JPH025624B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides an endless crawler track having a plurality of recesses formed in the longitudinal direction on the outer surface between a pair of rotors to create a vacuum inside the recesses. The robot adsorbs to the wall surface and travels along the wall surface by circulating the endless crawler track through the drive of the rotor, and uses work equipment mounted on the machine frame to perform dangerous work such as cleaning, painting, and inspection at high places. The present invention relates to a device for stabilizing the suction force of a suction belt in a wall suction traveling device.

[Conventional technology]

In such a wall adsorption traveling device, the endless crawler is adsorbed to the wall by creating a vacuum in the plurality of recesses on the outer surface of the endless crawler in contact with the wall using an appropriate vacuum generating means. As it rotates, the positional relationship between each recess and the vacuum generating means changes, so in order to create a vacuum in each recess, a support beam that does not change in positional relationship with the vacuum generating means is placed on the inner surface of the endless track in the direction of its movement. The support beam is attached to the machine frame so as to be in contact with the endless crawler, and a plurality of communication chambers are provided on the contact surface of the support beam with the endless crawler, which connects with each recess as the endless crawler rotates, and these communication chambers are connected to the vacuum generating means. The recesses of the endless crawler track must be evacuated through the communication chamber of the support beam by the operation of the vacuum generating means.

A conventional example (an earlier application example) of a wall suction traveling device using a suction means in which an endless crawler track acts as a suction belt with a support beam interposed therebetween is disclosed in Japanese Patent Application No. 169825/1989 proposed by the present applicant, for example. The structure of the suction means of the suction belt in this device is shown in attached drawings Figure 11 and Figure 1.
2 as shown in Figure 2. In the same figure, 1 is
It is an endless crawler track made of synthetic rubber, etc. that is stretched between a pair of rotors (not shown) that are pivotally mounted on the machine frame (not shown). A plurality of recesses 2 are formed at appropriate intervals, and a communication hole 3 is bored in the center of each recess 2 to communicate the inner and outer surfaces of the endless crawler belt 1. On the other hand, a support beam 4 having approximately the same width as the endless crawler belt 1 and an appropriate length is attached to the machine frame and disposed on the inner surface of the endless crawler belt 1 in contact with the outer peripheral surface of the rotor along the moving direction. ing. On the contact surface of the support beam 4 with the endless crawler belt 1, an appropriate number of communication chambers 5 are formed along the longitudinal direction at positions that sequentially connect with the communication holes 3 of the recesses 2 as the endless crawler belt 1 rotates in circulation. The communication chambers 5 are formed at intervals, and each communication chamber 5 is connected to a vacuum generating means (not shown) such as an air jector through a communication hole 6 and a hose 7, which are connected to and connected to the center of the communication chamber 5. has been done. When the rotor is driven, the endless crawler belt 1 circulates between the pair of rotors, and at this time, the inner surface of the endless crawler belt 1 contacts and follows the lower surface of the support beam 4, which is a smooth wide surface. The communication holes 3 in each recess 2 will be connected to each communication chamber 5 in sequence by sliding movement, so when a vacuum generating means such as an air ejector is operated, the hose 7, the communication hole 6, the communication chamber 5, and the communication hole 3 through each recess 2
The air inside the recesses 2 is sequentially exhausted to create a vacuum state, so that the outer surface of the endless crawler track 1 is attracted to the wall surface.

However, this device has the following problems due to the structure of the adsorption means.

[Problem that the invention seeks to solve]

That is, in the above device, the lower surface of the support beam 4, which is a smooth and wide surface, is brought into close contact with the inner surface of the sliding endless crawler track 1 to keep the inside of the communication chamber 5 confidential. Although it is intended to maintain a vacuum, the shape of the endless crawler track 1 is not always constant when running on a wall surface, and is affected by the properties of the wall surface, and this influence also spreads to the inner surface of the endless crawler track 1. Therefore, when the wall surface is a smooth surface such as a steel plate or a smooth concrete surface, the suction power is relatively good.
In the case of a rough, uneven surface such as a surface sprayed with sand, mortar, etc., the inner surface of the endless crawler track 1 is also deformed due to its influence, and the lower surface of the support beam 4, which is a smooth and wide surface, has a poor ability to follow the deformation. As a result, leakage occurs between the lower surface of the support beam 4 and the endless crawler belt 1, making it difficult to maintain the vacuum in the recess 2 to maintain confidentiality within the communication chamber 5, and the adsorption force against the wall surface of the endless crawler belt 1, that is, the adsorption belt, decreases. Becomes unstable.

Further, since the support beam 4 in the device is formed of a single rectangular member having an appropriate length along the longitudinal direction of the endless crawler track 1, the wall surface is
If the surface is curved, such as the spherical surface of a gas tank, the lower surface of the support beam 4 cannot follow the deformation of the endless crawler track 1 along the wall surface, so the lower surface of the support beam 4 and the inner surface of the endless crawler track 1 are A larger leak occurs between the walls than when the wall surface is uneven.
It is difficult to maintain a vacuum in the recess 2, and the suction force becomes extremely unstable.

The present invention is directed to a conventional device in which the suction force of the endless crawler belt 1, that is, the adsorption belt, to the wall surface becomes unstable due to the structure in which the lower surface of the support beam 4 and the inner surface of the endless crawler belt 1 are in contact with each other, depending on the properties of the wall surface. The purpose of this project is to solve the problems that exist, and for this purpose, the following measures have been taken.

[Means for solving problems]

That is, the present invention firstly provides a structure in which the lower surface of the support beam and the inner surface of the endless crawler contact each other in order to obtain a wall suction traveling device that can stabilize the suction force even when the wall surface is rough and uneven. It was designed to be simple and exceptionally ingenious, with ``at least one pair of rotors pivotally mounted on the machine frame, and a plurality of recesses extending at appropriate intervals along the longitudinal direction on the outer surface of the rotor, which are stretched between the pair of rotors. an endless crawler track formed by arranging and having a communication hole in each recess that communicates the inner and outer surfaces;
A plurality of communication chambers are attached to the machine frame so as to be in contact with the inner surface of the endless crawler along the direction of movement of the endless crawler, and a plurality of communication chambers are connected to the communication holes in the recess along the longitudinal direction on the contact surface with the endless crawler. It is equipped with support beams formed at intervals, and appropriate vacuum generation means connected to each communication chamber of the support beam, and an endless beam that is in contact with a wall surface through each communication chamber of the support beam by the operation of the vacuum generation means. In a wall suction traveling device that runs along a wall surface while adhering to the wall surface by creating a vacuum in the plurality of recesses of the crawler track and rotating the endless crawler belt between the rotors through the drive of the rotor, the supporting beam A thin flexible sealing material is formed protrudingly on the contact surface with the endless crawler track so as to surround the opening of each of the plurality of communication chambers, and
The present invention is characterized in that an appropriate number of rotating rollers are disposed on both longitudinal sides of the support beam and come into contact with both longitudinal sides of the inner surface of the endless crawler track.

Next, by using this first method, we can ensure that the suction force is stabilized not only when the wall surface is rough and uneven, but also when it is a curved surface such as the spherical surface of an oil or gas tank. In order to obtain a wall suction traveling device, the supporting beam in the first means is divided into an appropriate number of pieces, a flexible sealing material is attached between each divided piece, and a connecting member is used to connect each divided piece. It is characterized by being bendably connected through the

[Effect]

In the present invention having the above configuration, when the endless crawler belt circulates between the rotors due to the drive of the rotor and the inner surface side of the endless crawler slides in contact with the lower surface of the support beam, the wall surface is rough and uneven, so that the influence of When deformation occurs on the inner surface of the endless crawler track, the thin flexible sealing material provided on the lower surface of the support beam follows the deformation on the inner surface of the endless track and adheres to it. Since the flexible sealing material is formed to protrude and surround the opening of each communication chamber of the support beam, leakage may occur between the lower surface of the support beam and the inner surface of the endless track around each communication chamber of the support beam. Since the communication chambers of the support beam are kept confidential, the vacuum in the recesses of the outer surface of the endless crawler belt connected to the communication chambers can be maintained reliably, and the suction force against the wall surface of the endless crawler belt can be stabilized. When the plurality of recesses on the outer surface of the endless crawler belt are in a vacuum state, the appropriate number of rotating rollers disposed on both sides of the support beam in the longitudinal direction are pressed against the inner surface of the endless crawler belt by the pressing force caused by the accompanying atmospheric pressure. The endless crawler track will be pressed against the wall from the side, thereby helping to maintain the vacuum in the recess,
It provides the appropriate amount of friction between the wall and the endless crawler track, which is necessary for stable running.

Further, in the case where the support beam is divided into an appropriate number of pieces, a flexible sealing material is attached between the divided pieces, and each divided piece is connected to each other in a bendable manner via a connecting member. Since each divided piece of the support beam can be bent at the connecting portion thereof, the support beam as a whole has the ability to follow deformation of the inner surface of the endless crawler track.
The joints between the support beams are closed by flexible sealing material, so if the wall surface is curved like a spherical surface, the entire support beam will have a polygonal shape due to the deformation of the inner surface of the endless crawler track. It bends and deforms into a state approximating a curved surface like a spherical surface, following the deformation of the inner surface of the endless crawler track and coming into close contact with it. Therefore, even if the wall surface is a curved surface like a spherical surface, the lower surface of the support beam and the inner surface of the endless crawler track Leakage between the sides is prevented as much as possible, and the vacuum inside the recess is reliably maintained.

[Example] An example of implementing the present invention will be described with reference to the attached drawings FIGS. 1 to 10. The device shown in Figures 1 to 5 is intended to stabilize the suction force of the suction belt against the wall surface when the wall surface is rough and uneven.In Figure 1, 11 is the machine frame; Frame 1
A pair of rotors 12, 12 are pivotally attached to the front and rear ends of the rotor 1. An endless crawler track 14 is wound between the pair of rotors 12, 12, and has a plurality of recesses 13 formed at appropriate intervals along the longitudinal direction (over the entire length) on the outer surface (adsorption surface). A communication hole 15 is provided in the center of each recess 13 to communicate the inner and outer surfaces of the endless crawler belt 14. Also,
On the outer surface of the endless crawler track 14, a narrow seal made of a flexible material having elasticity such as sponge rubber and having a rectangular cross section is connected in a ladder shape to surround the opening to the outer surface of each of the plurality of recesses 13. A member 16 is attached to protrude. This sealing material 16 is attached to the outer surface of the endless crawler track 14 by fitting into a groove formed in a ladder shape so as to surround each recess 13, and on both sides in the longitudinal direction, Depending on the properties of the wall surface, it may be formed into two strips. On the inner surface of the endless crawler 14 opposite to the part that sticks to the wall surface, a suitable hard material such as metal, resin, rubber, etc. A rectangular support beam 17 made of a flexible soft material and having an appropriate length is attached to the machine frame 11 and is placed in contact with the lower surface of the support beam 17, that is, the inner surface of the endless crawler track 14. An appropriate number of communication chambers 18 are bored at appropriate intervals along the longitudinal direction of the contact surface. Each communication chamber 18 is arranged so as to be connected to an appropriate number of recesses 13 and an appropriate number of communication holes 15 thereof. A communication hole 19 is provided in the center of each communication chamber 18 to communicate the inner and outer surfaces of the support beam 17.
are formed, and each communication hole 19 is connected via a hose 20 to an appropriate vacuum generating means (not shown) such as an air ejector. As shown in the second and third figures, a ladder-shaped groove 21 is formed in the lower surface of the support beam 17 to surround each communication chamber 18, and a ladder-shaped groove 21 is formed in the groove 21 as shown in the fourth figure. A sealing material 22 made of a narrow flexible material having elasticity such as sponge rubber and having a rectangular cross section connected in a shape is fitted into the groove 21, and the lower end of the sealing material 22 fitted into the groove 21. As shown in FIG. 5, the part projects slightly downward from the lower surface of the support beam 17, and
It is in close contact with the inner side of 4. Therefore, the opening of each communication chamber 18 of the support beam is surrounded by the sealing material 22, and the endless crawler track 1 of the sealing material 22 is surrounded by the sealing material 22.
4 is in close contact with the inner surface side, it is shielded from the outside and kept confidential, and the communication hole 1
It is connected to the inside of the recess 13 via 5. Also,
Endless crawler tracks 1 are provided on both longitudinal sides of the support beam 17.
An appropriate number of rotating rollers 23 are disposed in contact with both inner longitudinal sides of the roller 4. Both inner longitudinal sides of the endless crawler track 14 and the rotating roller 23
In some cases, lock-shaped teeth 24 and pinion-shaped gears 25 are provided to mesh with each other, as shown in FIGS. 1 and 5, respectively. In the figure, 26 is the rotating roller 2
3, a shaft 27 is a shaft mounting hole bored in the support beam 17. In addition, when actually designing a wall suction traveling device, a pair of devices including the above-mentioned rotor, endless crawler track, support beam, etc. are provided facing each other on both the left and right sides.

Therefore, in the wall suction traveling device according to the above embodiment, when the rotor 12 is driven, the endless crawler belt 14 circulates between the pair of rotors 12, 12, and the inner surface of the endless crawler belt 14 is placed on the lower surface of the support beam 17. Each recess 13 and therefore the communication hole 15 will sequentially connect with each communication chamber 18 of the support beam 17 by sliding along it while making contact with it. Since the sealing material 22 surrounding the surrounding area is made of a thin and elastic flexible material, it follows the deformation of the inner surface of the endless crawler track 14 due to the influence of the wall surface properties. Since they are in close contact with each other, no leakage occurs between the lower surface of the support beam 17 and the inner surface of the endless crawler track 14 around each communication chamber 18, and the inside of each communication chamber 18 is isolated from the outside and kept confidential. Therefore, when a vacuum generating means such as an air ejector is operated to exhaust the air in each recess 13 through the hose 20, the communication hole 19, the communication chamber 18, and the communication hole 15, the inside of each recess 13 is reliably vacuumed. Therefore, even if the wall surface is rough and uneven, the endless crawler track 1
4. The outer surface can be reliably attached to the wall surface,
The suction force of the suction belt is stabilized. Also,
When the inside of the plurality of recesses 13 on the outer surface of the endless crawler track 14 is in a vacuum state, an appropriate number of rotating rollers 23 disposed on both sides in the longitudinal direction of the support beam 17 are pressed against the endless crawler track 14 by the pressing force caused by the accompanying atmospheric pressure.
This acts to press the rollers against the wall surface, thereby assisting in maintaining the vacuum in the recess 13, and providing an appropriate frictional force between the wall surface and the endless crawler belt 14 necessary for stable running.

The device shown in Figures 6 to 10 stabilizes the suction force of the suction belt against the wall surface, not only when the wall surface is rough and uneven, but also when the wall surface is curved, such as the spherical surface of an oil or gas tank. As shown in FIG.
It is divided into 7 ₁ , 17 ₂ , and 17 ₃ pieces.
A flexible sealing material 28 is attached between each of the divided pieces 17 ₁ , 17 ₂ , 17 ₃ of the support beam, and each divided piece 17 ₁ , 17 ₂ , 17 ₃ is attached to the center of each side of each other. Connecting member 29 and pin 3
0, and are connected to each other in a bendable manner. Reference numeral 31 denotes a notch groove for accommodating the connecting member 29 formed on both side surfaces of each of the divided pieces 17 ₁ , 17 ₂ , 17 ₃ .
However, in this case, each divided piece 17 ₁ , 17 ₂ , 1
7 ₃ is bendable at the connecting part, so
10th case where the wall surface is curved like a spherical surface
As shown in the figure, it bends and deforms into a polygonal shape that approximates the curved surface, that is, deforms and follows the curved surface. In addition, in the above embodiment, the means for interconnecting the divided pieces of the support beam is shown to be connected via a pair of connecting members at the center portions of both sides of the divided pieces, but it is not necessary to be limited to this. , appropriate measures may be taken, such as interposing connecting members on both upper and lower sides of the side surfaces.

〔Effect of the invention〕

Since the present invention is configured as described above, it has the following effects.

First of all, in the structure in which the lower surface of the support beam and the inner surface of the endless crawler are in contact with each other, the lower surface of the support beam, which is simply a smooth and wide surface, is not brought into close contact with the inner surface of the endless crawler as in conventional devices. The lower surface of the support beam and the endless crawler are connected through a thin flexible sealing material that protrudes from the contact surface of the support beam with the endless crawler so as to surround the openings of the plurality of communication chambers. Unlike conventional devices, the narrow flexible sealing material on the lower surface of the support beam follows the deformation of the endless crawler, and the endless crawler is always maintained even if the wall surface is rough and uneven. It is possible to securely maintain the confidentiality of each communication chamber of the support beam and each recess of the endless crawler track connected thereto, and therefore the adsorption force of the adsorption belt is maintained regardless of the properties of the wall surface. can be reliably stabilized.

b. Since an appropriate number of rotating rollers are disposed on both longitudinal sides of the support beam and come into contact with both longitudinal sides of the inner surface of the endless crawler track, a suitable number of rotating rollers are provided on both longitudinal sides of the support beam. The appropriate number of rotating rollers act on the endless crawler to press it against the wall surface by the pressing force of atmospheric pressure, thereby helping to maintain the vacuum in the recess and creating a suitable space between the endless crawler and the wall. A strong frictional force can be obtained, and the device can run stably.

c In addition, when the support beam is divided into an appropriate number of pieces, a flexible sealing material is attached between the divided pieces, and the divided pieces are connected so as to be bendable through a connecting member, the support beam can be Since each divided piece can be bent at the connecting part, the flexible sealing material on the lower surface of the support beam is in close contact with the inner surface of the endless crawler track, and the support beam as a whole has a good ability to follow the deformation of the inner surface of the endless crawler track. Therefore, even if the wall surface has a curved shape such as a spherical surface, the entire support beam follows the curved shape, and the suction force of the suction belt can be reliably stabilized.

[Brief explanation of drawings]

1 to 5 show an example of implementing the present invention in which the support beam is a single member. FIG. 1 is a longitudinal sectional side view of the entire device, and FIG. Figure 3 is a bottom view of the same as above, Figure 4 is a bottom view of the flexible sealing material disposed on the lower surface of the support beam, and Figure 5 is a support with the flexible sealing material and rotating rollers disposed on the support beam. FIG. 3 is a cross-sectional view of a beam and an endless crawler track. Figures 6 to 10 show an example of the present invention in which the support beam is divided into an appropriate number of pieces and each divided piece is connected. Figure 6 is a vertical cross-sectional side view of the support beam, and Figure 7 is a The bottom view of the same as above, FIG. 8 is a cross-sectional view of the divided pieces of the support beam at the connecting part, FIG. 9 is an enlarged explanatory view of the connected state of the divided pieces of the support beam, and FIG. It is an explanatory view of a state where it is bent following the shape of . Figures 11 and 12 show a part of a conventional device as an example of a prior application, where Figure 11 is a cross-sectional view of the support beam and endless crawler belt, and Figure 12 is a cross-sectional view taken along line AA of the same. . 11... Machine frame, 12, 12... Rotor, 13... Recess, 14... Endless crawler track, 15... Communication hole, 16... Flexible sealing material, 17... Support beam, 17 ₁ , 17
₂ , 17 ₃ ... divided piece of support beam, 18 ... communication chamber,
19... Communication hole, 20... Hose, 22... Flexible sealing material, 23... Rotating roller, 26... Shaft, 28... Flexible sealing material, 29... Connection member, 30... Pin.

Claims (1)

[Scope of Claims] 1. At least one pair of rotors pivotally mounted on the machine frame, and a plurality of recesses extending between the pair of rotors and forming a plurality of recesses at appropriate intervals along the longitudinal direction on the outer surface, and each An endless crawler having a communication hole in a recess that communicates the inner and outer surfaces, and an endless crawler that is attached to the machine frame so as to abut on the inner surface of the endless crawler along the direction of movement thereof, and a longitudinal direction on the contact surface with the endless crawler. The support beam is provided with a support beam in which a plurality of communication chambers are formed at appropriate intervals along the support beam and connected to communication holes in the recess, and appropriate vacuum generation means connected to each communication chamber of the support beam. By operating the means, a vacuum is created in the plurality of recesses of the endless crawler belt in contact with the wall surface through each communication chamber of the support beam, and the endless crawler belt is circularly rotated between the rotors through the drive of the rotor, thereby contacting the wall surface. In a wall suction traveling device that travels along a wall while adhering to it, a thin flexible sealing material is protruded from the contact surface of the support beam with the endless crawler track so as to surround the opening of each of the plurality of communication chambers. A suction force stabilizing device for a suction belt in a wall suction traveling device, characterized in that an appropriate number of rotating rollers are arranged on both longitudinal sides of the support beam to abut on both longitudinal sides of the inner surface of an endless crawler track. . 2. At least one pair of rotors pivotally mounted on the machine frame, and a plurality of recesses extending between the pair of rotors and forming a plurality of recesses at appropriate intervals along the longitudinal direction on the outer surface, and communicating the inner and outer surfaces within each recess. An endless crawler track having a communication hole attached to the machine frame so as to abut on the inner surface side of the endless crawler track along the direction of movement thereof, and a communication hole in a recess along the longitudinal direction on the contact surface with the endless crawler track. A support beam having a plurality of communication chambers connected to the hole formed at appropriate intervals, and an appropriate vacuum generating means connected to each communication chamber of the support beam, and a contact surface of the support beam with the endless crawler track. A narrow flexible sealing material is formed protrudingly around the opening of each of the plurality of communication chambers, and is in contact with both longitudinally inner surfaces of the endless crawler track on both longitudinally extending sides of the support beam. A suitable number of rotating rollers are disposed, and a vacuum is created in the plurality of recesses of the endless crawler in contact with the wall surface through each communication chamber of the support beam by the operation of the vacuum generating means, and the endless crawler is removed through the drive of the rotor. In this wall suction traveling device, the supporting beam is divided into an appropriate number of parts, and a flexible sealing material is placed between each divided piece. What is claimed is: 1. A suction force stabilizing device for a suction belt in a wall suction traveling device, characterized in that the divided pieces are attached to each other and bendably connected to each other via a connecting member.