JPH0354082A - Wall surface adsorption moving device - Google Patents
Wall surface adsorption moving deviceInfo
- Publication number
- JPH0354082A JPH0354082A JP1190746A JP19074689A JPH0354082A JP H0354082 A JPH0354082 A JP H0354082A JP 1190746 A JP1190746 A JP 1190746A JP 19074689 A JP19074689 A JP 19074689A JP H0354082 A JPH0354082 A JP H0354082A
- Authority
- JP
- Japan
- Prior art keywords
- wall surface
- movement
- chain
- attached
- lid
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001179 sorption measurement Methods 0.000 title claims abstract description 6
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 238000007789 sealing Methods 0.000 claims 1
- 230000005284 excitation Effects 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 3
- 238000004381 surface treatment Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
Abstract
Description
【発明の詳細な説明】
(産業上の利用分野)
本発明は、ビルディングやガスタンクの垂直面あるいは
天井面等の壁面に真空吸着して移動しながら壁面を処理
する装置に関する。DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to an apparatus that vacuum-adsorbs the wall surface of a building or a gas tank, such as a vertical surface or a ceiling surface, and processes the wall surface while moving.
(従来技術と問題点)
従来上記のような装置としてはその移動を加振力により
行うものが開発されているが、その移動方向を変更する
装置は、装置本体にローラ等を介して回転可能に支持さ
れており、このローラ等による支持機構は、点接触又は
線接触により支持するため加振装置による加振に対して
耐久性がなく短時間のうちに損傷するという問題があっ
た。(Prior art and problems) Conventionally, the above-mentioned device has been developed that uses excitation force to move the device, but the device that changes the direction of movement is rotatable using rollers etc. in the device body. This support mechanism using rollers and the like has a problem that it is not durable against vibrations by a vibration device and is damaged in a short period of time because it is supported by point contact or line contact.
本発明は上記の問題を解決する目的のもとに成されたも
のである。The present invention has been made with the aim of solving the above problems.
(問題点を解決するための手段)
本発明は、断面口形の蓋付円筒体の開口部周縁に吸着シ
ール体を取付けると共に該蓋付円筒体に、真空吸引装置
に連通ずる吸引管を連通させた壁面吸着移動装置におい
て、該蓋付円筒体の外周側に、外側に向けた環状凹溝を
有するガイド部材を設けると共に該ガイド部材から適当
な間隔をおいてチェーンを平行に取付け、前記環状凹溝
に4枚の旋回案内板を等間隔をおいて摺動自在に嵌合す
ると共に各旋回案内板を円弧状の4本のリングによって
連結し、該旋回案内板における対象位置にある1対の旋
回案内板に取付座をそれぞれ設け、一方の取付座1ご加
振装置を取付けると共に他方の取付座にギヤーモータを
設け、該ギヤーモータの回転軸に前記チェーンに噛合す
るチェーンホイールを取付けたことを特徴とするもので
ある。(Means for Solving the Problems) The present invention includes attaching an adsorption seal to the periphery of the opening of a cylindrical body with a lid having a cross-sectional opening shape, and connecting the cylindrical body with a lid to a suction pipe that communicates with a vacuum suction device. In the wall suction moving device, a guide member having an annular groove facing outward is provided on the outer circumferential side of the cylindrical body with a lid, and a chain is attached parallel to the guide member at an appropriate distance, and a chain is attached in parallel to the annular groove. Four swing guide plates are slidably fitted into the grooves at equal intervals, and each swing guide plate is connected by four arc-shaped rings. A rotating guide plate is provided with mounting seats, a vibration excitation device is mounted on one mounting seat 1, a gear motor is provided on the other mounting seat, and a chain wheel that meshes with the chain is mounted on the rotating shaft of the gear motor. That is.
(実施例)
以下本発明の実施例について図に基づいて詳細に説明す
る。(Example) Examples of the present invention will be described in detail below based on the drawings.
図中(1)は断面口形を成した蓋付円筒体であって、該
蓋付円筒体(1)の開口部周縁にはゴムあるいはプラス
チックから或る吸着シール体(2)が取付けられている
と共に天井部には図示されない真空吸引装置にゴムホー
ス(3)を介して連通ずる吸引管(4)が内部に連通し
て設けられている。In the figure, (1) is a cylindrical body with a lid that has a mouth-shaped cross section, and a certain suction seal body (2) made of rubber or plastic is attached to the periphery of the opening of the cylindrical body (1) with a lid. At the same time, a suction pipe (4) is provided in the ceiling and communicates with a vacuum suction device (not shown) through a rubber hose (3).
さらに該蓋付円筒体(1)の下部位置における外周側に
は外側に向けた環状凹溝(5)を有するガイド部材(6
)が固着されていると共に該ガイド部材(6)から下方
に適当な間隔を置いてチェーン(7)がガイド部材(6
)に対して平行に取付けられている。前記ガイド部材(
6)の環状凹溝(5)には4枚の旋回案内板(8)(8
)(8)(8)が等間隔を置いて摺動自在に嵌合すると
共に各旋回案内板(8)(8)(8)(8)は円弧状の
4本のリング(9)(9)(9)(9)によって連結さ
れて1体化され環状凹溝(5)から抜け出さないように
されている。Furthermore, a guide member (6) having an annular groove (5) facing outward is provided on the outer peripheral side of the lower portion of the cylindrical body (1) with a lid.
) is fixed to the guide member (6), and a chain (7) is attached to the guide member (6) at an appropriate distance downward from the guide member (6).
) is installed parallel to the The guide member (
There are four turning guide plates (8) (8) in the annular groove (5) of 6).
) (8) (8) are slidably fitted at equal intervals, and each turning guide plate (8) (8) (8) (8) has four arc-shaped rings (9) (9 ) (9) (9) are connected and integrated into one body, and are prevented from slipping out from the annular groove (5).
また前記旋回案内板(8)(8)(8)(8)における
対象位置にあるl対の旋回案内板(8)(8)に取付座
(10)(10)を取付け、一方の取付座(10)には
エアーシリンダ(エアーバイブレーターでもよい)で成
る加振装置(1l)が取付けられており、他方の取付座
にはギヤーモータ(12)が下向きに取付けられている
、該ギヤーモータ(12)の回転軸(l3)には前記チ
ェーン(7)に噛合するチェーンホイール(14)が取
付けられている。In addition, the mounting seats (10) (10) are attached to the l pair of swing guide plates (8) (8) located at the target positions in the swing guide plates (8) (8) (8) (8), and one mounting seat (10) is attached with an excitation device (1l) consisting of an air cylinder (or an air vibrator), and the other mounting seat is attached with a gear motor (12) facing downward. A chain wheel (14) that meshes with the chain (7) is attached to the rotating shaft (13).
尚図中(15)は装置の落下防止のための巻上げワイヤ
ーに連結するための吊り具、(W)は壁面である。また
蓋付円筒体(1)内には壁面(W)を処理する装置(例
えば回転ブラシあるいはショット投射装置等)が内蔵さ
れているが図面では省略してある。In the figure, (15) is a hanging device for connecting to a hoisting wire to prevent the device from falling, and (W) is a wall surface. Furthermore, a device (for example, a rotating brush or a shot projecting device) for treating the wall surface (W) is built into the cylindrical body (1) with a lid, but it is omitted in the drawing.
このように構威されたものは、図の状態でゴムホース(
3)を図示されない真空吸引装置に連通して、蓋付円筒
体(1)及び吸着シール体(2)並びに壁面(W)で画
威する空間を負圧化し、装置全体を壁面(W)に吸着さ
せる。The item configured in this way is equipped with a rubber hose (
3) is communicated with a vacuum suction device (not shown) to create a negative pressure in the space defined by the cylindrical body with lid (1), the suction seal body (2), and the wall surface (W), and the entire device is placed on the wall surface (W). Let it absorb.
この状態でエヤーシリンダで成る加振装置(1l)を作
動させることにより、装置全体が第2図において左斜め
上方に向けて加振され壁面(W)に対して揺動をくりか
えし、装置は左方向へ移動する。In this state, by operating the vibration excitation device (1l) consisting of an air cylinder, the entire device is vibrated diagonally upward to the left in Fig. 2, and is repeatedly oscillated against the wall surface (W), causing the device to move to the left. move in the direction.
この間蓋付円筒体(1)に設けられた図示されない壁面
処理装置が作動されて壁面処理が続けられる。このよう
にして壁面処理を続け装置の移動方向を変更する必要が
でてきた場合は、ギヤーモータ(12)を作動させチェ
ーンホイール(14)をチェーン(6)に沿って噛合転
動させる。これにより旋回案内板(8)(8).(8)
(8)は1体となって環状凹溝(5)に面接触しなから
摺動移動され、これに伴って加振装置(11)も移動さ
れ適宜の位置で停止される。During this time, a wall surface treatment device (not shown) provided on the cylindrical body (1) with a lid is operated to continue wall surface treatment. If the wall surface treatment continues in this manner and it becomes necessary to change the moving direction of the apparatus, the gear motor (12) is operated to engage and roll the chain wheel (14) along the chain (6). This allows the turning guide plate (8) (8). (8)
(8) is slid as one body without being in surface contact with the annular groove (5), and along with this, the vibration device (11) is also moved and stopped at an appropriate position.
このようにして蓋付円筒体(1)に対する加振装置(1
l)の位置が変えれることによって装置の移動方向が変
えられて壁面の処理が続けられる。In this way, the vibration device (1) is applied to the cylindrical body (1) with a lid.
By changing the position of l), the direction of movement of the device is changed and the treatment of the wall surface is continued.
以上のような要領で壁面の処理が行われるが、装置の移
動方向を変更する機構は、旋回案内板(8)を介してガ
イド部材(6)の環状凹溝(5)に面接触状態で支持さ
れ、この状態を維持して摺動回動されるようになってい
るため装置移動のための加振作動に対しても耐久性がよ
く長時間の使用に耐えれるものであった。The wall surface is processed in the manner described above, but the mechanism for changing the moving direction of the device is in surface contact with the annular groove (5) of the guide member (6) via the rotation guide plate (8). Since it is supported and slid and rotated while maintaining this state, it has good durability against vibration operations for moving the device and can withstand long-term use.
(効 果)
本発明は上記の説明から明らかなように、壁面に吸着し
て移動しながら壁面を処理する装置の移動方向変更機構
を特殊な構或にして本体部分に対じ面接触状態にして支
持させるようにしたから、従来と変わらない吸着移動及
び移動方向変更が可能である上に装置の耐久性、碑に加
振に対する耐久性が格段に向上されるというすぐれな作
用効果を奏するものである。(Effects) As is clear from the above description, the present invention has a special structure for the moving direction changing mechanism of the device that treats the wall surface while adsorbing it to the wall surface and moving it so that it is in surface contact with the main body part. Since the monument is supported by a holder, it is possible to move the device by suction and change the direction of movement, which is the same as before, and the durability of the device and the durability of the monument against vibrations are greatly improved. It is.
図は本発明の実施例を示すものにして第1図は平面図、
第2図は第1図におけるA−A矢視図である。
(I):蓋付円筒体
(2):吸着シール体
(4):吸弓管
(5):環状凹溝
(6):ガイド部材
(7):チェーン
(8)
(9)
(10)
(I1)
(12)
(14)
旋回案内板
リング
取付座
加振装置
ギヤーモータ
チェーンホイールThe figures show embodiments of the present invention, and FIG. 1 is a plan view;
FIG. 2 is a view taken along the line A--A in FIG. 1. (I): Cylindrical body with lid (2): Adsorption seal body (4): Sucker tube (5): Annular groove (6): Guide member (7): Chain (8) (9) (10) ( I1) (12) (14) Swivel guide plate ring mounting seat vibration device gear motor chain wheel
Claims (1)
体(2)を取付けると共に該蓋付円筒体(1)に真空吸
引装置に連通する吸引管(4)を連通させた壁面吸着移
動装置において、該蓋付円筒体(1)の外周側に外側に
向けた環状凹溝(5)を有するガイド部材(6)を設け
ると共に該ガイド部材(6)から適当な間隔をおいてチ
ェーン(7)を平行に取付け、前記環状凹溝(5)に4
枚の旋回案内板(8)(8)を等間隔をおいて摺動自在
に嵌合すると共に各旋回案内板(8)を円弧状の4本の
リング(9)によって連結し、該旋回案内板における対
象位置にある1対の旋回案内板(8)(8)に取付座(
10)をそれぞれ設け一方の取付座(10)に加振装置
(11)を取付けると共に他方の取付座(10)にギヤ
ーモータ(12)を設け、該ギヤーモータ(12)の回
転軸(13)に前記チェーン(7)に噛合するチェーン
ホィール(14)を取付けたことを特徴とする壁面吸着
移動装置。A wall surface on which an adsorption sealing body (2) is attached to the periphery of the opening of a cylindrical body (1) with a lid having a ■-shaped cross section, and a suction pipe (4) communicating with a vacuum suction device is communicated with the cylindrical body (1) with a lid. In the suction moving device, a guide member (6) having an annular groove (5) facing outward is provided on the outer peripheral side of the cylindrical body with a lid (1), and is spaced at an appropriate distance from the guide member (6). Attach the chain (7) in parallel to the annular groove (5).
Two turning guide plates (8) (8) are slidably fitted at equal intervals, and each turning guide plate (8) is connected by four arc-shaped rings (9). Mounting seats (
10), and a vibration device (11) is attached to one mounting seat (10), and a gear motor (12) is provided to the other mounting seat (10), and the rotation shaft (13) of the gear motor (12) is attached to the vibration device (11). A wall suction moving device characterized in that a chain wheel (14) that meshes with a chain (7) is attached.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1190746A JP2782092B2 (en) | 1989-07-24 | 1989-07-24 | Wall suction moving device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1190746A JP2782092B2 (en) | 1989-07-24 | 1989-07-24 | Wall suction moving device |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH0354082A true JPH0354082A (en) | 1991-03-08 |
JP2782092B2 JP2782092B2 (en) | 1998-07-30 |
Family
ID=16263062
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP1190746A Expired - Fee Related JP2782092B2 (en) | 1989-07-24 | 1989-07-24 | Wall suction moving device |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP2782092B2 (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2007135765A1 (en) * | 2006-05-19 | 2007-11-29 | Uragami Fukashi | Device capable of moving, sticking to surface by negative pressure |
CN104644049A (en) * | 2013-11-20 | 2015-05-27 | 苏州科沃斯商用机器人有限公司 | Anti-overturning chuck and absorbing type self-moving device using anti-overturning chuck |
CN110588815A (en) * | 2019-08-22 | 2019-12-20 | 南京理工大学 | Vacuum adsorption device applied to soft robot |
CN112407091A (en) * | 2020-10-19 | 2021-02-26 | 广东省科学院智能制造研究所 | Control system and control method of double-body negative pressure adsorption wall-climbing robot |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104044657B (en) * | 2014-07-04 | 2017-06-09 | 项赛赛 | A kind of suction wheel |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01132478A (en) * | 1987-11-16 | 1989-05-24 | Fukashi Uragami | Surface sucking and movable type ejector |
-
1989
- 1989-07-24 JP JP1190746A patent/JP2782092B2/en not_active Expired - Fee Related
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01132478A (en) * | 1987-11-16 | 1989-05-24 | Fukashi Uragami | Surface sucking and movable type ejector |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2007135765A1 (en) * | 2006-05-19 | 2007-11-29 | Uragami Fukashi | Device capable of moving, sticking to surface by negative pressure |
CN104644049A (en) * | 2013-11-20 | 2015-05-27 | 苏州科沃斯商用机器人有限公司 | Anti-overturning chuck and absorbing type self-moving device using anti-overturning chuck |
CN110588815A (en) * | 2019-08-22 | 2019-12-20 | 南京理工大学 | Vacuum adsorption device applied to soft robot |
CN112407091A (en) * | 2020-10-19 | 2021-02-26 | 广东省科学院智能制造研究所 | Control system and control method of double-body negative pressure adsorption wall-climbing robot |
Also Published As
Publication number | Publication date |
---|---|
JP2782092B2 (en) | 1998-07-30 |
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Legal Events
Date | Code | Title | Description |
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FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20090522 Year of fee payment: 11 |
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LAPS | Cancellation because of no payment of annual fees |