JPH03266781A - Device capable of moving along surface - Google Patents

Abstract

PURPOSE:To obtain the device stated in the title as small type at low cost by connecting at least two moving units together via a freely expanding and contracting connecting means, and providing means for freely setting each moving unit to its movable state wherein the unit is movable along a surface and to its engaged state wherein it is engaged in the surface. CONSTITUTION:A surface moving device comprises a pair of front and rear moving units 2A, 2B connected to each other by a freely expanding and contracting connecting means 66 including a pair of cylinder mechanisms 68, 70. Each moving unit 2A, 2B has a member 22 made from synthetic rubber etc., consisting of a tubular base portion 24 and a seal portion 26 and provided on a tubular vertical wall 20 extending downward from a circular opening 18 formed in the lower wall 16 of a main body 4 in the form of a hollow parallelepiped, the seal portion 26 extending in the radially outward direction from the outer peripheral face of the tubular base portion 24. An air pressure cylinder mechanism 46 is installed at the main body 4 and a running means 52 is provided at the end portion of the rod 50 of the mechanism 46, which end portion protrudes into a pressure reduction space 38. The pressure reduction space 38 is connected to a pressure reducing source via a communicating opening 40 and a communicating tube 42.

Description

Detailed Description of the Invention [Technical Field] The present invention provides a method for cleaning surfaces such as the inner and outer walls, floors, or glass surfaces of buildings, or the inner surfaces of air conditioning ducts or water and sewage pipes. Relating to movable devices.

[Prior art]

Japanese Patent Publication No. 60-26752 (U.S. Patent No. 4.095)
, 378 (specification and drawings) discloses an apparatus that vacuum-adsorbs and moves along surfaces, such as the interior and exterior walls of buildings, for cleaning such surfaces. This device includes a rigid or semi-rigid pressure-receiving body, a sealing member attached to the body and cooperating with the body and the surface to be adsorbed to define a depressurized space, and a decompression means for decompressing the depressurized space. There is. By reducing the pressure in the reduced pressure space by the pressure reducing means, the pressure receiving body is vacuum-adsorbed onto the surface. The pressure receiving body is further equipped with a traveling mechanism including a plurality of wheels that are brought into contact with the surface and an electric motor for rotationally driving these wheels. Further, a working mechanism such as an abrasive spraying means for spraying an abrasive onto the surface is also attached to the pressure receiving body.

[Problems with conventional technology]

However, the conventional device described above has the following problems to be solved. It is necessary to arrange a traveling mechanism including an electric motor and a transmission means together with a plurality of wheels,
The equipment becomes relatively large and expensive. Therefore, it is difficult to sufficiently reduce the size of the device, and it is difficult to realize a device suitable for entering into air conditioning ducts or water and sewage pipes with small cross-sectional areas to clean the inner surfaces of these pipes. Even in the case of a duct or pipe with a relatively large cross-sectional area, in so-called elbow parts where the curvature is small, all the wheels cannot contact the surface as required, and the surface and some of the wheels may be separated. This may cause the device to become impossible to move. Further, it is necessary to provide a working means such as an abrasive spraying means for cleaning the surface, and such working means makes the apparatus even larger and more expensive. Furthermore, if a protrusion extends over the surface of the glass frame, for example, it is virtually impossible for the conventional device to move across such protrusion.

[Problem to be solved by the invention]

The present invention has been made in view of the above facts, and its main technical problem is to provide a movable device along a surface that can be made smaller and cheaper to manufacture than conventional devices. The object of the present invention is to provide a new and improved device.

Another technical solution of the present invention is to provide a surface that can be penetrated into ducts or pipes with a small cross-sectional area and can also be moved as required along the surface even in elbow parts with a small curvature. To provide a new and improved device movable along the

Another technical solution of the present invention is to provide a compact and inexpensive movable along the surface, which can perform cleaning operations on the surface without the need for special working means such as abrasive jetting means. The object of the present invention is to provide a new and improved device.

Yet another technical problem of the present invention is to provide a new and improved device movable along a surface that can straddle the ridges even if the ridges extend on the surface. It is to provide.

[Means for solving the invention]

The gist of the solution of the present invention for achieving the above technical problem is (a) interconnecting at least two moving units via a connecting means that can be extended and contracted; (b) Each of the moving units is provided with a state setting means for selectively setting each of the moving units to a movable state in which it is movable along the surface and a locked state in which it is latched to the surface. That's true.

That is, according to the invention, at least two moving units are provided which are interconnected via a linking means that can be extended and contracted, each of the units having the ability to move each of the units along the surface. State setting means is provided for selectively setting one unit to a possible movable state and a locked state in which it is locked to the surface, setting one unit to the movable state and setting the other unit to the locked state. A device movable along a surface is provided, characterized in that when the connecting means is set in the stopped state and the connecting means is extended or retracted, the one unit is caused to move along the surface.

Each of the mobile units includes a rigid or semi-rigid main body, a sealing member attached to the main body and cooperating with the main body and a surface to define a reduced pressure space, and a pressure reducing means for reducing the pressure in the reduced pressure space. It's convenient to be there. The state setting means includes a locking member attached to the main body of the moving unit, and a traveling means that is selectively positioned in a protruding position and a retracted position, and when the traveling means is positioned in the protruding position, the traveling means is placed on the surface. and the locking member is separated from the surface, so that the movable state is set, and when the traveling means is placed in the retracted position, the traveling means is separated from the surface, the locking member is in contact with the surface, and the locking state is set. Preferably, the setting is set. The traveling means is attached to the main body via a cylinder mechanism, and by expanding and contracting the cylinder mechanism, the traveling means can be selectively positioned between the protruding position and the retracted position.

A braking means is provided that selectively applies a braking action to the traveling means that is brought into contact with the surface, and when the traveling means is not applied with a braking action, the movable state is set, and when the traveling means is provided with a braking action, the above-mentioned state is set. It is also possible to set a locked state.

Preferably, the connecting means interconnecting the moving units is constituted by a cylinder mechanism, in particular a pair of cylinder mechanisms arranged in parallel. The cylinder mechanism can be connected to each of the moving units via a universal joint.

the bodies of each of the mobile units are connected to the coupling means via selective spacing means, and the selective spacing means for one of the mobile units positions one of the mobile units in a working position with a portion thereof in contact with the surface; Preferably, the arrangement is such that the selective separating means of the other mobile unit can cause the entire other mobile unit to be separated from the surface in this condition. The selective spacing means may also consist of a cylinder mechanism.

[Action of the invention]

In the device of the invention, when one unit is set in a movable state and the other unit is set in a locked state and the connecting means is extended or retracted, one unit is caused to move along the surface and thus By alternately reversing the movable and locked states of the two units and extending or contracting the connecting means as appropriate, the device can be moved along the surface. There is no need to provide a traveling mechanism including an electric motor and a transmission means, and the device can be made sufficiently compact and inexpensive.

When the cylinder mechanism constituting the connecting means is connected to the main body of each unit via a universal joint, each of the units can be tilted appropriately according to the curvature of the surface,
Therefore, even if the surface is curved with a small curvature, it is possible to maintain sufficiently good contact with the surface.

When one of the units is set in a movable state and moved along a surface, a specific part of the sealing member attached to the main body of the unit is kept in contact with the surface as required.1. A cleaning operation is performed on the surface by being moved relative to the surface while in contact with the surface.

When one unit is moved along a surface, if this unit is separated from the surface by the selective separating means, the unit is moved across a protrusion such as a glass frame extending on the surface. You can force it.

[Preferred specific example]

Reference will now be made in further detail to the accompanying drawings, in which preferred embodiments of apparatus constructed in accordance with the invention are illustrated.

Referring to FIGS. 1 and 2, the illustrated apparatus constructed in accordance with the present invention includes two mobile units 2A and 2B.

Continuing the explanation with reference to FIGS. 3 and 4 as well as FIGS. 1 and 2, the moving unit 2A may be formed from a rigid or semi-rigid material such as a metal plate such as a steel plate or a suitable synthetic resin. It includes a main body 4 capable of The main body 4 has a hollow rectangular parallelepiped shape as a whole, and includes a rectangular top wall 6 and four side walls 8, 10, and 12 extending downward from the 4 side edges of the top wall 6.
and 14 and a lower wall]6. A circular opening 18 is formed in the center of the lower wall 16.
A cylindrical hanging wall 20 is fixed to 8 and extends downwardly therefrom.

Continuing the explanation with reference to FIGS. 1 to 4, especially FIG. 3, the moving unit 2A is made of synthetic rubber such as polyurethane, which is relatively flexible and has a relatively large coefficient of friction. Conveniently includes a member 22.

The member 22 includes a cylindrical base 24 and a cylindrical base 24.
It has a seal portion 26 extending radially outward from the outer peripheral surface of.

The seal portion 26 has a truncated conical portion 28 that slopes downward and extends radially outward, and an inverted truncated conical portion 30 that slopes upward and extends radially outward from the truncated conical portion 28 . The upper half of the cylindrical base 24 of the member 22 is fitted onto the outer peripheral surface of the cylindrical hanging wall 20 of the main body 4, and is connected to the cylindrical hanging wall 20 by a well-known metal fastening band 32 wrapped around the outer peripheral surface. It has been concluded. Cylindrical base 22 of member 22
The lower end of the holder constitutes a locking member which can be brought into selective contact with the surface 34 to be cleaned, as will be described later.

A plurality of communication grooves 36 are formed at the lower end of the cylindrical base 22 at intervals in the circumferential direction. Such a communication groove 36
each extends radially through the lower end of the cylindrical base 22. The sealing portion 26 of the member 22 constitutes a sealing member which cooperates with the body 4 and the surface 34 to be cleaned to define a vacuum space 38 . In the illustrated embodiment, the interface between the frustoconical portion 28 and the inverted frustoconical portion 30 of the seal portion 26 is in intimate contact with the surface 34 to define a substantially isolated vacuum space 38 . Inverted truncated conical portion 30 of the seal portion 26
are progressively spaced radially outwardly from the surface 34 such that there are protrusions on the surface 34 or
When a foreign object is attached to the seal portion 26, the seal portion 26 functions as a guide means for getting over the small protrusion or foreign object.

If desired, a plurality of communicating grooves can be formed at intervals in the circumferential direction at the boundary between the truncated conical section 28 and the inverted truncated conical section 30, which contact the surface 34. When such a communication groove is formed, dust and the like that are removed from the surface of the fluid (for example, air) that enters the decompression space 38 from the outside through the communication groove are introduced into the decompression space 38, and thus the dust and the like are introduced into the decompression space 38 from the surroundings. (In this case, in order to maintain the reduced pressure space 38 in a reduced pressure state, it is possible to suck in excess fluid from the reduced pressure space 38 than the fluid that enters the reduced pressure space 38 through the communication groove. is necessary).

To explain with reference to FIGS. 1 to 3, the mobile unit)
A communicating port 40 is formed in the main body 4 of the 2A, and a communicating port 40 is formed on the top wall 6 to the side wall 8, and a communicating pipe 42 is fixed to the communicating port 40. The communication tube 42 is connected to a vacuum source 44 (FIG. 2) via a suitable connection means (not shown) such as a flexible hose. A reduced pressure source 44, which may be comprised of a vacuum pump, an ejector, or the like, draws fluid such as air from the reduced pressure space 38 to reduce the pressure within the reduced pressure space 38.

To mobile unit 2A? The main body 4 is further equipped with a pneumatic cylinder mechanism 46 (not shown).
Such cylinder mechanism 46 is connected to a source of pressurized air via a suitable pneumatic circuit).

As clearly shown in FIG. 3, the cylinder 48 of the cylinder mechanism 4G is fixed to the upper surface of the upper wall 6 of the main body 4.

The rod 50 of the cylinder mechanism 46 penetrates the upper wall 6 and projects into the decompression space 38 . The cylinder mechanism 46 is preferably of a non-rotating rod type, in which the cross-sectional shape of the rod 50 is hexagonal or the like, and rotation of the rod 50 relative to the cylinder 48 is prevented. A traveling means 52 is attached to the tip of the rod 50 protruding into the decompression space 38 . The traveling means 52 includes a support member 54 fixed to the tip of the rod 50, and three wheels 60, 62 and 64 are rotatably mounted on the support member 54 via shafts 56 and 58. ing. Cylinder mechanism 46 and this cylinder mechanism 46
The traveling means 52 attached to the rod 50 constitutes a state setting means for selectively setting the moving unit 2A between a movable state and a locked state (the operation of this state setting means will be described later).

The configuration of the other moving unit 2B shown in FIGS. 1 and 2 is substantially the same as the moving unit 2A described above. However, in the illustrated example, due to the connection of a connecting means (not shown) such as a flexible hose, the moving unit 2B
The communication pipe 42 in the moving unit 2A extends substantially horizontally to the right in FIG.
The communication pipe 42 in FIG. 2 is inclined upward and extends to the right.

Continuing the explanation with reference to FIGS. 1 and 2, the two mobile units 2A and 2B are interconnected by a coupling means generally indicated by the numeral 66. The connecting means 66 in the illustrated example is composed of a pair of pneumatic cylinder mechanisms 68 and 70 arranged in parallel in the vertical direction in FIG. (also connected to a source of pressurized air via a suitable pneumatic circuit). Cylinder mechanisms 68 and 7
The cylinders 80 and 82 of 0 are connected to the side walls 10 and 12 of the main body 4 of the moving unit 2B, respectively, and the rods 84 and 86 of the cylinder mechanisms 68 and 70 are connected to the side walls 10 and 12 of the main body 4 of the moving unit 2A, respectively. has been done. It is preferable that the cylinder mechanisms 68 and 70 and the main bodies 4 of the moving units 2A and 2B are connected via a universal joint that allows relative tilting in any direction, and in the illustrated example, a ball joint is used. Attachment mechanism including 72.74.
76 and 78. More specifically, the cylinder 80 of the cylinder mechanism 68 is fixed to one end of a connection mechanism 72, the other end of this connection mechanism 72 is fixed to the side wall 10 of the main body 4 in the moving unit 2B, and the rod 84 of the cylinder mechanism 68 is fixed to the side wall 10 of the main body 4 in the moving unit 2B. fixed to one end of the mechanism 74;
The other end of this connection mechanism 74 is fixed to the side wall 10 of the main body 4 of the moving unit 2A. Further, the cylinder 82 of the cylinder mechanism 70 is fixed to one end of the connection mechanism 76,
The other end of this connection mechanism 76 is fixed to the side wall 12 of the main body 4 in the moving unit 2B, and the rod 86 of the cylinder mechanism 70 is fixed to one end of the connection mechanism 78.
The other end of 8 is the side wall 12 of the main body 4 in the moving unit) 2A.
Fixed.

Next, the operation of the apparatus as described above will be explained with reference to FIGS. F to 3. When the device starts operating, the pair of cylinder mechanisms 68 and 70 constituting the connecting means 66 are in the contracted state 1! l! (the state shown by the solid line in FIGS. 1 and 2). And also mobile units) 2A and 2B
The cylinder mechanisms 46 provided in each of the cylinder mechanisms 46 are also in a contracted state (the state shown by the two-dot chain line in FIG. 3). In such a state, the reduced pressure source 44 is energized, and the moving unit 2A
The decompression space 38 in each of 2B and 2B is depressurized.

As shown by the two-dot chain line in Figure 3, the moving units) 2A and 2
When the cylinder mechanism 46 constituting the condition setting means at B is retracted, the wheels 60, 62 and 64 are retracted and the locking member (i.e. the lower end of the cylindrical base 24 of the member 220) is brought into contact with the surface 34. brought into contact, wheel 6
0.62 and 64 are spaced apart from surface 34. Therefore, due to the pressure difference between the inside and outside of the decompression space 34, the main body 4
The fluid pressure acting thereon is transmitted to the surface 34 through the locking member, and the locking member is pressed against the surface 34. Seal member (
That is, because the seal portion 26) of the member 22 is relatively thin and can be easily moved toward and away from the surface 34, the seal member itself (and Specifically, the cylindrical base 22 is brought into close contact with the surface 34 by the fluid pressure acting on the truncated conical portion 28 of the seal portion 26 (even when the lower end of the cylindrical base 24 of the member 220 is pressed against the surface 34). The inside and outside of the cylindrical base 922 are communicated through the communication groove 36 formed at the lower end of the cylindrical base 922, so that the space surrounded by the seal portion 26 is also depressurized). Thus, the locking member (i.e., the lower end of the cylindrical base 24 of the member 22)
is pressed against surface 34, as will be readily understood, relative movement between the locking member and surface 34 is resisted by a fairly large frictional force acting between them, so that both moving units 2A and 2B It is in a locked state where it cannot be easily moved along the back surface 34. Next, only the cylinder mechanism 46 in the moving unit 2A is extended to the state shown by the solid line in FIG. 3. Thus, the cylindrical base of member 22! Wheels 60.62 and 64 are projected beyond 24, the locking member (i.e. the lower end of cylindrical base 24 of member 22) being spaced from surface 34, and wheels 60.6
2 and 64 are brought into contact with surface 34. The seal member (i.e., seal portion 26 of member 22) remains in intimate contact with surface 34 by fluid pressure acting on itself. With the locking member spaced apart from the surface 34 and the wheels 60.62 and 64 in contact with the surface 34, the movement unit 2A moves along the surface 34 with sufficient ease by rotation of the wheels 60.62 and 64. It is set in a movable state where it is possible to In this way, one moving unit) 2A is set in the movable state and the other moving unit) 2B is set in the locked state, and the pair of cylinder mechanisms 68 constituting the connecting means 66 are connected.
and 70, the moving unit) 2B moves to the surface 3.
However, as shown by the two-dot chain line in FIG.
It is moved to the left in the figure. mobile unit) 2A
During such movement, a portion of the seal portion 26 of the member 22, i.e., the interface between the frusto-conical portion 28 and the inverted frusto-conical portion 30, is maintained in close contact with the surface 34, thus sealing. Specific portions of portion 26 apply a rubbing action to surface 34 to clean surface 34. mobile unit) 2
The pair of cylinder mechanisms 68 and 70 are set while the moving unit 2A is set in the movable state and the moving unit 2A is set in the locked state.
When retracted, the moving unit 2A is returned to its original position as shown by the solid line in FIG. Therefore, if necessary, the moving unit 2A can be repeatedly moved multiple times between the position shown by the solid line in FIG. I can do it.

Next, while the moving unit 2A is moved to the position shown by the two-dot chain line in FIG. 1, the cylinder mechanism 46 in the moving unit 2B is extended to the position shown by the solid line in FIG. The cylinder mechanism 46 at 2A is contracted to the state shown by the two-dot chain line in FIG. Thus, contrary to the above case,
The mobile unit 2B is set to the movable state and the mobile unit 2B is set to the movable state.
A is set to the locked state. In this state, when the pair of cylinder mechanisms 68 and 70 constituting the connecting means 66 are contracted, the moving unit 2A is stopped at the position shown by the two-dot chain line in FIG. It is moved to the position shown by the two-dot chain line. mobile unit)
During such movement of 2B, a portion of the seal portion 26 of the member 22, that is, the boundary between the truncated conical portion 28 and the inverted truncated conical portion 30 is maintained in close contact with the surface 34, and thus A specific portion of the seal 26 applies a rubbing action to the surface 34 to clean the surface 34. When the pair of cylinder mechanisms 68 and 70 are extended while the moving unit 2A is set in the locked state and the moving unit 2B is kept in the movable state, the moving unit 2B is shown by the solid line in FIG. returned to its original position. Therefore, if necessary, the moving unit 2B can be repeatedly moved between the position shown by the solid line and the position shown by the two-dot chain line in FIG. I can do it. After moving the moving unit 2B to the position shown by the two-dot chain line in FIG.
When the moving unit 2A is set to the movable state and the moving unit 2B is set to the locked state, and the pair of cylinder mechanisms 68 and 70 constituting the connecting means 66 are extended, the moving unit 2A is moved to the two points am shown in FIG. It is moved further to the left from the position shown. By sequentially moving the moving units 2A and 2B in this manner, the entire apparatus can be moved as desired and the surface 34 can be subjected to a sequential cleaning operation during such movement. Sealing portion 26 of member 22 seals surface 3
In order to make the cleaning work performed by rubbing the seal 26 more effective, a large number of abrasive grains can be embedded or an abrasive cloth can be attached to a desired part of the seal part 26, if desired.

In order to rotate the device in a desired direction rather than straight, instead of simultaneously extending or contracting the pair of cylinder mechanisms 68 and 70 that constitute the connecting means 66, it is sufficient to extend or contract one of them. For example, if the moving unit) 2A is set to the movable state and the moving unit) 2B is set to the locked state and only one cylinder mechanism 68 is extended, the moving unit) 2A will move to the left as shown by the solid line in FIG. The object is moved in an upwardly inclined direction. Conversely, if only the other cylinder mechanism 70 is extended, the fifth
As shown by the two-dot chain line in the figure, the moving unit 2A is moved toward the left in a downwardly inclined direction.

In the device described above, the pair of cylinder mechanisms 68 and 70 constituting the connecting means 66 are connected to the connecting mechanism 7 including a ball joint.
2.74. It is connected via 76 and 78 to the body 4 of the mobile units 2A and 2B. Therefore, the mobile unit)
Each of 2A and 2B can be tilted in any direction relative to the other without being constrained by the other, so even if the surface 34 is a curved surface with a relatively small curvature, the moving units 2A and Each of the parts 2B tilts appropriately according to the curved state of the surface 34, continues to be well vacuum-adsorbed without detaching from the surface 34, and can move along the surface 34.

6 to 8 illustrate modified examples of the traveling means.

In the modification shown in FIG. 6, the cylinder mechanism 46
A case 90 of a ball caster 88, which is known per se, is fixed to the tip of the rod 50. In the extended state of the cylinder mechanism 46, a rotatable ball 92 projecting downward from the case 90 contacts the surface 34, thus setting the moving unit 2A in a movable state. When the cylinder mechanism 46 is contracted,
The balls 92 of the ball caster 88 are spaced upwardly from the surface 34, and the locking member (i.e., the lower end of the cylindrical base 24 of the member 22) is pressed against the surface 34, thus moving the moving unit 2A into a locking class. is set to

In the modification shown in FIG. 7, the cylinder mechanism 46
A sliding member 94 is fixed to the tip of the rod 50 . The lower half of this sliding member 94 is shaped like an inverted truncated cone. At least the lower half of the sliding member 94 is made of a material with a low coefficient of friction, such as a lubricant-impregnated acetal resin, and the sliding member 94
It is important that it slides smoothly on the top and functions as a so-called sled. In the extended state of the cylinder mechanism 46, the sliding member 94 contacts the surface 34, thus setting the moving unit 2A in a movable state.

When the cylinder mechanism 46 is retracted, the sliding member 94 is spaced upwardly from the surface 34, and the locking member (i.e., the lower end of the cylindrical base 24 of the member 22) is pressed against the surface 34, thus moving the moving unit 2A. is set to a locked state.

In the modification shown in FIG. 8, the cylinder mechanism 46
High pressure fluid cushion means 96, which are known per se, are fixed to the tip of the rod 50. The cushioning means 96 has a main portion 98 fixed to the distal end of the rod 50. An annular seal 100 that protrudes downward is disposed on the periphery of the circular lower surface of the main portion 98 . Cylinder mechanism 46
In the illustrated state in which the annular seal 100 is extended, the annular seal 100 contacts the surface 34 and the main portion 98 and the surface 34
In cooperation with the pressurized space 102, a pressurized space 102 is defined. The main portion 98 has a flow path 104 opened at its lower surface, and this flow path 104 is connected to a pressurized fluid source 108 via a flexible hose 106 . The pressurized fluid supplied from the pressurized fluid source 108 is discharged into the pressurized space 102, thus creating a high pressure fluid cushion in the pressurized space 102 and maintaining the moving unit 2A in a floating state.

Therefore, the moving unit 2A is set in a movable state where it can be easily moved along the surface 34.

When the cylinder mechanism 46 is contracted and the supply of pressurized fluid is stopped, the seal 100 of the cushion means 96 is separated from the surface 34, and the locking member (the lower end of the cylindrical base 24 of the member 220) is pressed against the surface. Thus, the moving unit 2A is set to a locked state. When the high-pressure fluid cushion means 96 is provided as the traveling means, the moving unit can also be moved by simply stopping the supply of pressurized fluid without contracting the cylinder mechanism 46.
2A can be set to a locked state. When the supply of pressurized fluid is stopped, the high pressure cushion in the pressurized space 102 disappears and the lower surface of the main portion 98 is brought into direct contact with the surface 34, thus preventing the moving unit 2A from moving along the surface 34. becomes relatively difficult and a locked state is set. Therefore, when using the high pressure fluid cushion means 96, the high pressure fluid cushion means 96 is directly fixed to the main body 4 instead of being attached to the main body 4 via the cylinder mechanism 46. I can also do it. Therefore, the amount of pressurized fluid used in the high-pressure fluid cushion means 96 is sufficiently small, and it is virtually impossible for the depressurization of the depressurized space 38 in the abnormal unit 2A to be inhibited due to such pressurized fluid. do not have.

9 and 10 illustrate modifications of the state setting means.

In the modification shown in FIG. 9, the moving unit) 2A
A support shaft 110 is mounted on the cylindrical hanging wall 20 of the main body 4 via a suitable mounting bracket (not shown). A wheel 112 is rotatably mounted on this support shaft 110. On the other hand, the cylinder 48 of the cylinder mechanism 46 is fixed to the upper wall 6 of the main body 4, and the rod 5
0 penetrates the upper wall 6 of the main body 4 and projects into the decompression space 38. A disc-shaped brake member 114 is fixed to the tip of the rod 50 of the cylinder mechanism 46. The braking member 114 may be made of a material with a high coefficient of friction, such as synthetic rubber. As shown by the solid line in FIG. 9, when the cylinder mechanism 46 is retracted, the brake member 114 is spaced upwardly from the wheel 112.

The wheels 112, which are brought into contact with the surface 34, can therefore rotate freely and the mobile unit 2Δ is set in a mobile state. To set the moving unit 2A to the locked state, the cylinder mechanism 46 is extended to press the brake member 114 against the wheel 112, as shown by the two-dot chain line in FIG.

Thus, the rotation of the wheel 1120 is braked by the braking member 114, so that the moving unit 2A whose braked wheel 112 is in contact with the surface is set in a state where it is difficult to move along the surface 34 and is therefore locked. set to state.

In the modification shown in FIG. 10, the cylinder mechanism 4
A support shaft 116 is attached to the tip of the rod 50 of No. 6, and a wheel 118 is rotatably attached to the support shaft 116. On the other hand, a cylindrical braking member 120 is fixed to the lower surface of the upper wall 6 of the main body 4. As shown in solid lines in FIG. 10, when cylinder mechanism 46 is extended, wheel 118 is spaced apart from brake member 120, and wheel 118, which is in contact with surface 34, is free to rotate. The mobile unit 2A is thus set in a movable state. On the other hand, as shown by the two-dot chain line in FIG. 10, when the cylinder mechanism 46 is contracted, the wheels 118
is raised somewhat and pressed against the braking member 120, so that the rotation of the wheel 118 is braked. The mobile unit 2A, whose braked wheels 118 are in contact with the surface 34, is set in a state where it is difficult to move along the surface 34,
Therefore, it is set to a locked state.

In the modification shown in FIG. 9 or 10, the braking member is pressed against the wheel to brake the wheel, thus setting the moving unit 2A (or 2B) in the locked state, but if desired, other The wheels can also be braked by any suitable means. For example, it is also possible to attach the wheels to the support shaft via a one-way clutch, which is known per se and is capable of changing the permissible direction of rotation. In this case, for example, the first
When moving the moving unit (2A) to the right in FIG. On the other hand, in order to move the strange unit (2B) to the right (see Figure 1), the one-way clutch must be activated to bring the moving unit (2A) into a locked state where it cannot be easily moved to the right. What is necessary is to set the wheel to a state that allows rotation in the clockwise direction.

11 and 12 illustrate another embodiment of an apparatus constructed in accordance with the present invention. Such an example includes four mobile units) 202A, 202B, 202C and 20
It is equipped with 2D. These mobile units 202A,
The configurations of 202B, 202C and 202B themselves are as follows:
The above-mentioned moving unit shown in FIGS. 1 to 5 is different from the above-mentioned moving unit shown in FIGS. ) The configuration is substantially the same as that of 2A.

A moving unit) 202A and a moving unit) 202B form a pair, and a moving unit) 202C and a moving unit) 202D form a pair. mobile unit) 202A and mobile unit 20
To explain the pair with 2B, the mobile unit) 202A
and moving unit 202B are interconnected by a coupling means 266. Such a connecting means 266 is a conventional 2
It is composed of a composite cylinder mechanism in which the cylinder ends of two pneumatic cylinder mechanisms are connected, and has two rods 267 and 269 that protrude in opposite directions. The coupling means 66 is coupled to the body 404 of the moving units 202A and 202B via selective isolation means 205. More specifically, a connection bracket 207 is fixed to the tip of each of the rods 267 and 269 of the connection means 266.

The cylinders 211 of two pneumatic cylinder mechanisms 209 are fixed to the connection bracket 207 (although not shown, the cylinder mechanisms 209 are connected to a pressurized air source via a suitable pneumatic circuit). ). These two cylinder mechanisms 209 extending in the vertical direction and spaced apart laterally constitute the selective separating means 205.

Rod 21 protruding downward from two cylinder mechanisms 209
3 is conveniently connected to the side wall 210 or 212 of the main body 204 of the moving unit 202A or 202B via a universal joint that allows tilting in any direction. In the illustrated embodiment, the connection mechanism 2 includes a ball joint.
15, the rod 213 of the cylinder mechanism 209 is connected to the side wall 210 or 212 of the main body 204 of the moving unit 202A or 202B.

The configuration of the pair of mobile unit 202C and mobile unit 202D is as follows: mobile unit 2.02A and mobile unit 202D.
The configuration of the pair with B is substantially the same.

The connecting means 266 in the pair of moving unit) 202A and moving unit) 202B and the connecting means 266 in the pair of moving unit 202C and moving unit) 202D are as follows:
They extend substantially parallel to each other. two connecting means 26
6 are interconnected by pair coupling means 217.

The pair connecting means 217 is composed of a two-rod pneumatic cylinder mechanism having two rods 221 that can be extended and contracted as a unit (not shown).
This cylinder mechanism is also connected to a source of pressurized air via a suitable pneumatic circuit). The pair coupling means 217 extends substantially perpendicular to the direction of extension of the coupling means 266 in the multiple pairs. The cylinder 219 of the pair coupling means 217 is fixed to the cylinder side of the coupling means 266 in the pair of the moving unit 202C and the moving unit 202D, and the tips of the two rods 221 of the pair coupling means 2170 are connected to the moving unit 202A and the moving unit 202B. It is fixed to the cylinder side of the coupling means 266 in the pair.

The operation of the apparatus shown in FIGS. 11 and 12 will be explained as follows. 4 mobile units 202A, 20
In the device equipped with 2B202C and 202D,
For example, a pair of moving units) 202A and 202B are set to a movable state, and a pair of moving units) 202C and 202C are set to a movable state.
02D is set in the locked state, and the pair connecting means 217 composed of a cylinder mechanism is extended (or contracted), thus forming a pair of moving units) 202A and 20.
2B can be moved together upwardly (or downwardly) in FIG. 1L to clean glass surfaces 34 of buildings. Of course, a pair of moving units) 20
2A and 202B are set in the locked state, the paired moving units 202C and 202D are set in the movable state, and the pair connecting means 217 is extended (or contracted), thus making the paired moving units 202C and 202D. You can also move it. Furthermore, only a specific one of the four moving units 202A, 202B, 202C, and 202D, for example, moving unit 202A, can be moved. In this case, mobile unit l-202
A is set in a movable state, and moving unit) 20B (as well as moving units 2020 and 2020) is set in a locked state.

Then, the mobile unit) 202A and the mobile unit 202B
One rod 2 in the connecting means 266 connecting the
67 is extended (or contracted), thus moving the moving unit 2D2A to the right (or left) in FIG.
move it to

In the apparatus illustrated in FIGS. 11 and 12, the following fact should be further noted. Mobile unit 20
2Δ, 202B, 202C, and 202D, when the selective separating means 205 constituted by the cylinder mechanism 209 is extended, the moving units 202A, 202B, 202 are extended, as shown by solid lines in FIG.
C and 202D are each in the operative position with the seal portion 26 of the seal member 22 in contact with the glass surface 34 of the structure.

And mobile unit) 202A.

Each of 202B, 202C, and 202D is set to either a movable state or a locked state. Thus, for example, when the selective isolation means 205 of the mobile unit 202A is contracted, the reduced pressure in the reduced pressure space of the mobile unit 202A is eliminated by, for example, opening the reduced pressure space to the atmosphere, prior to or at the same time. , the vacuum suction of the moving unit 202A to the surface 34 is released. When the selective isolation means 205 is contracted in such a state, the entire moving unit 202A is raised to the separated position as shown by the two-dot chain line in FIG. 12, and the entire moving unit 202A including the sealing member is removed from the surface. separated upwards. Therefore, as shown in FIG. 12, a protrusion 223 like a glass frame extends on the surface 34, and when the moving unit 202A is adjacent to the protrusion 223, the moving unit 202A is The connecting means 266 is raised to the separated position shown by the dotted chain line, and then the connecting means 266
elongate. In this way, as shown by the two-dot chain line in FIG. 12, the moving unit 202A is moved to the separated position while being raised, and is moved to straddle the protrusion 223. Thereafter, the selective separating means 205 in the moving unit 202A is extended to lower the moving unit 202A to the working position again, and the depressurized space of the moving unit 202A is depressurized to remove the moving unit 2.
02A can be vacuum-adsorbed onto the surface 34 again. If necessary, paired mobile units 202A and 20
2B (or 202C and 202D) are placed in separate positions, and the pair connecting means 217 is extended (or contracted), and the paired moving units 202A and 202B (or 202C and 202D) are integrated into the protrusion 223. It is also possible to move and straddle it.

Although specific examples and modifications of the apparatus configured according to the present invention have been described above in detail with reference to the accompanying drawings, the present invention is not limited to such specific examples and modifications, and does not fall within the scope of the present invention. Needless to say, various further changes or modifications can be made without departing from the invention.

〔Effect of the invention〕

According to the device constructed in accordance with the present invention, (a) it can be considerably smaller and cheaper than conventional devices, and (a) it can maintain a sufficiently good surface even when the surface is curved with a small curvature. (C)
Cleaning work can be performed on the surface without requiring an expensive working mechanism. (d) If the surface has protrusions such as a glass frame, it is possible to move across such protrusions. Excellent effects such as:

[Brief explanation of drawings]

FIG. 1 is a plan view showing an integrated example of an apparatus constructed according to the present invention. 2 is a side view of the apparatus of FIG. 1; FIG. FIG. 3 is a partial cross-sectional view of a portion of the apparatus of FIG. 1; FIG. 4 is a partial bottom view of a portion of the apparatus of FIG. 1; FIG. 5 is a plan view for explaining the operation of the device shown in FIG. 1. Figures 6, 7, 8, 9 and 10 are
FIG. 3 is a partial cross-sectional view showing a modification of the device shown in the figure. FIG. 11 is a plan view showing another specific example of the device constructed according to the present invention. FIG. 12 is a side view of the apparatus of FIG. 11; 2A...・ ・ ・ ・ Mobile unit Moving unit main body member Cylindrical base (locking member) Seal portion (seal member) Surface decompression space cylinder mechanism 52 ... Traveling means 60 ... Wheels 62 ... Wheels 64... Wheels 66... Connection means 68... Cylinder mechanism 70... Cylinder mechanism 88... Ball caster 94... Sliding member 96... ...High pressure fluid cushion means 112...
Wheels 114...Brake member 118...Wheel 120...Brake member 202A...Movement unit 202B...Movement unit 202C...Movement unit 202D...Movement unit 404... Main body 205...Selective separation means 209...Cylinder mechanism 217...Pair connection means 223...Protrusion 266...Connection means

Claims (1)

[Claims] 1. At least two mobile units interconnected via a connecting means that can be extended and contracted;
Each of the units is provided with a state setting means for selectively setting each of the units to a movable state in which it is movable along the surface and a locked state in which it is latched to the surface, When one unit is set to the movable state and the other unit is set to the locked state and the connecting means is extended or contracted, the one unit is moved along the surface. A device that can be moved along a surface. 2. Each of the units includes a rigid or semi-rigid main body, a sealing member attached to the main body and in contact with the surface to cooperate with the main body and the surface to define a reduced pressure space, and a seal member that defines a reduced pressure space. 2. The apparatus according to claim 1, further comprising a pressure reducing means for reducing the pressure, and vacuum adsorption is performed on the surface by reducing the pressure in the reduced pressure space. 3. each of the units includes a rigid to semi-rigid body;
A locking member is attached to the main body, and the state setting means includes a traveling means that can be selectively positioned in a protruding position and a retracted position, and when the traveling means is positioned in the protruding position, When the traveling means is in contact with the surface and the locking member is separated from the surface to set the movable state, and the traveling means is positioned at the retracted position, the traveling means is separated from the surface and the locking member is separated from the surface. 2. The device of claim 1, wherein a locking member contacts the surface to establish the locked condition. 4. The traveling means is attached to the main body via a cylinder mechanism, and the traveling means is selectively positioned in the protruding position and the retracted position by expansion and contraction of the cylinder mechanism. Device. 5. Device according to claim 3, characterized in that said traveling means consists of at least one wheel. 6. Apparatus according to claim 3, wherein said travel means comprises at least one ball caster. 7. The device according to claim 3, wherein said running means is comprised of a sliding member made of a material with a low coefficient of friction. 8. The apparatus of claim 3, wherein said travel device comprises high pressure fluid cushion means. 9. The device of claim 3, wherein the locking member is made of a material with a high coefficient of friction. 10. The device of claim 9, wherein the locking member is formed from synthetic rubber. 11. Each of the units includes a rigid or semi-rigid body, and the condition setting means includes a traveling means attached to the body and brought into contact with the surface, and a braking means for selectively applying a braking action to the traveling means. 2. The apparatus according to claim 1, wherein the movable state is set when the braking action is not applied to the traveling means, and the locked state is set when the braking action is applied to the traveling means. 12. The apparatus according to claim 11, wherein said traveling means comprises at least one wheel, and said braking means includes a braking member selectively pressed against said wheel. 13. The apparatus of claim 1, wherein said connecting means interconnecting said units comprises a cylinder mechanism. 14. The apparatus of claim 13, wherein the cylinder mechanism is connected to each of the units via a universal joint. 15. The connecting means interconnecting the units is composed of a pair of cylinder mechanisms arranged in parallel;
A device according to claim 1. 16. Each of the units includes a rigid to semi-rigid body, and the coupling means connects the body of each of the units via selective spacing means for selectively positioning the body in the operative position and the spacing position. , and with the selective spacing means for one unit positioning the main body of the one unit in the operative position, the selective spacing means for the other unit causes the main body of the other unit to 2. The apparatus of claim 1, wherein when the body is placed in the spaced-apart position, the entire other unit is spaced from the surface. 17. The apparatus of claim 16, wherein said selective spacing means comprises a cylinder mechanism. 18. The apparatus of claim 17, wherein the cylinder mechanism is connected to the body of the unit via a universal joint. 19, comprising two pairs of moving units each consisting of two moving units connected to each other via the connecting means, the connecting means of each pair of moving units being connected by the pair connecting means capable of being extended and contracted; 17. The device of claim 16, wherein the devices are interconnected. 20. The extension and contraction directions of the coupling means of each of the pair of moving units are substantially parallel to each other, and the extension and contraction directions of the coupling means of each of the pair of moving units are substantially parallel to each other. substantially perpendicular to the direction of elongation and contraction;
19. Apparatus according to claim 18. 21. The apparatus of claim 18, wherein the pairing means comprises a cylinder mechanism.