JPH0215985A - Moving device - Google Patents

Abstract

PURPOSE:To make it possible to freely move a moving body over a place with level gaps by rotatingly securing a support leg with a suction cup, which can make telescopic motion toward the direction of a suction surface, ahead of an arm member, the base of which is fixed on the moving body, and installing a turning means to control the turning of the arm member and the support leg. CONSTITUTION:When a moving body reached a projection, a support leg 24 is extended to have a suction cup 21 at its tip sucked on the projection and to fix the support leg 24. When the support leg 24 is furtherly extended, an arm member 14 is raised this time and a main body 1 follows the movement simultaneously. While the main body 1 is raised sufficiently high, a turning means is operated to turn the arm member 14 to carry the main body 1 to the projection or a point beyond the projection. After that, the support leg 24 is retracted to push the suction cup 16 of the main body 1 against the suction surface, and the support leg 24 is furtherly retracted to detach the suction cup 21 on the support leg 24 from the projection. By repeating the procedures, the moving body capable of freely moving on a vertical surface can be freely moved over a place with level gaps.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a moving device that is used, for example, when moving the wall surface or window glass surface of a building to clean the wall surface or the like.

[Conventional technology]

As buildings become taller, the work of cleaning vertical surfaces such as window glass has become large-scale and dangerous.

As devices of this type, there are devices that safely support workers by suspending gondolas, and there is also a moving device that attaches cleaning tools and moves freely on a wall surface according to the application filed by the present applicant. (Patent Application No. 62-248903).

[Problem to be solved by the invention]

In the above-mentioned moving chamber, there is no problem in moving on the flat surface, but no means have been taken for passing through the stepped portion.

Therefore, it is necessary to add a special mechanism to freely move the wall surface having an uneven surface.

The present invention aims to improve these points, and also provides a simpler moving device.

[Means to solve the problem]

The present invention provides an arm member whose base is fixed to a movable body having movable legs provided with a suction cup and whose tip protrudes at a distance from the movable body, and the arm member is provided at the tip of the arm member in the direction of the suction surface. In addition, the supporting leg having a suction cup at the tip is rotatably provided, and furthermore, a rotating means for regulating the rotation of the arm member and the supporting leg is attached. Body suction cups are provided on the main body of the movable body and at the front of the pair of movable legs, and the movable legs are extendable and retractable in the length direction, and the movable body is swingable.

[Effect]

The moving body operates the moving legs, attracts the suction cup to the suction surface,
Release it and move in any direction.

On the other hand, the support legs provided at the front of the arm members fixed to the main body are in a retracted state so that the suction cups of the support legs do not come into contact with the moving surface, so that the movement of the movable body is not hindered.

When the movable body reaches a convex surface, extend the support leg, fix the support leg by suctioning the suction cup at the tip to the convex surface, and extend the support leg further. It lifts up, and at the same time the main body follows suit.

At the point where the main body has been sufficiently lifted, the rotating means is activated, the arm member is rotated, the main body is carried to the convex surface or a point beyond the convex surface, the supporting legs are retracted and the suction cup of the main body is pressed against the suction surface, and further By contracting, the suction cup of the support leg is moved away from the convex surface.

In addition, a movable body is provided with suction cups on the main body of the movable body and a pair of moving legs, and the movable body is supported by the suction cups at three locations.

Movement is possible by swinging a pair of moving legs and controlling the suction between the suction cup on the main body and the suction surface of the suction cup on the moving leg. Since it is expandable and retractable in the horizontal direction, distortion in the length of the suction cup and the main body during movement can be corrected.

〔Example 〕

The drawings show an embodiment of the present invention, with FIG. 1 being a front view and FIG. 2 being a partially cutaway side view.

A suction cylinder (2) is provided on the bottom of the main body (1), and a suction cup (4) is attached to the tip of the cylinder rod (3).

The main body (1) has a pair of moving legs (5) (5) on a straight line.
are protrudingly provided, and the bases of the moving legs (5) (5) are rotatably pivoted.

Gears (7) (7) are fixed to the rotation shafts (6) (6) of the moving IN (5) (5).
is the drive gear (9) of the drive motor (8) built into the main body (1), or the intermediate gear (10) that meshes with the drive gear (9).
), and therefore, the movement legs (5) (5'j) swing in the same direction and the same distance by the rotation of the drive gear (9).

Moreover, the moving legs (5) (5) are composed of a base member (5a) and a tip member (5b), and the tip member (5b) is connected to the base member (5a).
The cylinder rod (12) of the telescopic cylinder (11) and the tip member (5a) are partially inserted into the base member (5a).
The proximal end of b) is tied (Fig. 6).

Therefore, the end member (5b) expands and contracts by the operation of the telescopic cylinder (11), the length of the moving legs (5) (5) changes, and the end member (5b) is inserted into the base member (5a). Since it is guided by the base member (5a), it expands and contracts in the length direction.

A suction cylinder (1) is provided on the lower surface of the tip of the tip member (5b).
3) and attach a suction cup (16) to the cylinder rod (14).
) is installed.

Therefore, to move, first operate the suction cylinder (13) of the moving leg < 5 (5), and move the suction cup (16) to the suction surface (
17) Float further and operate the driving motor (8) to move the moving legs (5) (5) forward. At this time, the telescopic cylinders (11) (11) are activated, and the moving legs (5) (5
) is preferably longer.

After moving it forward, the suction cylinders (13) (13) are activated, and the moving legs (5) (5) are positioned in a V-shape against the main body (1) and suctioned! At the same time, the suction cylinder (2) of the main body (1) is activated to float the suction cup (4), and the movable gl (5) (5) is fixed.
) with telescopic cylinder (11) for moving legs (5) (5)
If you rotate the driving motor (8) in the opposite direction to the front while retracting the
) will move forward.

On the other hand, an L-shaped arm member (22) is fixed to the main body (1), and a cylinder (22) is attached to the tip of the arm member (22).
3) and the cylinder rod (24) that becomes the support leg.
Let be a prismatic rod and cylinder 1! Bottom I to J (23a)
! (25) is slidably fitted, and the cylinder rod (25) is slidably fitted.
4) and slowly insert it into the bottom I! (25) is provided with a fixed gear (18), and this gear (18) meshes with a reduction gear (20) of a motor (19) provided on the arm member (22). There is a suction cup (
21) is the installation.

Therefore, by expanding and contracting the cylinder rod (24), the suction cup at the tip is adsorbed or released from the wall surface, and the cylinder rod (24) is further removed from the adsorbed state.
By extending the arm member (22) and the main body (1
) can be lifted.

Then, with the main body (1) lifted, move the motor (19)
), the cylinder rod (24) will move into the suction cup (
21), the reduction gear (20) is fixed to the prismatic gear (18) of the cylinder rod (24).
), the arm member (22) and the main body (1) rotate and change their positions.

In the embodiment, a cylinder is used as a means for pressing the suction cup against the suction surface, but the cylinder is not limited to this.Also, in order to strengthen the suction force, air inside the suction cup can be actively pumped during suction. A mechanism for inserting and extracting the target may be provided.

Furthermore, the extension and contraction of the support legs of the arm members may be performed using other mechanisms, such as rack rods and pinions.

〔Effect of the invention 〕

As described above, the present invention allows a moving body that moves on a vertical plane to move freely even on a place with steps.
This makes the purpose of automatically moving using mechanical power without relying on human hands even more effective.

Furthermore, the second aspect of the invention can provide a moving device using a suction cup with a simpler configuration.

[Brief explanation of the drawing]

FIG. 1 is a front view showing an embodiment of the present invention, FIG. 2 is a side view with the same part cut away, FIGS. 3 and 4 are side views showing the state of movement, and FIGS. 5 and 6. is a partial cross-sectional view. The code (1) is the main body (4), (16), (21) is the suction cup (5), the moving leg (14) is the arm member (16), and the supporting leg is shown in Figure 2. ...Suction cup S...Movement leg llI...Arm member lt...Support leg Figure 1! figure

Claims (1)

[Scope of Claims] [1] An arm member having a base fixed to a movable body having moving legs provided with a suction cup and whose tip protrudes at a distance from the movable body is provided, and an arm member is provided at the front end of the arm member. A moving device characterized in that a support leg is rotatably provided which expands and contracts in the direction of a suction surface and has a suction cup at the tip thereof, and is further provided with rotation means for restricting the rotation of the arm member and the support leg. [2] A suction cup of the movable body is provided on the main body of the movable body and a pair of movable legs, and the movable legs are extendable and retractable in the length direction, and the movable body is swingable. The mobile device according to scope 1.