JPH0234824B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a suction belt for a wall suction type self-propelled work vehicle.

[Conventional technology]

Conventionally, high-rise buildings have been remotely controlled for regular cleaning, rust removal, decontamination, inspection, etc. of large-scale walls made of metal plates or concrete such as high-rise buildings, large tanks, ships, nuclear power plants, and hydroelectric dams. Various self-propelled work vehicles have been proposed for indoor work and dangerous work. The present applicant, etc. also
46778) and Patent Application No. 23067 (Sho 60-23067)
No. 183565) proposes a self-propelled work vehicle that moves by adhering to the wall surface by creating a recess in the outer surface of an endless crawler track that moves cyclically in contact with the wall surface, and creating a vacuum in the recess. . The structure of the endless belt in this proposal is shown, for example, in FIGS. 6 and 7. Figure 6 is a cross-sectional view, and Figure 7 is a cross-sectional view.
The figure is a bottom view. In the figure, reference numeral 1 denotes an endless crawler track made of synthetic rubber or the like, and a plurality of recesses 2 are formed at regular intervals on the outer surface that comes into contact with a wall surface. A communication hole 3 is bored in the center of the recess 2,
The air in the recess 2 is evacuated through the communication hole 3 by a vacuum generating means mounted on the self-propelled working vehicle, the vacuum is maintained, and the air acts on the wall surface as a suction cup. On the other hand, for the inner surface of the endless crawler track 1, a support beam 4 is installed at the bottom of the machine frame (not shown) along the moving direction of the endless crawler track 1.
A plurality of communication chambers 5 are recessed in the surface of the support beam 4 that contacts the endless crawler track 1, and are connected to the vacuum generating means via a communication hole 6 and a hose 7 bored in the center. ing. A sealing material 8 made of ladder-shaped sponge rubber or the like and having a square cross section is fitted onto the contact surface of the support beam 4 so as to surround the communication chamber 5, and this sealing material 8 follows the deformation of the endless crawler track 1. They are brought into close contact with each other to reduce leakage between the endless crawler belt 1 and the support beam and maintain the vacuum in the communication chamber 5. As a result of further investigation, it was found that the suction belt for the wall suction type self-propelled work vehicle described above had the following problems that needed to be solved.

[Problem that the invention seeks to solve]

In the conventional adsorption belt, the contact surface that adsorbs to the wall surface of the endless crawler track 1 is a smooth wide surface, and if the wall surface is made of, for example, a steel plate or a smooth concrete surface, this will still prevent the inside of the recess 2. A vacuum can be maintained, but if the wall surface is sprayed with sand, mortar, etc., it becomes a rough uneven surface, and it is difficult to maintain a vacuum in the recess 2 when it comes into contact with a wide surface like the conventional one. I found out something. Another problem is that the conventional suction belt drive system involves supporting rollers of the same width as the crawler belt at the front and rear ends of the machine frame of a self-propelled vehicle, and stretching the crawler belt between the rollers with a slight tension. The rollers were rotated by an electric motor or the like and driven by the friction between the rollers and the tracks, but the elongation of the tracks caused slips between the tracks and the rollers, making accurate speed control difficult. There was a problem.

[Means for solving problems]

The present invention has been made in view of the above facts, and provides a high performance suction belt for a wall suction type self-propelled working vehicle that can safely and reliably suction travel along rough walls. This is done by creating a recess in the outer surface of a sheet-like endless crawler track that runs around a rotor that is pivotally supported at the front and rear ends of the machine frame. In a suction type self-propelled work vehicle, a ladder-like groove surrounding a recess is carved on the outer surface of the endless sheet-like crawler that comes into contact with the wall surface, and a narrow sealing material with a rectangular cross section can be freely inserted into and removed from the groove. The inner surface that slides into contact with the rotor has gear-shaped unevenness along the entire length on both left and right ends, and the unevenness engages with the gear carved on the outer circumference of the rotor to rotate. This is a suction belt for a vacuum suction type self-propelled work vehicle.

The present invention will be explained in detail below based on the drawings.

Figure 1 is an example of the suction belt of the present invention applied to a self-propelled work vehicle, and Figure 2 is Y-Y in Figure 1.
FIG. 3 is an outside plan view of the suction belt, FIG. 4 is an inside plan view of the suction belt, and FIG. 5 is an enlarged view of the Z portion of FIG. 2.

In the figure, symbols 1 to 8 are the same as the structure of the conventional suction belt. In other words, 1 is endless crawler track, 2
3 is a recess formed in the suction surface of the belt, 3 is a communication hole bored in the center of the recess, 4 is a support beam attached to the lower part of the machine frame 13, and 5 is a recess formed in the lower surface of the support beam. 6 is a communication hole bored in the center of the communication chamber; 7 is a hose that connects the communication hole 6 and a vacuum generating means mounted on the self-propelled work vehicle to exhaust the air in the communication chamber 5; , 8 is a sealing material that is fitted onto the bottom surface of the support beam 4 so as to surround the communication chamber 5 to prevent leakage between the crawler track 1 and the support beam 4. Reference numeral 9 denotes a ladder-shaped sealing material made of sponge rubber or the like and having a square cross section, which is fitted into a groove 10 cut into a surface that contacts the wall surface of the endless crawler belt 1, and surrounds the recess 2. Another method for attaching the sealing material 9 is to simply attach it to the crawler track 1 without providing the groove 10, and depending on the properties of the wall surface, the sealing material 9 may need to be arranged in a plurality of ways.

On the other hand, gear-shaped irregularities 11 are machined along the entire length of the belt in the longitudinal direction on both left and right ends of the surface of the endless crawler belt 1 that comes into sliding contact with the support beam 4. The gear-shaped unevenness of the endless crawler track 1 meshes with gears carved on the outer periphery of drive rollers 12, 12' that are pivotally supported on both sides of the front and rear ends of the machine frame 13 of the self-propelled vehicle. The endless crawler belt 1
is stretched in a straight line, and the pressing force of the wall surface due to the vacuum force is applied to the wall surface by rollers 14, 14' through the endless crawler belt.

[Effect]

The suction belt of the present invention having the above-mentioned structure exhibits the following effects. If the drive rollers 12, 12' are rotated by a remotely controlled electric motor, the roller 1
The endless crawler belt 1 meshing with gears 2 and 12' on the outer periphery also moves cyclically, thereby moving the self-propelled working vehicle forward and backward at will. When a vacuum generating means such as an air ejector mounted on the self-propelled working vehicle is activated, the air in the recess 2 is exhausted through the hose 7 connected thereto, the communication chamber 5 and the communication hole 3, and becomes a vacuum. The above circular movement of endless crawler track 1, recess 2
Due to the vacuum generated inside, the suction belt acts on the wall surface as a suction cup. Even if the wall surface is rough, such as the sprayed surface of a building, the narrow sealing material 9, which is like sponge rubber, deforms and adheres to the unevenness of the surface, and the crawler track 1
The vacuum of the recess 2 is maintained by preventing leakage between the recess 2 and the wall surface.

〔Effect of the invention〕

According to the present invention having the above configuration and operation, the following effects can be obtained.

●Since there is no slip caused by rotation between the drive roller and the endless crawler track, the self-propelled work vehicle can reliably move forward, backward, and turn according to remote control.

● Even if the wall surface is rough with unevenness, the thin sealing material attached to the outer surface of the endless crawler track to surround the recess deforms and adheres tightly to prevent leakage, so the vacuum inside the recess can be maintained. It can increase the adsorption power of the belt.

[Brief explanation of drawings]

Figure 1 is an example of the suction belt of the present invention applied to a self-propelled work vehicle, and Figure 2 is Y-Y in Figure 1.
A cross-sectional view of the belt on one side of the view, FIG. 3 is an outside plan view of the suction belt, and FIG. 4 is an inside plan view of the suction belt.
FIG. 5 is an enlarged view of the Z section in FIG. 2, FIG. 6 is a cross-sectional view of a conventional suction belt, and FIG. 7 is a bottom view thereof. 1: Endless crawler track, 2: Recess, 3: Communication hole,
4: Support beam, 5: Communication chamber, 6: Communication hole, 7:
Hose, 8: Seal material, 9: Seal material, 10:
Groove, 11: Gear-shaped unevenness, 12, 12': Drive roller, 13: Machine frame, 14: Guide roller.

Claims (1)

[Claims] 1. A vacuum suction type motor vehicle that has recesses in the outer surface of a sheet-like endless crawler track that is wrapped around a rotor that is pivotally supported at the front and rear ends of the machine frame, and that runs by suctioning the wall surface by creating a vacuum in the recess. In a running work vehicle, a ladder-like groove surrounding a recess is carved on the outer surface of the endless sheet-like crawler that comes into contact with the wall surface, and a narrow sealing material with a rectangular cross section can be freely inserted into and removed from the groove. The inner surface of the rotor that slides into contact with the rotor is provided with gear-shaped unevenness along the entire length on both left and right ends, and the unevenness engages with the gear carved on the outer periphery of the rotor to rotate. Vacuum suction type suction belt for self-propelled work vehicles.