wall surface such as a vertical wall, an inclined wall, a ceiling, or a floor is known. The wall surface adsorption device may include a partition wall that defines a recessed space facing the wall surface, and a suction unit that can continuously suck air in the recessed space (see, for example, Patent Document 1).

JP 2013-159243 A

  If the frictional force between the wall surface adsorption device and the wall surface described in Patent Document 1 can be changed, it is useful, for example, when the wall surface adsorption device is to be moved along the wall surface.

  This invention was developed in view of such a problem, and it aims at providing the wall surface adsorption | suction apparatus which can change the frictional force with a wall surface effectively. Moreover, an object of this invention is to provide the wall surface moving apparatus which can move smoothly with such a wall surface adsorption | suction apparatus.

The wall surface adsorption device according to the present invention is:
A wall surface adsorption device capable of adsorbing to a wall surface,
A partition wall that defines a recessed space facing the wall surface;
A suction part capable of continuously sucking air in the recessed space; and
It has an opening / closing operation part which is provided in the partition and has an opening / closing part which communicates the recessed space to the outside in an opened state, and which operates to change the opening area of the opening / closing part.

In the wall surface adsorption device according to the present invention,
The opening / closing operation part is
A movable part that moves in a direction along the wall surface to change the open area;
A connecting portion connectable to another wall surface adsorption device having the same configuration as the wall surface adsorption device;
It is preferable that the connecting portion is provided integrally with the movable portion.

  In the wall surface adsorption device according to the present invention, the movable portion increases the open area by moving in the forward direction from the neutral position, and increases the open area by moving in the reverse direction from the neutral position. It is preferable.

Moreover, the wall surface adsorption | suction apparatus which concerns on this invention is
A pair of opening / closing operation parts;
It is preferable that the pair of opening / closing operation units are arranged in a direction along the wall surface perpendicular to the moving direction of the movable unit.

Furthermore, the wall surface adsorption device according to the present invention is:
Further comprising detection means for detecting an internal pressure of the recessed space or an uneven portion or a stepped portion of the wall surface;
It is preferable that the adsorption force with respect to the wall surface can be changed according to the detection result of the detection means.

  Moreover, the wall surface moving apparatus which concerns on this invention is equipped with the wall surface adsorption | suction apparatus which concerns on this invention, It is characterized by the above-mentioned.

Moreover, the wall surface moving device according to the present invention is:
A plurality of the wall surface adsorption devices;
The plurality of wall surface adsorption devices are connected in a row or annularly,
It is preferable to be able to move by changing the open area and the interval between the wall surface adsorption devices.

Furthermore, the wall surface moving device according to the present invention is:
At least one of the plurality of wall surface adsorption devices further includes detection means for detecting an internal pressure of the recessed space or an uneven portion or a step portion of the wall surface,
It is preferable that at least one of the plurality of wall surface adsorption devices for the wall surface can be changed according to a detection result of the detection unit.

  ADVANTAGE OF THE INVENTION According to this invention, the wall surface adsorption | suction apparatus which can change the frictional force with a wall surface effectively can be provided. Moreover, according to this invention, the wall surface moving apparatus which can be moved smoothly by such a wall surface adsorption | suction apparatus can be provided.

It is the top view seen from the upper side of the wall surface which shows typically the wall surface adsorption | suction apparatus which concerns on one Embodiment of this invention, and shows the state which moved both a pair of movable part to the neutral position. It is a partial cross section side view which follows AA of FIG. It is a top view which shows the mode of operation | movement of the opening-and-closing operation part in the wall surface adsorption | suction apparatus shown in FIG. 1, (a) shows the state which moved both a pair of movable part to the forward direction from the neutral position, (b) Shows a state in which both of the pair of movable parts are moved in the reverse direction from the neutral position, and (c) shows that one of the pair of movable parts is moved in the forward direction from the neutral position and the other is moved in the reverse direction from the neutral position. Indicates the state of the It is a top view which shows typically the wall surface moving apparatus which concerns on one Embodiment of this invention. It is a top view which shows typically the wall surface moving apparatus which concerns on other embodiment of this invention.

  Hereinafter, a wall surface adsorption device and a wall surface movement device according to an embodiment of the present invention will be described in detail with reference to the drawings. In the present specification, the “wall surface” is not limited to a wall of a building but may be a surface of any object (surface to be attracted), and the inclination angle is not limited to vertical, but is arbitrary including horizontal. The inclination angle may be. That is, the wall surface may be, for example, a vertical wall, an inclined wall, a ceiling, or a floor.

  As shown in FIGS. 1 and 2, the wall surface adsorption device 1 according to the present embodiment is configured to be adsorbable to the wall surface 2. The wall surface adsorption device 1 includes a partition wall 4 that defines a recessed space 3 that faces the wall surface 2. In this example, the partition wall 4 has a top wall 4a having a substantially rectangular shape in plan view, and a peripheral wall 4b provided integrally with the outer peripheral edge of the top wall 4a. The top wall 4a may have a substantially circular shape in a plan view, for example, and the shape of the partition wall 4 can be changed as appropriate. The partition wall 4 can be made of, for example, a synthetic resin member and / or a metal member, and has rigidity capable of maintaining the negative pressure state of the recessed space 3 necessary for adsorbing the wall surface adsorption device 1 to the wall surface 2. If you do.

  In this example, the wall surface adsorption device 1 includes a skirt 5 that continuously surrounds the peripheral wall 4b. The skirt 5 can be made of, for example, a synthetic resin member and / or a rubber member, and has flexibility and elasticity that deforms along the wall surface 2 when the wall surface 2 is curved, for example. . Therefore, for example, when the wall surface 2 is curved, the gap between the wall surface 2 and the peripheral wall 4b can be reduced by the skirt 5, and the negative pressure state of the recessed space 3 can be stably maintained. The skirt 5 may intermittently surround the peripheral wall 4b.

  Further, instead of or in addition to the skirt 5, a brush (not shown) may be provided continuously or intermittently over the entire circumference along the peripheral wall 4 b. In this case, for example, when the wall surface 2 has an uneven portion or a step portion, the gap between the wall surface 2 and the peripheral wall 4b can be reduced with a brush, and the negative pressure state of the recessed space 3 can be stably maintained. . The partition 4 may be urged away from the wall surface 2 by the elasticity of the skirt 5 and / or the brush, or may be in contact with the wall surface 2 without being urged. In addition, the wall surface adsorption | suction apparatus 1 is good also as a structure which is not provided with the skirt 5 or a brush. Moreover, the wall surface adsorption | suction apparatus 1 may be the structure which adjusted the frictional force between the partition 4 and the wall surface 2 by interposing the ball bearing etc. between the partition 4 and the wall surface 2, for example.

  Moreover, the wall surface adsorption | suction apparatus 1 is provided with the suction part 6 which can attract | suck the air of the recessed part space 3 continuously. The suction unit 6 can be constituted by a centrifugal fan, for example. In this example, the suction portion 6 is provided on the outer side of the partition wall 4 (outer surface of the top wall 4a), but may be provided on the inner side of the partition wall 4 (inner side surface of the top wall 4a), and the arrangement thereof is appropriately set. It can be changed. In this example, the suction unit 6 is configured to continuously discharge the air in the recessed space 3 through the exhaust port 4c provided in the top wall 4a. Thus, by continuously sucking the air in the recessed space 3 by the suction portion 6, the recessed space can be obtained even when the wall surface 2 is curved or the wall surface 2 has an uneven portion or a stepped portion, for example. 3 can be stably maintained, and the adsorption force to the wall surface 2 can be stably maintained.

  Furthermore, the wall surface adsorption device 1 includes an opening / closing operation unit 7. The opening / closing operation part 7 has an opening / closing part 7 a provided in the partition wall 4 for communicating the recessed space 3 to the outside in an open state. Moreover, as shown in FIGS. 1 and 3A to 3C, the opening / closing operation unit 7 has an opening / closing unit depending on the position of a window (opening) 7f provided in the movable unit 7b described later with respect to the opening / closing unit 7a. It operates so as to change the open area S of 7a (the hatched portion in FIGS. 3A to 3C). In this example, the opening / closing part 7a is configured by an opening provided in the top wall 4a. The opening / closing part 7a may be configured by an opening or a notch provided in the peripheral wall 4b. The arrangement and shape of the opening / closing part 7a are not limited to those shown in the figure as long as the opening / closing part 7a is provided in the partition wall 4. Further, the window portion 7f provided in the movable portion 7b is not limited to the opening shown in FIG. 3 as long as the open area S of the opening / closing portion 7a can be changed, and may be a notch, for example.

  FIGS. 3A to 3C show only a state where the open area S is maximized (that is, the opening / closing part 7a is fully opened), but the open area S changes to a desired area at a desired timing. Can be made. As the open area S increases, the amount of external air flowing into the recessed space 3 through the opening / closing portion 7a increases, so that the negative pressure state (negative pressure) of the recessed space 3 is weakened and the frictional force with the wall surface 2 is reduced (that is, , The adsorptive power to the wall surface 2 can be reduced). As described above, the opening / closing operation unit 7 can effectively change the negative pressure state of the recessed space 3 by changing the open area S, thereby effectively changing the frictional force with the wall surface 2. be able to. Moreover, in this example, since the negative pressure state of the recessed part space 3 can be changed by such an opening / closing operation part 7, the negative pressure state of the recessed part space 3 is changed by changing the output of the suction part 6, for example. Rather than the case, the frictional force with the wall surface 2 (adsorption force on the wall surface 2) can be changed with good responsiveness. In addition, you may make it change the frictional force (attraction | suction force to the wall surface 2) with the wall surface 2 by both the change of the open area S of the opening-and-closing operation part 7, and the change of the output of the suction part 6. FIG.

  In this example, the opening / closing operation part 7 has a movable part 7b that moves in a direction along the wall surface 2 so as to change the open area S. Further, in this example, the opening / closing operation part 7 has an operation part having a fixed part 7c fixed to the partition wall 4 (the ceiling wall 4a in this example) and a movable part 7b movable with respect to the fixed part 7c. 7d. The operating part 7d is configured to be able to adjust the amount of movement of the movable part 7b relative to the fixed part 7c. The moving amount of the movable part 7b is adjusted to a desired size at any time by a control part (not shown). In addition, in this example, although the action | operation part 7d is comprised with the linear motor, you may comprise with a rotary motor, for example. That is, in this example, the movable portion 7b moves linearly in plan view, but the movable portion 7b may move in a curved shape such as an arc shape in plan view, or rotate instead of moving. It may be. Thus, the movable part 7b can be configured to move or rotate so as to change the open area S of the opening / closing part 7a. The movable portion 7b may be configured to move in a direction other than the direction along the wall surface 2. For example, when the opening / closing part 7a is provided on the peripheral wall 4b, the movable part 7b may be configured to move in a direction perpendicular to the wall surface 2 so as to change the open area S.

  Further, in this example, the opening / closing operation unit 7 includes a connecting portion 7 e that can be connected to another wall surface adsorption device 1 having the same configuration as the wall surface adsorption device 1. The connecting portion 7e is provided integrally with the movable portion 7b. In this example, a connected portion 8 that can be directly or indirectly connected (for example, fixed) to the connecting portion 7e is provided on the side of the partition wall 4 (in this example, the ceiling wall 4a) where the fixing portion 7c is provided. . Therefore, the connecting portion 7e of the wall surface adsorption device 1 is connected to the coupled portion 8 of the other wall surface adsorption device 1 directly, for example, as shown in FIG. 4 or, for example, as shown in FIG. It is configured to be connectable via the member 10. The connecting member 10 is not limited to the elastic body as shown in FIG. 5 but may be a rigid body. Moreover, the connection part 7e and / or the to-be-connected part 8 may have a universal joint which can change a mutual connection angle. In the example shown in FIG. 4, the connecting portion 7 e is directly fixed to the connected portion 8, and in the example shown in FIG. 5, the connecting portion 7 e is fixed to the connected portion 8 via the connecting member 10. As described above, the wall surface adsorption device 1 is particularly stably connected to the other wall surface adsorption device 1 by the connection portion 7 of the opening / closing operation unit 7 having the connection portion 7e that moves integrally with the movable portion 7b. A wall surface moving device 9 that can move smoothly can be configured. That is, since the change in the open area S (that is, the change in the frictional force with the wall surface 2) and the change in the interval between the wall surface adsorption devices 1 are realized by the single opening / closing operation unit 7, Since the changes are reliably synchronized structurally, the behavior of the wall surface moving device 9 can be stabilized.

  Here, FIG. 4 shows a wall surface moving device 9a according to an embodiment of the present invention, which can be configured using a plurality of wall surface adsorption devices 1 of the present example. The wall surface moving device 9a includes a plurality (four in this example) of wall surface adsorption devices 1. Moreover, the several wall surface adsorption | suction apparatus 1 is connected with the connection part 7e and the to-be-connected part 8 so that it may form a line in a single character form. And the wall surface moving apparatus 9a is comprised so that a movement (for example, movement to the arrow direction in FIG. 4) is possible by changing the open area S and the space | interval between the wall surface adsorption | suction apparatuses 1. FIG. . A specific procedure for moving the wall surface moving device 9a will be described later. The wall surface moving device 9a may have a configuration in which adjacent skirts 5 are connected to each other (for example, in the case of FIG. 4, a configuration in which four skirts 5 are integrated). Further, in this example, the wall surface moving device 9a is connected so that the wall surface adsorbing devices 1 form a single letter as a whole, but for example, by connecting them so as to form a cross shape, the degree of freedom in the moving direction is increased. An expanded configuration may be used.

  Moreover, FIG. 5 has shown the wall surface moving apparatus 9b which concerns on other embodiment of this invention which can be comprised using the wall surface adsorption | suction apparatus 1 of this example in multiple numbers. The wall surface moving device 9b includes a plurality (eight in this example) of wall surface adsorption devices 1. Moreover, the several wall surface adsorption | suction apparatus 1 is connected cyclically | annularly. And the wall surface moving apparatus 9b is comprised so that a movement is possible by changing the open area S and the space | interval between the wall surface adsorption | suction apparatuses 1. FIG. A specific procedure for moving the wall surface moving device 9b will be described later. The wall surface moving device 9b may have a configuration in which adjacent skirts 5 are connected to each other (for example, in the case of FIG. 5, a configuration in which eight skirts 5 are integrated to form an annular shape).

  The wall surface adsorption device 1 of this example may be configured to separately realize the change in the open area S and the change in the interval between the wall surface adsorption devices 1. In this case, for example, an operating means having a fixed portion and a movable portion equivalent to the fixed portion 7c and the movable portion 7b described above, except that the movable portion 7b does not change the open area S of the opening / closing portion 7a. The opening / closing operation unit 7 may be provided separately, and the wall surface adsorption devices 1 may be connected to each other through the operation means. Even with such a configuration, if the change in the open area S by the opening and closing operation unit 7 and the change in the interval between the wall surface adsorption devices 1 by the operation means are performed while being appropriately synchronized, the wall surface moving device 9 can be made smooth. Can be moved. For example, a self-propelled means having a drive wheel, a crawler, etc. may be provided so that the wall surface adsorption device 1 can be moved alone. Moreover, you may comprise the said self-propelled means with elastic bodies, such as sponge, so that the uneven | corrugated | grooved part or level | step-difference part of a running surface (wall surface 2) may be followed. In this case, the wall surface moving device 9 can be constituted by the wall surface adsorption device 1 alone. In the wall surface moving device 9 configured as described above, the change in the open area S by the opening / closing operation unit 7 and the change in the driving force by the self-propelled means are appropriately synchronized (that is, the frictional force is reduced and the driving force is reduced). By performing the increase at the same timing, the wall surface moving device 9 can be moved smoothly. The self-propelled means may be provided in the wall surface adsorption device 1 or may be provided separately from the wall surface adsorption device 1, for example, to pull the wall surface adsorption device 1. Further, when the self-propelled means is provided in the wall surface adsorption device 1 or provided separately from the wall surface adsorption device 1, the wall surface moving device 9 may be constituted by a plurality of wall surface adsorption devices 1 connected to each other.

  In this example, the movable portion 7b moves from the neutral position shown in FIG. 1 (the opening and closing portion 7a is closed) to the forward direction indicated by the arrow in FIG. 3A (in this example, the direction in which the operating portion 7d extends). To increase the open area S (that is, reduce the adsorption force to the wall surface 2 of the wall surface adsorption device 1), and from the neutral position to the reverse direction (that is, opposite to the forward direction) indicated by an arrow in FIG. In this example, the opening area S of the opening / closing part 7a is also increased by moving in the direction in which the operating part 7d contracts. In this example, as shown in FIG. 1, the movable portion 7b is configured to reduce the open area S to 0 (that is, close the opening / closing portion 7a) in the neutral position, but the movable portion 7b. May be configured such that the open area S remains in the neutral position.

  Therefore, for example, when the wall surface moving device 9a is configured as shown in FIG. 4, for example, it is periodically between the neutral position and the position (forward position) where the movable portion 7b is moved in the forward direction. The wall surface moving device 9a can be moved by moving to. More specifically, for example, the movable portion 7b in one wall surface adsorption device 1 is moved in the forward direction from the neutral position (the operating portion 7d is extended), stopped at the forward position, and then reversed from the forward position. It is periodically operated so as to go through a process of moving in the direction (contracting the actuating portion 7d) and stopping at the neutral position, and this periodic operation is performed by, for example, as shown in FIG. From the state in which the movable portion 7b is in the neutral position, the phase is appropriately (for example, 1/2) from the top (topmost in FIG. 4) wall suction device 1 to the rear (bottommost in FIG. 4) wall suction device 1. By performing the operation while delaying, the wall surface moving device 9a can be moved forward (moved upward in FIG. 4, that is, in the direction of the arrow).

  Further, the wall surface moving device 9a can be moved by periodically moving the movable portion 7b between the neutral position and a position (reverse direction position) moved in the reverse direction. For example, the movable portion 7b is moved in the reverse direction from the neutral position (the operating portion 7d is contracted), stopped at the reverse position, and then moved in the forward direction from the reverse position (the operating portion 7d is extended) to be neutral. The periodic operation is performed so as to pass through the process of stopping at the position. For example, as shown in FIG. 4, this periodic operation is performed from the state in which the movable parts 7 b of all the wall surface adsorption devices 1 are in the neutral position ( By moving the phase from the wall surface adsorption device 1 at the top in FIG. 4 to the wall adsorption device 1 at the rear (bottom in FIG. 4) while appropriately delaying the phase (for example, a 1/2 cycle), the wall movement device 9a is performed. Can be moved backward (moved downward in FIG. 4).

  Moreover, in this example, as shown in FIG. 1, the wall surface adsorption | suction apparatus 1 is provided with a pair of opening / closing operation part 7. As shown in FIG. In this example, the pair of opening / closing operation parts 7 are arranged in a direction along the wall surface 2 orthogonal to the moving direction of the movable part 7b. Therefore, as shown in FIG. 3C, by moving the pair of movable parts 7b in the pair of opening / closing operation parts 7 in directions opposite to each other, for example, the wall surface moving device 9a is configured as shown in FIG. In this case, the wall surface moving device 9a can be provided with a good rotational property. That is, by moving the pair of movable parts 7b of the wall surface adsorption device 1 in opposite directions, the open area S is increased and the frictional force with the wall surface 2 is reduced (that is, the adsorption force to the wall surface 2 is reduced). At the same time, since a moment can be given to the wall surface adsorption device 1, the movement direction of the wall surface movement device 9 can be changed with good responsiveness. Of course, it is possible to apply a moment to the wall surface adsorption device 1 by moving only one of the pair of movable parts 7b of the wall surface adsorption device 1. Further, for example, the partition wall 4 is partitioned into a recess space 3 into a first recess space facing one of the pair of opening / closing portions 7a and a second recess space facing the other of the pair of opening / closing portions 7a. By providing a partition wall and operating the pair of operating portions 7d so that the open area S is different between the pair of opening / closing portions 7a, a negative pressure state between the first recess space and the second recess space ( A difference in the frictional force with the wall surface 2) may be added to improve the rotation.

  Moreover, the wall surface moving device 9b shown in FIG. 5 can be moved in the following manner, for example. First, the wall surface moving device 9b can be moved by periodically moving the movable portion 7b between the neutral position and the forward position. For example, the movable portion 7b is moved in the forward direction from the neutral position (the operating portion 7d is extended), stopped at the forward position, and then moved in the reverse direction from the forward position (the operating portion 7d is contracted) to be neutral. The periodic operation is performed so as to pass through the process of stopping at the position. For example, as shown in FIG. 5, the periodic operation is started from the state in which the movable portions 7b of all the wall surface adsorption devices 1 are in the neutral position. From the uppermost wall adsorbing device 1 in FIG. 4 to the rear (lowermost in FIG. 4) wall adsorbing device 1, both in the clockwise and counterclockwise phases are appropriately delayed (for example, 1/2 period). By doing so, the wall surface moving device 9b can be moved forward (moved upward in FIG. 4, ie, in the direction of the arrow).

  The wall surface moving device 9b can also be moved by periodically moving the movable portion 7b between the neutral position and the reverse position. For example, the movable portion 7b is moved in the reverse direction from the neutral position (the operating portion 7d is contracted), stopped at the reverse position, and then moved in the forward direction from the reverse position (the operating portion 7d is extended) to be neutral. The periodic operation is performed so as to pass through the process of stopping at the position. For example, as shown in FIG. 5, the periodic operation is started from the state in which the movable portions 7b of all the wall surface adsorption devices 1 are in the neutral position. The wall surface moving device is configured to perform both the clockwise and counterclockwise phases while delaying the phase from the uppermost wall adsorbing device 1 in FIG. 4 to the rear (lowermost in FIG. 4) wall adsorbing device 1. 9b can be moved backward (moved downward in FIG. 4).

  Moreover, in the example shown in FIGS. 1-3, the wall surface adsorption | suction apparatus 1 is further provided with the detection means (illustration omitted) which detects the internal pressure of the recessed part space 3, or the uneven | corrugated | grooved part or level | step-difference part of the wall surface 2, and the said detection Depending on the detection result of the means, it may be possible to change the suction force on the wall surface 2. Such a detection means is preferably arranged in the part facing the concave space 3 in the partition wall 4 or in the skirt 5, but may be arranged in other parts. The detection means may be either a contact type or a non-contact type, and may be any type such as a pressure sensor (atmospheric pressure sensor, etc.), a displacement sensor (stylus type, laser type, etc.), an image sensor (camera), etc. Can be used. When detecting the internal pressure of the recessed space 3, for example, a pressure sensor may be disposed in a portion of the partition wall 4 facing the recessed space 3, or a separate chamber that communicates with the recessed space 3 is provided. You may arrange | position a pressure sensor in.

  The wall surface moving device 9 may have the wall surface adsorption device 1 provided with such a detection means. When the wall surface moving device 9 has the single wall surface adsorbing device 1, the wall surface moving device 9 detects, for example, the internal pressure of the recessed space 3 of the wall surface adsorbing device 1 by the detection means, and the internal pressure is When it falls too much, it can comprise so that the adsorption | suction force with respect to the wall surface 2 of the said wall surface adsorption | suction apparatus 1 may be increased. When the wall surface moving device 9 has a plurality of wall surface adsorbing devices 1, the wall surface moving device 9 includes at least one of the plurality of wall surface adsorbing devices 1 further including the detecting means, Depending on the detection result, it may be possible to change at least one of the plurality of wall surface adsorption devices 1 with respect to the wall surface 2. For example, when the internal pressure of the recessed space 3 of a wall surface adsorption device 1 is detected by the detection means and the internal pressure is too low, the wall surface adsorption device 1 or the wall surface 2 of another wall surface adsorption device 1 is applied. It can be configured to increase the attractive force. The detection means may be provided on all of the plurality of wall surface adsorption devices 1 or only on a part thereof. Further, the increase in the suction force can be realized by reducing the open area S of the opening / closing part 7a and / or increasing the suction force (for example, the output of the centrifugal fan) of the suction part 6.

  When detecting the uneven portion or step portion of the wall surface 2 in place of the internal pressure of the recessed space 3, the larger the uneven portion or step portion of the wall surface 2, the lower the internal pressure of the recessed space 3. Since it is considered, it can be configured such that the larger the unevenness or stepped portion of the wall surface 2 is, the more the adsorption force of the wall surface adsorption device 1 is increased. In this case, the detection means is preferably provided as far forward as possible in the moving direction of the wall surface moving device 9, and with such an arrangement, the internal pressure in the recessed space 3 located behind the detection means is reduced in advance. It is possible to predict and increase the internal pressure of the recess space 3 at an early timing. For example, in the case of the wall surface moving device 9a having a single character shape shown in FIG. 4, the front end and / or the rear end of the wall surface moving device 9a (for example, the front portion of the skirt 5 of the front wall adsorbing device 1 and / or It is preferable to arrange the detection means in the rear portion of the skirt 5 of the wall surface adsorption device 1 at the rearmost part. In the case of the annular wall surface moving device 9b shown in FIG. 5, the outer peripheral edge portion of the wall surface moving device 9b (for example, the outer peripheral edge portion of the wall surface moving device 9b in the skirt 5 of each wall surface adsorption device 1). It is preferable to arrange the detecting means at the portion or the outer peripheral edge portion of the connected skirts when the eight skirts 5 are connected in an annular shape as described above.

  According to the wall surface moving device 9 provided with the wall surface adsorption device 1 of this example, various materials, structures, curvatures or inclinations such as a wall surface including a window portion of a building, a wall surface of a dam wall, an outer surface of an aircraft body, etc. It can move on the wall. In addition, by appropriately installing inspection sensors / tools or cleaning tools, various wall surfaces can be easily inspected (acquisition of data such as images, diagnosis, marking of points requiring repair, etc.) or cleaning. be able to.

  Although one embodiment of the present invention has been described above, the above description is merely an example of the embodiment of the present invention, and it goes without saying that various modifications may be made without departing from the gist of the invention. .

DESCRIPTION OF SYMBOLS 1 Wall surface adsorption device 2 Wall surface 3 Recessed space 4 Partition 4a Top wall 4b Peripheral wall 4c Exhaust port 5 Skirt 6 Suction part 7 Opening / closing operation part 7a Opening / closing part 7b Movable part 7c Fixed part 7d Actuation part 7e Connection part 7f Window part 8 Connected part DESCRIPTION OF SYMBOLS 9 Wall surface moving apparatus 9a Wall surface moving apparatus 9b Wall surface moving apparatus 10 Connection member S Open area

Claims (8)

A wall surface adsorption device capable of adsorbing to a wall surface,
A partition wall that defines a recessed space facing the wall surface;
A suction part capable of continuously sucking air in the recessed space; and
It has an opening / closing operation part provided on the partition wall and having an opening / closing part that communicates the recessed space with the outside in an open state, and that operates to change an opening area of the opening / closing part. Wall adsorption device. The opening / closing operation part is
A movable part that moves in a direction along the wall surface to change the open area;
A connecting portion connectable to another wall surface adsorption device having the same configuration as the wall surface adsorption device;
The wall surface adsorption device according to claim 1, wherein the connecting portion is provided integrally with the movable portion.   The wall surface adsorption device according to claim 2, wherein the movable portion increases the open area by moving in a forward direction from a neutral position, and increases the open area by moving in a reverse direction from the neutral position. A pair of opening / closing operation parts;
4. The wall surface adsorption device according to claim 2, wherein the pair of opening / closing operation units are arranged in a direction along the wall surface perpendicular to a direction in which the movable unit moves. Further comprising detection means for detecting an internal pressure of the recessed space or an uneven portion or a stepped portion of the wall surface;
The wall surface adsorption | suction apparatus as described in any one of Claims 1-4 which enabled it to change the adsorption force with respect to the said wall surface according to the detection result of the said detection means.   A wall surface moving device comprising the wall surface adsorption device according to any one of claims 1 to 5. A plurality of the wall surface adsorption devices;
The plurality of wall surface adsorption devices are connected in a row or annularly,
The wall surface movement apparatus of Claim 6 which can move by changing the said open area and the space | interval between the said wall surface adsorption | suction apparatuses. At least one of the plurality of wall surface adsorption devices further includes detection means for detecting an internal pressure of the recessed space or an uneven portion or a step portion of the wall surface,
The wall surface moving device according to claim 7, wherein at least one of the plurality of wall surface adsorption devices for the wall surface can be changed according to a detection result of the detection unit.

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