JP2018131107A - Wall surface adsorption device and wall surface mobile device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a wall surface adsorption device that can readily acquire adsorption force with respect to a curved wall surface.SOLUTION: A wall surface adsorption device includes: a partition wall 4 for partitioning a recess part space 3 that faces a wall surface; and a suction part 5 capable of continuously sucking air of the recess part space 3. The partition wall 4 is configured to be deformable.SELECTED DRAWING: Figure 4

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

  The conventional wall surface adsorption device described in Patent Document 1 sometimes has difficulty in obtaining an adsorption force when the wall surface is curved, for example.

  This invention is made | formed in view of such a point, and it aims at providing the wall surface adsorption | suction apparatus which is easy to obtain the stable adsorption | suction force with respect to the wall surface which is not flat. Moreover, an object of this invention is to provide the wall surface moving apparatus which is easy to move stably on the wall surface which is not flat 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;
The partition wall is configured to be deformable.

  Moreover, in the wall surface adsorption | suction apparatus which concerns on this invention, it is preferable that the said partition has a some bone member and a flexible member which has a flexibility and plugs the clearance gap between said some bone members.

  Moreover, in the wall surface adsorption | suction apparatus which concerns on this invention, it is preferable that the said partition has a frame | skeleton which has a some bone member and the rocking | fluctuation shaft part which connects this some bone member so that rocking | fluctuation mutually.

  Moreover, in the wall surface adsorption | suction apparatus which concerns on this invention, it is preferable to further provide the skirt which is arrange | positioned continuously or intermittently over the perimeter part of the said partition over the perimeter, and has flexibility.

Furthermore, in the wall surface adsorption device according to the present invention,
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 device according to the present invention is:
A wall surface adsorption device according to the present invention;
And a traveling means provided in the wall surface adsorption device.

Moreover, in the wall surface moving apparatus according to the present invention,
The partition wall has a skeleton having a plurality of bone members and a swing shaft portion that connects the plurality of bone members to each other so as to be swingable.
It is preferable that the traveling means is fixed to the bone member of the wall surface adsorption device.

  ADVANTAGE OF THE INVENTION According to this invention, the wall surface adsorption | suction apparatus which is easy to obtain the stable adsorption | suction force with respect to the wall surface which is not flat can be provided. Moreover, according to this invention, the wall surface moving apparatus which is easy to move stably on the wall surface which is not flat with such a wall surface adsorption | suction apparatus can be provided.

It is a top view which shows the wall surface adsorption | suction apparatus and wall surface moving apparatus which concern on one Embodiment of this invention. It is a bottom view of the wall surface adsorption | suction apparatus and wall surface moving apparatus shown in FIG. It is a partial cross section side view which follows the AA line of FIG. It is a partial cross section side view which shows the state at the time of use of the wall surface adsorption | suction apparatus and wall surface movement apparatus shown in FIG. 1 according to FIG.

  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 as a whole is not limited to a vertical direction, but also a horizontal surface. Any tilt angle may be included. That is, the wall surface may be, for example, a vertical wall, an inclined wall, a ceiling, or a floor. In the present specification, the “upper surface” of the wall surface adsorption device means a surface that can be seen when the wall surface adsorption device is adsorbed on the wall surface.

  As shown in FIGS. 1 to 3, the wall surface adsorption device 1 according to the present embodiment continuously separates the partition walls 4 that define the recessed space 3 facing the wall surface 2 (see FIG. 4) and the air in the recessed space 3. And a suction part 5 that can be sucked in, as shown in FIG. The wall surface moving device 6 according to the present embodiment includes the wall surface adsorption device 1 and traveling means 7 provided on the wall surface adsorption device 1 and is configured to be movable on the wall surface 2.

  As shown in FIG. 4, the partition 4 is configured to be deformable. Here, being deformable means that at least a part can be displaced with respect to at least a part of the other part. According to the deformable partition wall 4, even when the wall surface 2 is not flat, such as when the wall surface 2 is curved or bent or has an uneven portion or a stepped portion, The gap between the peripheral edges of the partition walls 4 can be effectively reduced, and the negative pressure state (negative internal pressure) of the recessed space 3 can be stably maintained. Therefore, according to the deformable partition wall 4, a stable suction force can be easily obtained for the non-flat wall surface 2.

  In this example, as shown in FIGS. 1 to 3, the partition wall 4 includes a plurality of (four in this example) bone members 8 and a gap between the plurality of bone members 8 having flexibility (in this example). And a flexible member 10 that closes the gap 9 between the plurality of bone members 8 in the circumferential direction (that is, prevents the recessed space 3 from communicating with the outside). Moreover, in this example, the partition 4 has the frame | skeleton 12 which has the some bone member 8 and the rocking | fluctuation shaft part 11 which connects this some bone member 8 so that rocking | fluctuation mutually mutually. Therefore, the partition wall 4 can be deformed when the plurality of bone members 8 are swung through the rocking shaft portion 11.

  In this example, the skeleton 12 includes a central bone member 8a located at the center in the top view, and a plurality (three in this example) of outer bone members 8b connected to the central bone member 8a via the swing shaft portion 11, respectively. And have. That is, the plurality of bone members 8 are composed of one central bone member 8a and three outer bone members 8b in this example. The central bone member 8 a has a central wall 13 having a plate shape whose outer shape is a triangular shape when viewed from above, and the center of the central wall 13 coincides with the central axis O of the wall surface adsorption device 1. Three swing shafts 11 are arranged along the three sides of the central wall 13. That is, the three oscillating shaft portions 11 are arranged at positions rotated by 120 ° in the circumferential direction. The three outer bone members 8b have the same shape, and each outer bone member 8b has a fan-shaped plate-like upper wall 14 connected to the swing shaft portion 11, and an outer peripheral edge portion of the upper wall 14. From the whole, it has the upper wall 14 and a side wall 15 extending vertically toward the wall surface 2. The side wall 15 has a curved plate shape that is arcuate when viewed from above, and has a constant height in the circumferential direction. A gap 9 is formed in the circumferential direction between the outer bone members 8b.

  The central bone member 8 a has a cylindrical exhaust cylinder 17 erected on the central wall 13 so as to surround a circular exhaust port 16 penetrating the central wall 13. A suction part 5 is installed in the exhaust cylinder 17. The suction part 5 is constituted by a centrifugal fan, for example, and can continuously exhaust the air in the recessed space 3 to the outside of the recessed space 3 through the exhaust port 16. The shape of the exhaust port 16 is not limited to a circular shape, and the shape of the exhaust tube 17 is not limited to a cylindrical shape. Further, the arrangement of the exhaust port 16, the exhaust cylinder 17, and the suction unit 5 can be changed as appropriate. Further, the exhaust pipe 17 may not be provided. The suction unit 5 may be disposed, for example, inside the recessed space 3 as long as the air in the recessed space 3 can be continuously sucked. By continuously sucking air in the recessed space 3 by the suction portion 5, the negative pressure state of the recessed space 3 can be maintained and the adsorption force to the wall surface 2 can be maintained.

  In this example, the flexible member 10 is formed in a disk shape having a circular opening 18 that penetrates the exhaust pipe 17 in the center, and from the entire peripheral edge of the top wall 19, the flexible member 10 is perpendicular to the top wall 19. And a peripheral wall 20 extending in the direction toward the wall surface 2. The peripheral wall 20 has a cylindrical shape and has a constant height in the circumferential direction. The top wall 19 is fixed to the upper surface of the central wall 13 of the central bone member 8a and the upper surface of the upper wall 14 of each outer bone member 8b, and the peripheral wall 20 is attached to the outer peripheral surface of the side wall 15 of each outer bone member 8b. It is fixed. Thus, in this example, the flexible member 10 closes the gap 9 between the outer bone members 8b by covering the skeleton 12 from the outside. The flexible member 10 may be configured to close the gap 9 between the outer bone members 8b by covering the skeleton 12 from the inside. Further, the flexible member 10 may be disposed only in the gaps 9 between the plurality of bone members 8.

  According to the wall surface adsorption device 1 of the present example, for example, when the wall surface 2 is curved as shown in FIG. 4, the outer bone member 8 b rotates through the swing shaft portion 11, so that the entire partition wall 4 Can be deformed along the wall surface 2. Therefore, even when the wall surface 2 is curved, the gap between the wall surface 2 and the peripheral edge of the partition wall 4 can be effectively reduced, and the negative pressure state of the recessed space 3 can be stably maintained. Similarly, when the wall surface 2 is bent or has an uneven portion or a stepped portion, the outer bone member 8b rotates through the swinging shaft portion 11 so that the partition 4 The whole can be deformed along the wall surface 2, and the negative pressure state of the recessed space 3 can be stably maintained.

  In this example, the wall surface adsorption device 1 further includes a skirt 21. The skirt 21 is continuously disposed over the entire periphery of the peripheral edge of the partition wall 4 and has flexibility. According to the skirt 21, as shown in FIG. 4, by extending along the wall surface 2, even when the wall surface 2 is curved, a gap between the wall surface 2 and the peripheral edge of the partition wall 4 is effectively obtained. The negative pressure state of the recessed space 3 can be further stabilized. The skirt 21 may be intermittently disposed on the peripheral edge of the partition wall 4 over the entire circumference.

  The skeleton 12 can be made of, for example, metal and / or hard synthetic resin, 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. Moreover, the flexible member 10 can be comprised, for example with rubber | gum and / or a soft synthetic resin, etc., and should just have the flexibility which enables the partition 4 to deform | transform. Furthermore, the skirt 21 can be made of, for example, rubber and / or soft synthetic resin.

  In addition, the number and shape of the plurality of bone members 8 constituting the skeleton 12 and the form of mutual connection can be changed as appropriate. For example, the plurality of bone members 8 may each have a rod shape and may be connected to each other. In addition, the shape and arrangement of the flexible member 10 that closes the gaps 9 between the plurality of bone members 8 can be appropriately changed. Further, the plurality of bone members 8 may be connected by the flexible member 10 instead of being connected to each other via the swing shaft portion 11. The partition 4 may be formed of an elastic material that allows the entire partition 4 to be deformed instead of the bone member 8 and the flexible member 10. The shape of the skirt 21 can be changed as appropriate, and the skirt 21 may not be provided.

  Further, instead of or in addition to the skirt 21, a brush (not shown) may be provided continuously or intermittently along the peripheral edge of the partition wall 4 over the entire circumference. In this case, for example, when the wall surface 2 has an uneven portion or a stepped portion, the gap between the wall surface 2 and the peripheral edge portion of the partition wall 4 is reduced by a brush, and the negative pressure state of the recessed space 3 is more stably maintained. can do. Further, a ball bearing or the like may be appropriately interposed between the partition wall 4 and the wall surface 2.

  In this example, the traveling means 7 is composed of an omni wheel 22 arranged in three directions, so that movement in all directions along the wall surface 2 is possible. In the present example, these three omni wheels 22 are arranged to correspond to the three outer bone members 8b on a one-to-one basis. More specifically, as shown in FIG. 3, the base portion 22a of the omni wheel 22 is fixed to the lower surface of the upper wall 14 of each outer bone member 8b. Further, as shown in FIG. 2, the drive shaft 22c that connects the wheel portion 22b and the base portion 22a of the omni wheel 22 is, with respect to the swinging shaft portion 11 adjacent to the omni wheel 22 when viewed from the bottom. Are arranged vertically.

  Thus, in this example, the traveling means 7 is fixed to the bone member 8 of the wall surface adsorption device 1. Therefore, as shown in FIG. 4, since the vertical drag can be effectively applied to the traveling means 7, the frictional force between the traveling means 7 and the wall surface 2 can be stably secured. In FIG. 4, the vertical drag is indicated by a white arrow, and the adsorption force generated by the difference between the atmospheric pressure and the internal pressure of the recessed space 3 is indicated by a thick arrow. In addition, the thin line arrow in FIG. 4 has shown the discharge route of air. As the traveling means 7, for example, a Mecanum wheel may be used instead of the omni wheel 22. In addition, the number and arrangement of the traveling means 7 may be changed as appropriate, preferably within a range where omnidirectional movement is possible. Furthermore, the travel means 7 is not limited to one that can move in all directions, and may include a steerable wheel, such as a four-wheeled vehicle, or a crawler. Moreover, you may comprise the traveling means 7 by 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. The traveling means 7 may be provided inside the partition wall 4 or may be provided outside the partition wall 4. In addition, it is desirable that the traveling means 7 be arranged so that the ground contact portion with the wall surface 2 is as close as possible to the peripheral edge portion of the partition wall 4. With such an arrangement, it is possible to make it difficult for the peripheral edge of the partition wall 4 to be caught by the concavo-convex part or the step part of the wall surface 2. The traveling means 7 may be connected to the wall surface adsorption device 1 and capable of pulling the wall surface adsorption device 1, for example.

  The travel means 7 may be configured to be elastically supported by the bone member 8 through, for example, a suspension, for example, instead of being configured to be fixed to the bone member 8 as shown in FIG. However, in this case, in the wall surface adsorption device 1, the partition wall 4 is attracted to the wall surface 2 as the suction force of the suction unit 5 is increased. In that case, even if the suction force is further increased, the vertical force is dispersed on the peripheral edge of the grounded partition wall 4, so that the vertical force acting on the traveling means 7 cannot be further increased. On the other hand, according to the configuration in which the traveling means 7 is fixed to the bone member 8, the traveling means 7 always protrudes toward the wall surface 2 from the peripheral edge of the partition wall 4, so that the partition wall 4 does not contact the wall surface 2. Accordingly, since the vertical drag acting on the traveling means 7 can be increased by the amount by which the suction force of the suction portion 5 is increased, a strong driving force of the traveling means 7 corresponding to the suction force can be obtained stably.

  Moreover, 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 according to the detection result of the said detection means with respect to the wall surface 2 It may be possible to change the adsorption force. Such detection means is preferably arranged in the part facing the concave space 3 in the partition wall 4 or in the skirt 21, 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 adsorption device 1 can be configured, for example, to detect the internal pressure of the recessed space 3 with the detection means and increase the adsorption force to the wall surface 2 when the internal pressure is too low. The increase in the suction force can be realized, for example, by increasing the suction force of the suction unit 5 (for example, the output of the centrifugal fan).

  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, it is preferable that the detection means is provided as far as possible in the moving direction of the wall surface moving device 6. With such an arrangement, the internal pressure of 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, it is preferable to arrange a plurality of the detection means at intervals on the outer peripheral edge of the annular skirt 21 shown in FIG.

  According to the wall surface moving device 6 including the wall surface adsorption device 1 of the present 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 surface while maintaining a stable adsorption force. 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 5 Suction part 6 Wall surface moving device 7 Traveling means 8 Bone member 8a Central bone member 8b Outer bone member 9 Crevice 10 Flexible member 11 Oscillating shaft part 12 Skeleton 13 Central wall 14 Top Wall 15 Side wall 16 Exhaust port 17 Exhaust tube 18 Opening 19 Top wall 20 Peripheral wall 21 Skirt 22 Omni wheel 22a Base portion 22b Wheel portion 22c Drive shaft

Claims (7)

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;
The wall surface adsorbing device, wherein the partition wall is configured to be deformable.   The wall surface adsorption device according to claim 1, wherein the partition wall includes a plurality of bone members and a flexible member that has flexibility and closes gaps between the plurality of bone members.   3. The wall surface adsorption device according to claim 1, wherein the partition wall has a skeleton including a plurality of bone members and a swing shaft portion that connects the plurality of bone members so as to swing together.   The wall surface adsorption | suction apparatus as described in any one of Claims 1-3 further equipped with the skirt which is continuously or intermittently arrange | positioned over the perimeter part of the said partition, or has flexibility, and has flexibility. 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. The wall surface adsorption device according to any one of claims 1 to 5,
A wall surface moving device comprising a traveling means provided in the wall surface adsorption device. The partition wall has a skeleton having a plurality of bone members and a swing shaft portion that connects the plurality of bone members to each other so as to be swingable.
The wall surface moving device according to claim 6, wherein the traveling means is fixed to the bone member of the wall surface adsorption device.

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