JP6909588B2 - Wall moving device - Google Patents

Description

The present invention relates to a wall surface moving device that can move while adsorbing to a suction mating surface such as a wall surface (including a wall surface extending in the vertical direction as well as a ceiling surface and a floor surface extending in the horizontal direction).

As the wall surface moving device as described above, a device that moves along the wall surface while moving a plurality of traveling arms having a suction member having a structure capable of sucking on the wall surface at the tip portion by remote control or autonomous control is known. (See, for example, Patent Documents 1 and 2). Such a wall surface moving device is suitable for performing a predetermined work in a place where a worker cannot stay for a long time, such as a place having a large radiation dose or a place under a high atmospheric pressure environment.

Japanese Unexamined Patent Publication No. 8-207840 Japanese Unexamined Patent Publication No. 61-253271

When moving the wall surface moving device along the wall surface, some of the suction members provided at the tips of the plurality of traveling arms are separated from the wall surface, and the separated suction members are moved to the next suction position in the wall surface ( It is necessary to move it to the "target position"). When performing such an operation, it is necessary to control the position (movement) of the suction member in the three-dimensional space, but in particular, in order to accurately move the suction member to the target position, it is parallel to the wall surface. It is important to control the position of the suction member in a plane (also referred to as "in a parallel plane") with high accuracy.

However, in the conventional wall surface moving device described above, since the traveling arm is configured to be swingable in a plane perpendicular to the wall surface (also referred to as "vertical plane"), the arm is swung in the vertical plane. And the suction member not only changes its position in the direction perpendicular to the wall surface, but also changes its position in the parallel plane. Therefore, there is a problem that it is difficult to control the position of the suction member in the parallel plane with high accuracy.

The present invention has been made in view of such a problem, and it is possible to easily and highly accurately control the position of a suction member whose position changes depending on the operation of the arm in a plane parallel to the suction mating surface. It is an object of the present invention to provide a wall surface moving device.

In order to achieve the above object, the wall surface moving device (for example, the ceiling traveling robot 60 in the embodiment) according to the present invention has a suction mating surface (for example, the ceiling surface 5 in the embodiment ) in the work chamber provided at the bottom of the cason. ), Which is a wall surface moving device that moves on the suction mating surface, and can move to the main body (for example, the main body base 62 in the embodiment) and the main body in a direction perpendicular to the suction mating surface. The main body side suction member (for example, the main body suction body 65 in the embodiment) which is attached and has a suction portion (for example, the electromagnet 66 in the embodiment) having a structure capable of being sucked and detached from the suction mating surface, and the above. A plurality of joint arms (for example, the traveling arm 70 in the embodiment) that are connected to the main body and extend in a direction parallel to the suction mating surface and can swing in a plane parallel to the suction mating surface, respectively, and the above. A support portion (for example, a unit support portion 81 in the embodiment) attached to each of the tip portions of the joint arm and a support portion movably attached to the support portion in the vertical direction so as to be able to be attracted to and detached from the suction mating surface. The plurality of joint arms are provided with an arm-side suction member (for example, the arm portion suction body 85 in the embodiment) having a suction portion of the configuration at one end, and the plurality of joint arms are arranged so as to be offset from each other in the vertical direction. Each part of each of the joint arms of the above is foldable in a state of being overlapped in the vertical direction, and in the state where the plurality of joint arms are folded, they pass through a predetermined shaft connecting the work room and the ground. Therefore, it is configured to be carried in and out of the work room.

In the above-mentioned wall surface moving device, the joint arm is configured by connecting a plurality of joint arm constituent members (for example, a traveling arm first constituent member 74 and a traveling arm second constituent member 77 in the embodiment). It is preferable that the joint arm constituent members of the above are oscillatingly connected to each other in the parallel plane.

In the wall surface moving device, the suction is performed by using the three joint arms, the main body side suction member, and the three arm-side suction members provided at the tips of the three joint arms. It is preferable that the structure is such that it can be sucked and attached to the mating surface.

In the wall surface moving device, three of the main body side suction member and the arm side suction member are sucked to the suction mating surface, and the remaining one is separated from the suction mating surface and moved in the vertical direction. It is preferable that the wall surface moving device is moved along the suction mating surface in response to the swing of the joint arm in the parallel plane.

In the wall surface moving device, the main body side suction member and the member holding the main body side suction member (for example, the main body side suction body holding portion 64 in the embodiment) swing in an arbitrary plane including the vertical direction. The arm-side suction member and the member holding the arm-side suction member (for example, the arm-side suction body holding portion 84 in the embodiment) are oscillated in an arbitrary plane including the vertical direction. It is preferable that the configuration is as connected as possible.

In the wall surface moving device, the main body side suction member and the member holding the main body side suction member are rotatably connected around the axis extending in the vertical direction, and the arm side suction member and the arm side are connected. It is preferable that the member holding the suction member is rotatably connected around the axis extending in the vertical direction.

According to the present invention, a main body-side suction member attached to the main body so as to be movable in a direction perpendicular to the suction mating surface, and a plurality of main body-side suction members connected to the main body and swingable in a plane parallel to the suction mating surface. A wall surface moving device is configured by including a joint arm and an arm-side suction member attached to one end of the joint arm so as to be movable in a direction perpendicular to the suction mating surface via a support portion. When moving the wall surface moving device along the suction mating surface, it is necessary to control the positions of the main body side suction member and the arm side suction member in the three-dimensional space. Position control in the dimensional space is one-dimensional position control that moves the suction member in the direction perpendicular to the suction mating surface, and two-dimensional when the joint arm is swung in a plane parallel to the suction mating surface. It is possible to perform the position control separately and independently. That is, even if the position of the suction member in the direction perpendicular to the suction mating surface fluctuates, the position of the suction member in the plane parallel to the suction mating surface does not change (and vice versa). Therefore, it is possible to easily and highly accurately control the position of the suction member in the plane parallel to the suction mating surface.

In the present invention, if the joint arm is configured by connecting a plurality of joint arm constituent members, and the plurality of joint arm constituent members are oscillatingly connected to each other in the parallel plane, the joint is formed. Compared with the case where the arm is composed of one joint arm constituent member, it is possible to widen the movable range of the arm-side suction member provided at the tip of the joint arm in the parallel plane.

In the present invention, a configuration having three joint arms, which can be suction-attached to the suction mating surface by using a main body-side suction member and three arm-side suction members provided at the tips of the three joint arms. Then, the wall surface moving device can be stably sucked and attached to the suction mating surface by a total of four suction members, that is, the main body side suction member and the three arm side suction members. Further, the positions of the main body side suction member and the arm side suction member can be easily controlled as compared with the case of the configuration provided with four or more joint arms, and the manufacturing cost can be suppressed.

In the present invention, three of the main body side suction member and the arm side suction member are sucked to the suction mating surface, and the remaining one is separated from the suction mating surface and moved in the vertical direction to move the joint arm in the parallel direction. If the wall surface moving device is configured to move along the suction mating surface in response to the swing in a flat surface, when the wall surface moving device moves, it is always sucked to the suction mating surface by three suction members. Since the state can be maintained, the wall surface moving device can be stably moved. Further, since the suction member moved away from the suction partner surface in the vertical direction is in a state of being separated from the suction partner surface by a predetermined distance, an obstacle such as a step on the suction partner surface is obstructed when the wall surface moving device moves. Even when an object is present, it is possible to prevent the adsorption member separated from the adsorption mating surface from coming into contact with such an obstacle.

In the present invention, the main body side suction member and the member holding the main body side suction member are swingably connected in an arbitrary plane including the vertical direction, and the arm side suction member and the arm side suction member are connected. If the members to be held are oscillatingly connected in an arbitrary plane including the vertical direction, the suction member is sucked even if the suction mating surface at the position where the suction member is sucked is inclined. It is possible to reliably adsorb to the mating surface.

In the present invention, the main body side suction member and the member holding the main body side suction member are rotatably connected around the axis extending in the vertical direction, and the arm side suction member and the arm side suction member are held. If the members are rotatably connected around the axis extending in the vertical direction, when the wall surface moving device moves, the members are attracted to the suction mating surface in the direction perpendicular to the suction member. Even if a rotational moment around the extending axis is generated, the suction member can rotate while being sucked on the suction mating surface. Therefore, it is possible to stably maintain the suction state between the suction member and the suction mating surface.

It is a vertical cross-sectional view which shows the main equipment of the pneumatic caisson method. It is a schematic diagram which shows the schematic structure of the ceiling traveling robot which concerns on one Embodiment of this invention. It is a perspective view which shows the whole structure of the said ceiling traveling robot. It is a perspective view which shows the structure of the adsorption body of the said ceiling traveling robot. It is a schematic diagram which shows the joint structure of the adsorbent of the above-mentioned ceiling traveling robot and the traveling arm. It is a figure which shows the movable range of the said traveling arm. It is a figure which shows the structure of the said ceiling traveling robot with the said traveling arm folded. It is a schematic diagram which shows the gait movement of the said ceiling traveling robot.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. First, the main equipment of the pneumatic caisson method in which the wall surface moving device according to the present invention is installed will be described with reference to FIG. In the pneumatic caisson method, the reinforced concrete caisson 1 is submerged underground by using the excavation equipment E1, the equipment equipment E2, the soil removal equipment E3, the air supply equipment E4, and the reserve / safety equipment E5. It is configured to build a structure.

The excavation equipment E1 includes an excavator 100 (hereinafter referred to as a caisson excavator 100) installed in a work room 2 provided at the bottom of the caisson 1 and a cylindrical earth bucket 31 made of earth and sand excavated by the caisson excavator 100. It is configured to include an automatic earth and sand loading device 11 for loading into the earth and sand, and a ground remote control room 13 including a remote control device 12 for remotely controlling the operation of the caisson excavator 100 from the ground. The excavation equipment E1 operates by receiving electric power from a power generation device (not shown). The electric power from this power generation device is also supplied to the equipment equipment E2, the soil removal equipment E3, and the air supply equipment E4.

The equipment E2 has a cylindrical man shaft 21 that connects the ground and the work room 2 so that the worker can enter and leave the work room 2, and the man shaft 21 is provided to work while suppressing a decrease in air pressure in the work room 2. A cylindrical shape that connects the ground and the work room 2 in order to carry the man lock 22 (airlock) that allows a person to pass inside and outside the work room 2 and the earth bucket 31 loaded with earth and sand by the automatic earth and sand loading device 11 to the ground. The material shaft 23 and the material lock 24 (airlock) provided on the material shaft 23 and passing the earth bucket 31 inside and outside the work room 2 while suppressing the decrease in air pressure in the work room 2 are provided. There is. A spiral staircase 25 is provided in the man shaft 21, and the operator can move back and forth between the ground and the work room 2 by using the spiral staircase 25. The man lock 22 and the material lock 24 each have a double door structure, and are configured so that the operator and the earth bucket 31 can enter and exit the work room 2 while suppressing the change in the air pressure in the work room 2. Has been done.

The soil removal equipment E3 includes an earth bucket 31 on which the earth and sand excavated by the caisson excavator 100 is loaded, a carrier device 32 for pulling the earth bucket 31 up to the ground via a material shaft 23, and the earth bucket 31 and a carrier. It is configured to have an earth and sand hopper 33 for temporarily storing the earth and sand carried to the ground by the device 32.

The air supply equipment E4 includes an air compressor 42 that sends compressed air into the work room 2 via an air supply passage 3 formed in the air supply pipe 41 and the caisson 1, and air that purifies the compressed air sent by the air compressor 42. A cleaning device 43, an air supply pressure adjusting device 44 that adjusts the amount (pressure) of compressed air sent from the air compressor 42 into the working room 2 so that the pressure in the working room 2 is substantially equal to the ground water pressure, and a man. It is configured to have an automatic depressurizing device 45 for depressurizing the air pressure in the lock 22. In order to circulate the air in the work room, the air in the work room is appropriately discharged to the ground through the exhaust passage 4.

The spare / safety equipment E5 includes an emergency air compressor 51 capable of sending compressed air into the work room 2 instead of the air compressor 42 in the event of a failure or inspection of the air compressor 42, and the above power generator. Instead, an emergency generator (not shown) capable of supplying power to the excavation equipment E1, the equipment equipment E2, the soil removal equipment E3, and the air supply equipment E4, and the worker who worked in the work room 2. It is configured to have a hospital lock 53 (compressor) for gradually acclimatizing the worker's body to atmospheric pressure.

Next, the configuration of the ceiling traveling robot 60 as an embodiment of the wall surface moving device according to the present invention will be described with reference to FIGS. 2 to 4. As shown in FIG. 2, the ceiling traveling robot 60 performs a predetermined work while moving along the ceiling surface 5 (consisting of steel plates) of the work room 2, and is combined with the main body suction unit 61. , Three traveling arms 70 (see FIG. 3) extending laterally (horizontally) from the main body suction unit 61, and arm suction units 80 provided at the tips of the three traveling arms 70. And a work arm 90 provided at the lower end of the main body suction unit 61.

As shown in FIG. 3, the main body suction unit 61 includes a main body base 62 formed in a hexagonal columnar shape and a main body suction device 63 provided on the upper end side of the main body base 62, and is a main body suction device. Reference numeral 63 denotes a main body-side adsorbent that can move directly (movable linearly) in the vertical direction (the direction perpendicular to the ceiling surface 5 (the direction of the axis Z1 in the drawing); the same applies hereinafter) with respect to the main body base 62. It is configured to include a holding portion 64 and a main body adsorbent 65 held at the tip of the main body side adsorbent holding portion 64. Inside the main body base 62, a power transmission mechanism composed of a power source such as a servomotor and a ball screw (both not shown) is provided, and the main body side suction body holding portion 64 is powered by the power source. It is configured to be able to move linearly in the vertical direction with respect to the main body base 62 via a power transmission mechanism driven by. The main body suction body 65 is held at the tip of the main body side suction body holding portion 64 via a universal joint (not shown) such as a ball joint or a universal joint, and is held in a direction perpendicular to the ceiling surface 5 (axis line Z1). ) Is swingable in any plane including) and is rotatably configured around the axis Z1 (both are passively operable configurations). It should be noted that an internal sensor that detects the vertical position of the main body adsorbent 65 (main body side adsorbent holding portion 64) and the detection that the main body adsorbent 65 has come into contact with or has approached the ceiling surface 5 or the like. An external sensor or the like may be appropriately provided.

As shown in FIG. 4, the main body adsorbent 65 can be configured to include a plurality of electromagnets 66 (six in the illustrated embodiment, but can be arbitrarily changed). Each electromagnet 66 has a cylindrical outer shell portion 67 installed on a disk-shaped plate 65a, a core portion 68 erected in the central portion of the outer shell portion 67, and a winding wound around the core portion 68. It is composed of a wire portion (not shown) and a resin portion 69 filled between the outer shell portion 67 and the core portion 68, and by supplying an electric current to the winding portion, an attractive force due to magnetic force is applied to the upper surface of the core portion 68. Is generated and attracted to the ceiling surface 5, and the current supply to the winding portion is stopped, so that the coil can be separated from the ceiling surface 5.

As shown in FIG. 3, each of the three traveling arms 70 has a first joint portion 72 (a pair of upper and lower plate members 73 and not shown) attached to the base end side holding portion 71 attached to the outer surface portion of the main body base portion 62. A traveling arm first component 74 connected so as to be swingable and swivel around an axis Z2 (an axis parallel to the axis Z1) in the drawing via a shaft portion or the like), and a traveling arm first component 74. Axis line Z3 (axis line parallel to axis lines Z1 and Z2) in the drawing via a second joint part 75 (composed of a pair of upper and lower plate members 76, a shaft part (not shown), etc.) at the tip of one component member 74. ) Is provided with a traveling arm second component 77 connected so as to be swingable and swivel. The first joint portion 72 and the second joint portion 75 are configured to be rotatable by a power transmission mechanism composed of a power source such as a servomotor and gears, and the rotational position thereof is an internal sensor such as a rotary encoder. Is to be detected by.

As shown in FIG. 3, the arm portion suction unit 80 includes a rectangular box-shaped unit support portion 81 fixed to the tip end portion of the traveling arm 70 (traveling arm second component 77) and a unit support portion 81. The arm portion suction device 83 provided on the upper end side is provided, and the arm portion suction device 83 is on the arm side capable of linearly moving in the vertical direction (along the axis Z4 in the drawing) with respect to the unit support portion 81. It is configured to include an adsorbent holding portion 84 and an arm portion adsorbent 85 held at the tip of the arm-side adsorbent holding portion 84. Inside the unit support portion 81, a power transmission mechanism composed of a power source such as a servomotor or a ball screw (all not shown) is provided, and the arm-side suction body holding portion 84 is from the power source. It is configured to be vertically movable with respect to the unit support portion 81 via a power transmission mechanism driven by power. The arm portion suction body 85 is held at the tip of the arm side suction body holding portion 84 via a universal joint (not shown), and is in an arbitrary plane including a direction perpendicular to the ceiling surface 5 (axis line Z4). It is configured to be swingable and rotatable around the axis Z4 (both are passively operable configurations). Like the main body adsorbent 65, the arm adsorbent 85 is provided with a plurality of electromagnets and can be attracted to and detached from the ceiling surface 5 by magnetic force. In addition, an internal sensor that detects the vertical position of the arm adsorbent 85 (arm side adsorbent holding portion 84) and the arm adsorber 85 that detects contact with or approaches the ceiling surface 5 or the like. An external sensor or the like may be provided as appropriate.

As shown in FIG. 3, the working arm 90 is rotatable around the holding base 91 attached to the bottom surface of the main body base 62 and the holding base 91 (rotatable around the axis Z5 in the drawing extending in the vertical direction). A work arm No. The second working arm connected to the tip of the first constituent member 93 and the working arm 93 so as to be swingable and swivel (swingable and swivel around the axis P2 in the drawing perpendicular to the axis Z5). The third configuration of the work arm connected to the component member 94 and the tip of the second component member 94 of the work arm so as to be swingable and swivel (swing and swivel around the axis P3 in the drawing perpendicular to the axis Z5). A member 95, a work arm hand portion 96 rotatably connected to the tip of the work arm third component 95 (rotatable around the axis P4 of the work arm third component 95), and a work arm hand portion 96 for work. A work tool holding portion connected to the arm hand portion 96 so as to be swingable in an arbitrary plane including the axis P4 (swing and rotate around the axis P5 and around the axis P6 in the drawing perpendicular to the axis P4, respectively). 97 and is configured.

Connecting portion between the base end side holding portion 92 and the work arm first component member 93, connecting portion between the work arm first component member 93 and the work arm second component member 94, the work arm second component member 94 And the connection portion between the work arm third component 95 and the work arm third component 95, the connection portion between the work arm third component 95 and the work arm hand portion 96, and the connection between the work arm hand portion 96 and the work tool holding portion 97. Each part is configured to be rotatable by a power transmission mechanism composed of a power source such as a servomotor and gears, and the rotation position is detected by an internal sensor such as a rotary encoder. .. Further, an external sensor or the like for detecting that the work tool holding unit 97 approaches the work object or the like or that the work tool held by the work tool holding unit 97 comes into contact with the work object or the like may be appropriately provided. ..

The work arm 90 has one degree of freedom due to the rotation of the base end side holding portion 92, two degrees of freedom due to the vertical movement of the first to third constituent members 93 to 95 of the work arm, and the work arm hand portion 96. It has a total of 6 degrees of freedom, including 1 degree of freedom due to the rotation of the work tool holding unit 97 and 2 degrees of freedom due to each swing around the two axes (axis lines P5 and P6) of the work tool holding portion 97. The position and orientation of the work tool holding portion 97 in 2 can be actively controlled. The work tool holding unit 97 is configured so that various work tools can be exchanged and attached / detached together with the attachments, and the ceiling traveling robot 60 (working arm 90) can perform work according to the attached work tools. It has become like. For example, an electric screwdriver, spanner, etc. can be attached to install / remove screws, bolts, etc., a grease gun can be attached to perform grease-up work, etc. for maintenance of heavy machinery such as the caisson excavator 100, or a cutter. It is possible to perform cutting work by attaching a screwdriver or a nibbler, or to hold a work object or pick up a falling object by attaching a work tool capable of grasping an object. In addition, special work tools can be attached to assist in assembling heavy machinery (attachment / detachment of hydraulic hoses and electric wires), and position sensors can be attached to measure the surrounding conditions (excavation surface shape, etc.). It is also possible to attach a visual sensor such as a camera or an auditory sensor such as a sound collecting microphone to check the surrounding conditions.

Hereinafter, the operation of the ceiling traveling robot 60 configured as described above will be described with reference to FIGS. 5 to 8. The joint structure of the three traveling arms 70 of the ceiling traveling robot 60 and the four suction units (one main body suction unit 61 and three arm suction units 80) is shown in FIG. 5 for simplification. It is configured as follows.

That is, each of the three traveling arms 70 is configured to be swingable in a plane perpendicular to the vertical direction with the axis Z2 of the first joint 72 and the axis Z3 of the second joint 75 as the swing center. The arm suction unit 80 provided at the tip of each traveling arm 70 is configured such that the arm suction body 85 can move linearly in the vertical direction along the axis Z4. Further, the main body suction unit 61 is configured so that the main body suction body 65 can move linearly in the vertical direction along the axis Z1. As a result, the ceiling traveling robot 60 has one degree of freedom in the vertical direction and two degrees of freedom in the plane perpendicular to the vertical direction (hereinafter, also referred to as "horizontal plane") as the position degree of freedom of the arm portion suction body 85. It has 3 degrees of freedom, and has 1 degree of freedom in the vertical direction as the position freedom of the main body adsorbent 65. That is, there are a total of 10 degrees of freedom in total, including 3 degrees of freedom of each arm adsorbent 85 and 1 degree of freedom of the main body adsorbent 65, whereby the four adsorbents 65 and 85 have a total of 10 degrees of freedom. It is possible to control the position in the three-dimensional space (work room 2).

The position control of the arm adsorbent 85 in the three-dimensional space is divided into one-dimensional position control in the vertical direction along the axis Z4 and two-dimensional position control in the horizontal plane by the traveling arm 70, and is independent of each other. It is possible to do it. Therefore, the position control of the arm adsorbent 85 in the horizontal plane is easier and more accurate than the case where the traveling arm 70 is configured to swing in the vertical direction (in the plane perpendicular to the ceiling surface 5). It is possible to do. Further, the traveling arm 70 is configured to be a horizontal articulated type (SCARA type), and therefore, it is possible to increase the rigidity in the vertical direction when traveling on the ceiling. Further, the traveling arm 70 is composed of a traveling arm first component 74 and a traveling arm second component 77. Therefore, as shown in FIG. 6, the arm portion suction body in the horizontal plane is formed. The movable range of 85 (the movable range of the arm portion suction body 85 provided on one traveling arm 70 with the shaded portion in the drawing) can be set widely.

Further, by folding the three traveling arms 70 and the working arm 90, the ceiling traveling robot 60 can be considerably miniaturized. FIG. 7 shows a state in which the ceiling traveling robot 60 in a folded state of these arms 70 and 90 is viewed from the working arm 90 side. As shown in the drawing, the ceiling traveling robot 60 is compact in a plan view. It is composed in a triangular shape. The ceiling traveling robot 60 in the folded state has a size that allows it to pass through the material shaft 23 (see FIG. 1), and in this state, it is carried into the work room 2 or carried into the work room 2 through the material shaft 23. It is possible to carry it out from within 2. Further, the three traveling arms 70 are configured so that a part of each of the three traveling arms 70 overlaps in the vertical direction in the folded state. This is possible because, as shown in FIG. 3, the mounting position of the base end side holding portion 71 to the main body base portion 62 is arranged so as to be displaced in the vertical direction for each of the three traveling arms 70. There is.

Further, according to the deviation of the mounting position of the base end side holding portion 71 to the main body base portion 62, the mounting position of the unit support portion 81 of the arm portion suction unit 80 to the tip portion of the traveling arm 70 is also three traveling. Each arm 70 is arranged so as to be displaced in the vertical direction. This is the case when the arm portion suction body 85 of the three traveling arms 70 is at the reference position in the vertical direction with respect to the unit support portion 81 (for example, the position closest to the unit support portion 81 side). This is to ensure that the heights (positions in the vertical direction) of the arm adsorbent 85 are the same. Further, in the present embodiment, when the main body adsorbent 65 is in the reference position in the vertical direction (for example, the position closest to the main body base 62 side), each arm portion when its height is also in the reference position. It is configured to match the height of the adsorbent 85. This facilitates vertical position control of the main body adsorbent 65 and the three arm adsorbents 85.

The movement motion (gait motion) along the ceiling surface 5 of the ceiling traveling robot 60 can be performed, for example, as shown in FIG. In FIG. 8, in order to distinguish the three traveling arms, 70A, 70B, and 70C are numbered for each. Similarly, in order to distinguish the three arm adsorbents, 85A, 85B, and 85C are numbered for each. Further, among the three arm adsorbents 85A, 85B, and 85C, the ones shown in gray color indicate the state of being adsorbed on the ceiling surface 5, and the ones shown in white color are separated from the ceiling surface 5. Indicates the state of being. This point is the same for the main body adsorbent 65.

In FIG. 8, the ceiling traveling robot 60 shown on the leftmost side is in a state of being sucked and fixed at a certain position on the ceiling surface 5. At this time, the main body adsorbent 65 and the three arm adsorbents 85A and 85B
, 85C are all attracted to the ceiling surface 5 by magnetic force (this state is usually obtained when performing work). From this state, the suction force (magnetic force) of the arm portion suction body 85A is released, the arm part suction body 85A is moved downward (toward the front side of the paper surface) so as to separate from the ceiling surface 5, and further separated from the ceiling surface 5. The traveling arm 70A is extended so as to move the arm adsorbent 85A in the desired direction (upper on the paper surface) (see the second state diagram from the left).

Next, the arm portion suction body 85A is moved upward (on the back side of the paper surface) so as to be in contact with the ceiling surface 5, and the arm portion suction body 85A is attracted to the ceiling surface 5 by magnetic force in the state of being in contact with the ceiling surface 5. The arm portion suction body 85A is held swingably in an arbitrary plane including a direction perpendicular to the ceiling surface 5. Therefore, even if the ceiling surface 5 at the suction position is slightly inclined, the arm suction body 85A follows the inclination of the ceiling surface 5 when the arm suction body 85A is brought into contact with the ceiling surface 5. It is possible to passively swing and surely adsorb to the ceiling surface 5 (the same applies to the arm adsorbents 85B and 85C and the main body adsorbent 65). Further, when the arm portion suction body 85A is moved, the arm portion suction body 85A passes through a position away from the ceiling surface 5, so that even if there is an obstacle such as a step on the ceiling surface 5, the arm portion suction body 85A does not come into contact with the obstacle. It is possible to move the arm portion adsorbent 85A (the same applies to the arm portion adsorbents 85B and 85C and the main body portion adsorbent 65).

Next, the suction force of the main body adsorbent 65 is released, the main body adsorbent 65 is moved downward (front side of the paper surface) so as to be separated from the ceiling surface 5, and the traveling arm 70A is bent and traveled. The arm 70B and 70C are extended to move the main body suction body 65 (main body suction unit 61) in the desired direction (upper part of the paper) (see the third state diagram from the left). At this time, in the arm portion suction bodies 85A to 85C, a rotational moment around the axis perpendicular to the ceiling surface 5 is generated due to the state change of the traveling arms 70A to 70C and the position change of the main body portion suction body 65. However, since the arm adsorbents 85A to 85C are rotatably held around the axis Z4 (see FIG. 3), even if such a rotational moment is generated, they are passively adsorbed on the ceiling surface 5. Can be rotated. Therefore, it is possible to stably maintain the adsorbed state (the same applies to the main body adsorbent 65).

Next, the main body adsorbent 65 is moved upward (on the back side of the paper surface) so as to abut the ceiling surface 5, and the main body adsorbent 65 is attracted to the ceiling surface 5 by magnetic force in the abutted state. Subsequently, the suction force (magnetic force) of the arm portion suction body 85B was released, the arm part suction body 85B was moved downward (toward the front side of the paper surface) so as to separate from the ceiling surface 5, and further separated from the ceiling surface 5. as to move the arm portion adsorber 85B in the direction to be moved (toward the top), bending the traveling arm 70B (see fourth state diagram from the left). After moving the arm part suction body 85B, the arm part suction body 85B is moved upward (on the back side of the paper surface) so as to abut the ceiling surface 5, and in the state where the arm part suction body 85B is in contact with the ceiling surface 5, the arm part suction body 85B is magnetically moved to the ceiling. Adsorb to surface 5. From this state, the suction force (magnetic force) of the arm portion suction body 85C is released, the arm part suction body 85C is moved downward (toward the front side of the paper surface) so as to be separated from the ceiling surface 5, and further separated from the ceiling surface 5. The traveling arm 70C is bent so as to move the arm portion suction body 85C in the desired direction (upper side of the paper surface) (see the state diagram on the far right).

By repeating the above operation, the ceiling traveling robot 60 can be moved in an arbitrary direction along the ceiling surface 5. The ceiling traveling robot 60 can be configured to be remotely controlled by a worker in the ground remote control room 13 (see FIG. 1) by using a communication system such as a wireless LAN. In this case, a camera for capturing an image capable of confirming the state (position, posture, etc.) and surrounding conditions of the ceiling traveling robot 60 in the working room 2 is provided in the working room 2 or the ceiling traveling robot 60. The ceiling traveling robot 60 may be remotely controlled while the worker confirms the image captured by the camera. On the other hand, the worker in the work room 2 may be configured to remotely control the ceiling traveling robot 60, or the ceiling traveling robot 60 may be configured as a robot capable of autonomous control.

Although the embodiments of the present invention have been described above, the scope of the present invention is not limited to the above-described embodiments. For example, in the above-described embodiment, the number of traveling arms is three and the number of working arms is one, but the number of traveling arms and working arms can be changed as appropriate, and the number of joints thereof can also be changed as appropriate. It can be increased or decreased as appropriate. Further, in the above-described embodiment, the main body suction unit 61 is configured to move in a direction perpendicular to the ceiling surface 5 relative to the traveling arm 70 as a whole, and the arm suction unit 80 is configured. Is also possible to be configured to move in a direction perpendicular to the ceiling surface 5 relative to the traveling arm 70 as a whole.

Further, in the above-described embodiment, the attractive force is obtained by the magnetic force generated by the electromagnet, but the attractive force may be obtained by the magnetic force of the permanent magnet. In this case, it is preferable to provide a mechanism (which may be conventionally known) for separating the permanent magnet from the suction mating surface. Further, the suction force may be obtained not by the magnetic force but by the pressure difference (differential pressure) between the inside and the outside like a suction cup. In this case, when the product is used in an environment higher than the atmospheric pressure as in the work room 2 described above, it is possible to obtain the adsorption force by guiding the atmospheric pressure into the adsorbent (sucker), and the work can be performed. The adsorption force can be released by guiding the air pressure in the chamber 2 into the adsorption body.

Further, in the above-described embodiment, an example in which the present invention is applied to a ceiling traveling robot that moves along the ceiling surface in the work room of the pneumatic caisson method is shown, but the wall surface moving device of the present invention is in a high pressure environment. It is not limited to use in various places, and can be configured to be used in various places regardless of whether it is outdoors or indoors. Further, the suction mating surface is not limited to the ceiling surface, and can be configured to move along a wall surface extending in a vertical direction or an inclined direction with respect to the vertical direction, or a horizontal floor surface.

1 Cason 2 Work room 4 Exhaust path 5 Ceiling surface 13 Ground remote control room 60 Ceiling traveling robot 61 Main body suction unit 62 Main body base 64 Main body side suction body holder 65 Main body suction body 66 Electromagnet 70 (70A to 70C) Arm 72 1st joint 74 Traveling arm 1st component 75 2nd joint 77 Traveling arm 2nd component 80 Arm suction unit 81 Unit support 83 Arm suction device 84 Arm side suction body holding portion 85 ( 85A-85C) Arm part adsorbent 90 Working arm

Claims (6)

A wall surface moving device that moves on the suction mating surface while adsorbing to the suction mating surface in a work chamber provided at the bottom of the caisson.
With the main body
A main body-side suction member that is attached to the main body so as to be movable in a direction perpendicular to the suction mating surface and has a suction portion at one end that can be sucked and detached from the suction mating surface.
A plurality of joint arms that are connected to the main body and extend in a direction parallel to the suction mating surface and can swing in a plane parallel to the suction mating surface, respectively.
Supports attached to the tips of the joint arms and
An arm-side suction member that is attached to the support portion so as to be movable in the vertical direction and has a suction portion at one end having a structure that allows suction and detachment from the suction mating surface .
The plurality of joint arms are arranged so as to be offset from each other in the vertical direction, and a part of each of the plurality of joint arms is configured to be foldable so as to overlap in the vertical direction.
A wall surface movement characterized in that, in a folded state, the plurality of joint arms are configured to be carried in and out of the work room through a predetermined shaft connecting the work room and the ground. Device. The first aspect of the present invention, wherein the joint arm is configured by connecting a plurality of joint arm constituent members, and the plurality of joint arm constituent members are swingably connected to each other in the parallel plane. Wall moving device. It has three joint arms, and can be suction-attached to the suction mating surface by using the main body-side suction member and the three arm-side suction members provided at the tips of the three joint arms. The wall surface moving device according to claim 1 or 2, wherein the wall moving device is provided. Three of the main body-side suction member and the arm-side suction member are sucked onto the suction mating surface, and the remaining one is separated from the suction mating surface and moved in the vertical direction to move the joint arm. The wall surface moving device according to claim 3, wherein the wall surface moving device is moved along the suction mating surface in response to swinging in a parallel plane. The main body side suction member and the member holding the main body side suction member are swingably connected in an arbitrary plane including the vertical direction, and hold the arm side suction member and the arm side suction member. The wall surface moving device according to any one of claims 1 to 4, wherein the members are swingably connected in an arbitrary plane including the vertical direction. The main body side suction member and the member holding the main body side suction member are rotatably connected around the axis extending in the vertical direction, and the arm side suction member and the member holding the arm side suction member are connected. The wall surface moving device according to any one of claims 1 to 5, wherein the wall surface moving device is rotatably connected around an axis extending in a vertical direction.

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