JPH04101783U - Rolling element adsorption device - Google Patents

Abstract

(57) [Summary] [Purpose] To enable a wall-moving robot that moves on the wall of a tank or the like to rotate around the wall without adsorbing to the wall and falling, even if the wall is a non-magnetic material. [Structure] A plurality of suction cup holes 5 arranged at required intervals in the circumferential direction and open on the outer peripheral side of the annular suction cup body 4 are provided in an annular suction cup body 4 fitted onto a rolling element 10 provided with a manifold 3. communicated with the manifold 3 through the communication hole 6,
When the rolling element 10 rolls against the surface to be attracted, the negative pressure generator 11 is activated to suck the air inside the manifold 3,
In the part of the suction cup hole 5 that is blocked by the suction surface, the communication hole 6
The valve 7 is held in an open state by its own elastic force, and the inside of the suction cup hole 5 is made to have a negative pressure, and the rolling element 10 is attracted to the suction surface via the annular suction cup body 4. In this section, the air flow urges the valve 7 in the closing direction.

Description

[Detailed explanation of the idea]

0001

[Industrial application field]

The present invention relates to a rolling element adsorption device.

0002

[Conventional technology]

Generally, wall-running robots are equipped with magnetic wheels and are shaped using magnetic steel plates. The wheels are attached to the wall of a tank, etc., and the wheels are rotated by remote control to attach to the wall. It is supposed to move.

0003

[Problem that the idea aims to solve]

However, in conventional wall-running robots, the wheels are made of magnets, so the wall surface is made of magnetic material. However, it cannot be used with non-magnetic materials such as aluminum. won.

0004 This invention was created in view of the above-mentioned circumstances, and is suitable for use on walls of non-magnetic materials such as aluminum. A rolling element that can be adsorbed and rotated around a wall without falling off the wall. The purpose is to provide an adsorption device.

[0005]

[Means to solve the problem]

This invention consists of a cylindrical or endless strip-shaped rolling element with a manifold inside. A suction cup body is fitted onto the outside of the annular suction cup body, and the annular suction cup body is arranged at required intervals and on the outer circumferential side of the annular suction cup body. A plurality of suction cup holes with openings are provided, and each suction cup hole is connected through a communication hole provided in the rolling element. The manifold is connected to the manifold, and each suction cup hole is provided with air flow through the communication hole. It is biased in the closing direction, and some air leaks when closing, and the elastic force causes it to open. A valve that is energized in the direction is installed and a negative pressure generator is connected to the manifold. The present invention relates to a featured rolling element adsorption device.

[0006]

[Effect] In the rolling element adsorption device of the present invention, the rolling element, on which the annular suction cup body is fitted, faces the surface to be adsorbed. When the manifold is rolling, if the negative pressure generator is activated, the internal air inside the manifold is released to the outside. It is sucked into and exhausted from the air. For this reason, the suction surface of the suction cup hole provided in the annular suction cup body Therefore, there is almost no air leakage in the blocked area, so the valve remains open. As a result, the inside of the suction cup hole becomes negative pressure, and therefore the rolling element is applied to the suction surface via the annular suction cup body. The part of the suction cup hole that is not blocked by the suction surface is not blocked by the air flow. The valve is urged in the closing direction. In addition, the rolling element rotates and the suction surface of the annular suction cup body If the part that is not in contact with the surface comes into contact with the suction surface and the suction hole is blocked, the inside of the suction hole becomes The valve opens, and the inside of the suction hole becomes negative pressure, which attracts the suction surface and also causes the rotation of the rolling elements. Accordingly, when the suction cup hole opens to the suction surface, the valve in the suction cup hole is biased in the closing direction. .

[0007] Therefore, as the rolling element with the annular sucker body fitted around it rolls, the annular sucker body As the suction cup hole in the part that comes into contact with the suction surface gradually becomes negative pressure, the rolling element will not touch the suction surface. While being attracted and held, it rolls smoothly against the surface to be attracted.

[0008]

【Example】

Embodiments of the present invention will be described below based on the drawings.

[0009] 1 to 4 show an embodiment of the present invention. In the figure, 1 is an inner cylinder with bosses 1a and 1b fixed to both ends, and 2 is an inner cylinder that is fitted onto the outside of the inner cylinder 1. It is an outer cylinder with a manifold 3 formed on its inner circumference, and the inner cylinder 1 and outer cylinder 2 A cylindrical rolling element 10 is formed. 4 is an annular sucker body fitted onto the outer cylinder 2. The rolling element 10 is sucked onto the suction surface 14 through the suction cup hole 5 provided in the annular suction cup body 4. It's ready to wear.

0010 The annular suction cup body 4 has a width as shown in FIGS. 3 and 4 when viewed from the outer circumferential side. A suction cup hole 5 has a substantially oval shape extending in the direction and is open on the outer peripheral side of the annular suction cup body 4. A plurality of suction cups are provided in the width direction and the circumferential direction of the annular suction cup body 4, and each suction cup The hole 5 communicates with the manifold 3 through a communication hole 6 formed on the outer circumferential side of the outer cylinder 2. A valve 7 that can open and close each communication hole 6 is provided on the bottom surface of each suction cup hole 5. still, Even when the valve 7 is closed, it does not completely seal the manifold 3 and the suction cup hole 5, and the valve 7 does not completely seal the manifold 3 and the suction cup hole 5. It is formed so that air leaks slightly to the manifold 3 side.

[0011] Reference numeral 8 denotes a communicating pipe extending from the inside of the inner cylinder 1 to the outside through the boss 1a; One end of 8 is connected to the manifold 3 via an exhaust port 9 provided in the inner cylinder 1, and the other end is It is connected to a negative pressure generator 11 provided outside the rolling element 10.

0012 The bosses 1a and 1b are connected to the bearing 1 so that the rolling element 10 can rotate together with the annular sucker body 4. 2 and is supported by the support portion 13 of the main body frame 15.

[0013] Therefore, when the rolling element 10 rolls against the attracted surface 14, the negative pressure generating device 11 is activated. When activated, the internal air in the manifold 3 passes through the exhaust port 9 and the communication pipe 8. , are sucked and exhausted to the outside of the rolling element 10. Therefore, it is closed by the suction surface 14 of the suction cup hole 5. In the blocked part, the inside of the suction cup hole 5 becomes negative pressure, and the valve 7 maintains the open state and the rotation is stopped. The moving object 10 is attracted to the suction surface 14 through the annular suction cup body 4, and the suction surface 1 of the suction cup hole 5 is 4, the pressure difference between the suction cup hole 5 and the manifold 3 causes The valve 7 closes, but the valve 7 does not completely seal the manifold 3 and the suction cup hole 5. However, air is slightly leaking from the suction cup hole 5 to the manifold 3 side.

[0014] Further, the rolling element 10 rotates and does not contact the suction surface 14 of the annular suction cup body 4. The portion contacts the suction target surface 14, and the predetermined suction cup hole 5 is closed by the suction target surface 14. The air in the suction cup hole 5 passes through the manifold 3 through a small gap between the valve 7 and the valve 7 and is discharged. Since the inside of the suction cup hole 5 and the inside of the manifold 3 have the same pressure, the inside of the suction cup hole 5 in this part The valve 7 opens due to the elastic force, creating a negative pressure inside the suction cup hole 5, and the rotation of the rolling element 10 also increases. With the rotation, the part of the annular suction cup body 4 that is in contact with the suction surface 14 separates from the suction surface 14. When it comes off and the suction cup hole 5 opens against the suction surface 14, the valve 7 in the suction cup hole 5 opens. It closes due to the differential pressure within the manifold 3.

[0015] Therefore, as the rolling element 10 rolls, it comes into contact with the suction surface 14 of the annular suction cup body 4. Since the inside of the suction cup hole 5 in the part where the While being sucked and held against the suction surface 14 through the suction cup hole 5, and rolls smoothly.

[0016] In addition, the valve 7 is closed in the portion of the suction cup hole 5 that is not blocked by the suction surface 14. However, only a small amount of air is sucked into the manifold 3 from the suction cup hole 5. Therefore, the negative pressure generator 11 may be small.

[0017] In the above embodiment, the rolling elements 10 are formed from the inner cylinder 1 and the outer cylinder 2. , the inner cylinder 1 is omitted and the rolling element 10 is formed only by the outer cylinder 2, and the communication pipe 8 is eliminated. Even if the manifold 3 inside the outer cylinder 2 is directly sucked by the negative pressure generator 11, good.

[0018] Moreover, FIGS. 5 to 8 show other embodiments of the present invention. It is in the form of a roller.

[0019] As shown in FIGS. 5 and 6, the A wheel 17 fitted to an axle 16 is attached to the left and right support portions 13, and a bearing 18 is attached to the left and right support portions 13, respectively. An inner crawler belt 1 is rotatably arranged between the front and rear wheels 17. ’ in an endless manner, and on the outer periphery and inner periphery of the inner crawler belt 1 ′. The outer crawler belt 2' on which the manifold 3' is formed is fitted onto the outside, and the endless belt is formed. A rolling element 10' having a shape of

[0020] The outer crawler belt 2' of the rolling element 10' is free as shown in FIGS. 6, 7, and 8. An annular suction cup body 4' having an end band shape is fitted onto the annular suction cup body 4', and a plurality of annular suction cup bodies each having an opening on the outer peripheral side are provided on the annular suction cup body 4'. a suction cup hole 5' is formed, and each suction cup hole 5' is connected to the outer crawler label of the rolling element 10'. It communicates with the manifold 3' through a communication hole 6' drilled in the route 2'. The inside of each suction cup hole 5' is biased in the closing direction by the air flow of the communication hole 6'. A valve 7' is installed that causes a slight air leak when the valve is closed and is biased in the opening direction by elastic force. and the manifold 3' has one end attached to the inner crawler belt 1'. A communication pipe 8' connected to an exhaust port 9' communicating with the manifold 3', and the communication pipe 8 'The negative pressure generator 11 is connected to the rotary joint 19 connected to the other end of the Connect.

[0021] The length of the communication pipe 8' is determined by the length of the exhaust port as the inner crawler belt 1' rotates. 9' is the farthest away from the rotary joint 19 (in Fig. 7, the communicating pipe 8' is in a horizontal position), connect the exhaust port 9' and the rotary joint 19. The length of the connecting pipe 8' should be long enough to allow connection, and the material of the communicating pipe 8' should be flexible. at a position other than the position where the exhaust port 9' is farthest from the rotary joint 19. The inner crawler belt 1' can be freely deformed at any position, allowing smooth rolling of the inner crawler belt 1' It is designed to be used by people. Incidentally, the communication pipe 8' is a bellows-shaped pipe that is expandable and retractable. Also, in the example shown in the figure, the inside of the manifold 3' is connected through four communicating pipes 8'. However, even if the number of communicating pipes 8' is 4 or more, It may be 4 or less.

[0022] In other embodiments shown in FIGS. 5 to 8, the wheel 17 is driven and an endless strip of When rolling the rolling element 10' against the attracted surface 14, the negative pressure generator 11 is activated. When the internal air in the manifold 3' passes through the communication pipe 8' from the exhaust port 9', It is sucked and exhausted to the outside of the rolling element 10' and is blocked by the suction surface 14 of the suction hole 5'. At this point, the inside of the suction cup hole 5' becomes negative pressure, the valve 7' maintains the open state, and the rolling element 1 0' is attracted to the suction surface 14 through the annular suction cup body 4', and the suction surface 1 of the suction cup hole 5' is In the part not blocked by 4, the differential pressure between the suction hole 5' and the manifold 3' As a result, the valve 7' closes with some air leakage, and the rolling element 10' rolls. As it moves, the inside of the suction cup hole 5' of the part of the annular suction cup body 4' that contacts the suction surface 14 gradually Next, since the pressure becomes negative, the rolling element 10' is covered through the suction cup hole 5' provided in the annular suction cup body 4'. While being attracted to and held by the attraction surface 14, it smoothly rolls against the attraction surface 14.

[0023] Moreover, as shown in FIGS. 5 to 8, when the rolling element 10' is made into a crawler shape, the annular shape The suction area of the suction cup 4' to the suction target surface 14 can be made larger, and the suction The situation can be made more stable.

[0024] Note that the rolling element adsorption device of the present invention is not limited to the above-mentioned embodiments. , the shape, size, number, etc. of the suction cup holes can be changed as necessary, and other considerations Of course, various changes may be made without departing from the gist of the plan.

[0025]

[Effect of the idea]

As explained above, according to the rolling element adsorption device of the present invention, (I) Moves to the surface of a non-magnetic material such as aluminum without falling. be able to, (II) Since the negative pressure generator can be made smaller, equipment costs and operation and maintenance costs are lower. Various excellent effects can be achieved.

[Brief explanation of drawings]

FIG. 1 is a sectional view of an embodiment of the present invention.

FIG. 2 is an enlarged sectional view taken along line II-II in FIG. 1;

FIG. 3 is an enlarged plan view of a suction cup hole.

FIG. 4 is a perspective view showing an overview of the present invention.

FIG. 5 is a sectional view of another embodiment of the present invention.

FIG. 6 is a sectional view taken along VI-VI in FIG. 5;

FIG. 7 is a sectional view taken along line VII-VII in FIG. 6;

FIG. 8 is a view taken along arrows VIII-VIII in FIG. 7;

[Explanation of symbols]

1’ Inner crawler belt 2 Outer cylinder 2’ Outer crawler belt 3,3’ manifold 4,4’ Annular sucker body 5,5’ Suction cup hole 6,6’ communication hole 7,7’ valve 10,10' rolling element 11 Negative pressure generator

Continuation of front page (72) Creator Yoshinari Toyama Ishikawajima, 3-1-15 Toyosu, Koto-ku, Tokyo Harima Heavy Industries Co., Ltd. Toji Technical Center - inside

Claims (1)

[Scope of utility model registration request] Claim 1: An annular suction cup body is fitted around a cylindrical or endless strip-shaped rolling element provided with a manifold inside, and a plurality of annular suction cup bodies are arranged on the annular suction cup body at a predetermined interval and are open on the outer peripheral side of the annular suction cup body. providing suction cup holes, and making each suction cup hole communicate with the manifold through a communication hole provided in the rolling element;
A valve is disposed in each of the suction cup holes, which is biased in the closing direction by the air flow in the communication hole, and which causes a slight air leak when closed, and is biased in the opening direction by elastic force. A rolling element adsorption device characterized by a negative pressure generator connected to a manifold.