JPH0578466B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical field to which the invention pertains] The present invention relates to a vacuum adsorption type traveling device that can travel on a vertical wall surface, a ceiling surface, or the like as a traveling surface.

This type of traveling device is normally used to hang gondolas from the rooftop or attach them to walls, such as inspecting the adhesion of tiles on the exterior walls of buildings, or traveling along the walls of buildings to hand out emergency robes in the event of a fire. It is used to carry out work that requires workers to be close to the object, such as by setting up scaffolding along the road, by remote control or automatic operation from the ground without the need for workers to be in close proximity. Used to improve productivity and reduce work time. In particular, when used for work such as inspection, inspection, cleaning, and repair of equipment placed along tanks and walls in nuclear power plant equipment, it also meets the purpose of reducing radiation exposure and is put into practical use. is expected. Since it is a vacuum adsorption type, it can be adsorbed to any wall surface, regardless of whether it is magnetic or non-magnetic.

[Prior art and this problem]

This type of traveling device may become unable to travel due to insufficient suction power or slippage due to wall surface conditions such as unevenness, cracks, steps, dew condensation, or adhesion of dust. If the running surface is a curved surface, the contact surface of the sealing material against the running surface must follow the shape of the curved surface of the running surface and have a very small gap. If changes in the contact surface of the sealing material cannot be accommodated, a gap will occur and the suction force will be lost.

If these conditions occur, the device may fall and cause damage to the main unit, as well as damage to surrounding equipment and workers, or may pose a safety risk, such as requiring labor or danger to retrieve the device. It had the drawback of lacking reliability.

Hereinafter, the drawbacks of the conventional traveling device will be specifically explained with reference to the drawings.

9 to 12 are explanatory diagrams of a conventional vacuum suction traveling device. A plurality of brush-like annular seal members 1 are attached to the vacuum container 3 (brackets) 7 and 7 (brackets) 7 so that the brush-like annular seal members 1 can be moved as a whole in a direction perpendicular to the running surface (in the two directions of arrows in FIG. 9). Guided by the guide hole (guide pin) 8
is provided so that it always comes into contact with the running surface 4 by means of a compression spring 9, and is attached to the vacuum container 3 via a bellows lam 11 to maintain airtightness to form a sealing body.

The vacuum container 3 is moved in the direction of the arrow 21 by wheels 6 driven by a drive device (not shown), and is degassed by a directly installed blower 5 or a separate blower connected via piping (not shown). Ru.

As described above, the vacuum suction traveling device is constructed, and the annular seal body 1 is always in contact with the traveling surface 4, and the vacuum container 3 is
The device is run in the direction of the arrow 21 while adsorbing the device to the running surface 4 while maintaining the degree of vacuum inside. The vacuum suction traveling device is used to measure tank plate thickness, etc. by attaching inspection tools (not shown).

Fig. 10 shows a brush-shaped annular seal body 1 of a conventional example.
FIG. The annular seal body 1 includes a core 12 and an airtight soft seal 13 sandwiched between brush materials 14.
It has a U-shaped cross section with an opening in the direction of sandwiching the brush material 14, and is formed into an annular shape by caulking with a fixture 15 formed into an annular body, which serves as one end face of the opening.

The part of the annular seal body 1 that comes into contact with the running surface 4 is a soft sheet 13, and the tip of the brush material 14 flexibly contacts the running surface 4 to accommodate slight irregularities and changes in curvature, and performs vacuum suction running. Keep the device airtight and do not reduce the vacuum level.

However, as shown in FIG. 11, when the curvature of the running surface 4 changes significantly, the fixture 15 moves even though the annular seal body 1 is brought into contact with the running surface 4 by the compression spring 9. Since it has a rigid structure that does not deform along the surface 4, it has the disadvantage that a gap 22 is created, the airtightness is broken, the degree of vacuum is reduced, and the vacuum suction traveling device cannot be used.

In order to eliminate the above-mentioned drawbacks, the soft sheet 13 and the brush material 14 are trimmed and formed so that the contact surface of the annular seal body 1 contacts the running surface 4 without any gaps, or as shown in FIG. A fixture 15 was molded to follow the running surface 4 and used.

However, since such an annular seal body 1 is used exclusively for a running surface of a specific curvature, when the curvature of the running surface changes or the direction changes during running, a gap is created in the abutting surface of the annular seal body and vacuum is generated. The drawback was that the scope of application was limited because the device could be broken and the device could not be used.

[Purpose of the invention]

The present invention is a vacuum suction traveling device that travels by vacuum suctioning to flat or curved surfaces such as floors, walls, ceilings, tank surfaces, etc., and even if there is a change in curvature or a change in traveling direction on the traveling curved surface, the annular seal It is an object of the present invention to provide a vacuum adsorption traveling device whose body conforms to a curved surface and abuts without any gaps to maintain airtightness and has a wide range of applications.

[Key points of the invention]

The present invention comprises a vacuum container in the form of a box having an opening on the side facing a running surface such as a wall, and a plurality of wheels movably supported on the running surface attached to the vacuum device. The present invention relates to a vacuum suction traveling device in which a flexible annular seal member is placed along the periphery of the opening of the container, and the seal material comes into contact with the traveling surface to prevent outside air from entering the internal space of the vacuum container.

The annular seal body includes a bracket and a guide pin or a groove-shaped seal guide mechanism that restricts the vacuum vessel in a direction parallel to the running surface and guides it movably in a direction perpendicular to the circumference of the vacuum vessel, and an annular seal body. A seal body biasing means such as a spring or fluid pressure that biases the annular seal body toward the running surface, and a stopper that prevents the sealing material of the annular seal body from protruding beyond a predetermined dimension from the opening of the vacuum container toward the running surface. have the means.

The annular seal body is made flexible by reducing the rigidity in the direction perpendicular to the running surface of the fixture that makes up the annular seal body, so that when the device moves on the curved running surface, the sealing material contacts the running surface. Since it can be deformed in the right angle direction, no gap will be created in the sealing material even if the curvature of the curved surface changes or the direction changes during travel.

[Embodiments of the invention]

1 and 2 show an embodiment of the present invention, FIG. 1 is a cross-sectional side view, and FIG.
FIG. Figures 9 to 12
The difference from the conventional example shown in the figure is that the annular seal body 1 is structured to have flexibility in the direction perpendicular to the running surface (in the direction of the arrow 2 in Fig. 1). Even if there is a change in the movement direction or a change in the running direction, no gap is created on the sealing material contact surface (hereinafter referred to as the sealing surface), and the range of application of the vacuum suction running device can be expanded.

In FIGS. 1 and 2, the vacuum container 3 has an opening on the side facing the running surface 4, and can be degassed by a blower 5 installed directly or by a separate blower connected via piping (not shown). It is a sealed box. Although the figure shows a cylindrical shape, it can be of any shape. The vacuum container 3 is provided with a plurality of wheels 6 and is driven by a drive device (not shown). When the wheels 6 come into contact with each other, the vacuum container 3
be movably supported.

An annular seal body 1 is disposed along the periphery of the opening of the vacuum container 3, and the annular seal body 1 is a flexible annular body, and its tip is in contact with the running surface 4 on the side of the running surface 4 to prevent outside air from flowing out. Equipped with sealing material to prevent intrusion.
Seal body guide mechanisms 7 and 8 are provided between the annular seal body 1 and the vacuum vessel 3. This involves attaching a plurality of (brackets) 7 to the vacuum container 3, and guiding the (guide pins) into the guide holes of the (brackets) 7.
8 is provided on the annular seal body 1, and the annular seal body 1 is restricted in a direction parallel to the running surface 4 along the peripheral edge of the vacuum container 3, and in a direction perpendicular to the running surface 4 (arrow 2).
This is a mechanism that allows the robot to move freely. In order to urge the annular seal body 1 toward the running surface 4, a compression spring 9 is used as the seal body biasing means 9 in the embodiment shown in FIG.

Although not shown, fluid pressure can also be used as this seal body biasing means. In order to prevent the sealing material of the annular seal body 1 from protruding beyond a predetermined dimension from the opening of the vacuum container toward the running surface 4, a stopper 10 is provided at the end of the guide pin 8.
It is said that

In the embodiment shown in FIG. 1, the space between the annular sealing body 1 and the vacuum container 3 is sealed with a flexible airtight velofram 11.

When the device configured as described above is moved on a curved running surface, the annular seal body 1 is deformed in a direction perpendicular to the running surface (arrow 2), so the curvature of the running surface changes during running. It is possible to provide a vacuum suction traveling device which can be used in a wide range of applications and eliminates the drawbacks of the conventional example, without creating a gap in the sealing surface even if there is a change in direction during traveling.

Next, a structure for imparting flexibility to the annular seal body 1 will be explained. 1 to 3 show a flexible annular seal 1 according to a first embodiment of the present invention. FIG. 3 is a first partial perspective view showing the structure of the annular seal body 1, and FIG. 4 is a vacuum container 3.
FIG.

The core 12 is constructed in the same manner as the conventional annular seal body 1 explained in FIG. 10, that is, in FIG. It is sandwiched between the brush materials 14 and has a U-shaped cross section with an opening in the direction in which the brush material 14 is sandwiched.
First, it is caulked and molded using a fixture 15 formed into an annular body having the opening as one end surface.

The fixture 15 has a plurality of cuts 1 shown in FIG.
6 is inserted, and the cut 16 is connected with an airtight flexible member 17 to provide flexibility to form the annular seal body 1, a (guide pin) 8 is provided on the fixture 15, and a velophram 11 is provided on the outer periphery. establish.

FIG. 4 shows the attachment structure of the annular seal body 1 shown in FIG. 3 to the vacuum container 3.
6. Same number of (brackets) as (guide pin) 8
A guide pin 8 into which a compression spring 9 has been inserted is inserted into the guide hole of the bracket 7 to provide a stopper 10, and the annular seal body is attached to the periphery of the vacuum vessel 3. A seal body guide mechanism 7, 8 is provided along the section to restrict the movement in a direction parallel to the running surface and to move freely in a direction perpendicular to the running surface, and a perofram 11 is attached to the vacuum vessel 3 to form a seal.

In the state before running the vacuum suction traveling device,
The annular seal body 1 is biased by the biasing force of a (compression spring) 9 to a position where the (stopper) 10 comes into contact with the (bracket) 7, and a seal body biasing means 9 biases the annular seal body toward the running surface. and stopper means 10 for preventing the sealing material of the annular sealing body from protruding beyond a predetermined dimension from the opening of the vacuum container toward the running surface. With the above configuration, when the device moves on the running surface, the annular seal body can be deformed in a direction perpendicular to the running surface.

When the device approaches the running surface 4 while degassing with the blower 5 attached or a separate blower, the sealing surface of the annular seal body 1 first comes into contact with the running surface 4 and seals the vacuum container 3. As degassing progresses and the degree of vacuum inside the container increases, the annular seal body 1 (compression spring)
9. The device is brought close to the running surface 4 against the elastic force of the bellow ram 11, and the wheels 6 come into contact with the running surface 4, completing the vacuum suction of the device. The wheels 6 are driven to make a predetermined run.

If the operation of the blower is stopped, the vacuum suction of the device can be terminated by the reverse process as described above.

FIG. 5 is a partial perspective view showing the structure of a flexible annular seal body 1 according to a second embodiment of the present invention, and FIG.
The figure is a second explanatory view of the attachment structure to the vacuum container 3.

It is the same as in the first embodiment that the fixture 15 is first formed without any cuts. In FIG. 5, a plurality of cuts 16a are made only in the inner and outer side walls of the annular fixture 15 having a U-shaped groove cross section that opens downward. In other words, leave only the upper side of the downward U-shape and cut off only the side walls.
The cut 16a is sealed with a flexible member 17.
The annular seal body 1 is made by connecting the seals with a flexible ring, and utilizes the difference in elasticity between the width direction and the thickness direction of the cross section of the upper side where the cut 16a of the fixture 15 remains, that is, the difference in bending rigidity. It is made rigid in the direction parallel to the running surface and flexible in the direction perpendicular to the running surface, and a bellow frame 11 is provided on the outer periphery.

FIG. 6 is a second explanatory view of the attachment structure to the vacuum vessel 3, in which a member 18 having an annular groove for guiding the annular seal body 1 is provided inside the wall surface of the vacuum vessel 3, and a plurality of compression springs are installed in the annular groove. 9 is arranged, and a (stopper) 10a is provided to restrict the annular seal body along the peripheral edge of the vacuum container 3 in a direction parallel to the running surface, but to allow it to move freely in a direction at right angles. Without a seal body guide mechanism that guides the
1 is attached to the vacuum container 3 and used as a seal.

The operating direction of the vacuum suction traveling device according to the second embodiment is the same as that shown in the first embodiment.

FIG. 7 shows the structure of a flexible annular seal body 1 according to a third embodiment of the present invention, in which a is a partial perspective view, b is a sectional view of section AA of a, and FIG. 8 is a vacuum FIG. 3 is a third explanatory diagram of the attachment structure to the container 3;

In FIG. 7, the fixture 15a is a thin elastic plate, the core 12 is passed through a plurality of screwless eye bolt-shaped metal fittings 19, the airtight soft sheet 13 is sandwiched between brush materials 14, and the stepped tip of the metal fittings 19 is shown. The soft sheet 13 and the brush material 14 are molded as shown in the figure, and the base portion in contact with the fixture 15a is filled with an airtight flexible filler 20 such as rubber. The annular seal body 1 is formed by filling.

The difference between the width direction and thickness direction of the cross section of the fixture 15a,
That is, by utilizing the difference in bending rigidity, it is made rigid in the direction parallel to the running surface, and flexible in the direction perpendicular to the running surface, which is the sum of the filler material 20.

FIG. 8 is a third explanatory diagram of the attachment structure to the vacuum vessel 3, in which a member 18a having an annular groove for guiding the annular seal body 1 is provided in contact with the inside of the wall surface of the vacuum vessel 3, and a plurality of members are provided in the annular groove. An annular sheet body 1 with a compression spring 9 arranged thereon is inserted, and a (stopper) 10a is provided. In this case, velofram is not required.

This is a seal guide mechanism that restricts the annular seal body along the peripheral edge of the vacuum container 3 in a direction parallel to the running surface, and guides it movably in the perpendicular direction.

The operating method of the vacuum suction traveling device according to the third embodiment is the same as that shown in the first embodiment.

We have shown three examples each of the attachment structure to the annular seal body 1 and the vacuum vessel 3, but these are, for example, the annular seal body 1 shown in FIG. Any combination is possible to achieve the mounting structure shown.

〔Effect of the invention〕

The present invention allows the suction force acting on the vacuum container to directly act on the wheels, and reduces the rigidity of the fixture that supports and fixes the peripheral edge of the sealing material in the direction perpendicular to the running surface. The annular seal body that maintains airtightness between the vacuum container and a seal biasing means for movably guiding the annular seal body and biasing the annular seal body toward the running surface using a compression spring and a stopper; Since the stopper means prevents the device from protruding further, the annular seal body can be deformed in a direction perpendicular to the curved running surface when the device moves on the curved running surface.

Therefore, when the device travels on the cylindrical curved surface of a cylindrical tank, it is possible to travel in any direction from the axial direction to the circumferential direction of the cylinder without replacing it, and to change the direction. It becomes possible.

In addition, even if the curvature of the running surface changes while the device is running, such as an elliptical cylindrical surface, an elongated cylindrical surface, a corrugated surface, a connecting surface between a cylindrical surface and a spherical surface, or a gently uneven surface, the sealing surface of the annular seal body will remain on the running surface. Because of the flexible contact, it is possible to run without losing the suction force, which has the effect of expanding the range of applications of the vacuum suction travel device.

[Brief explanation of drawings]

FIGS. 1 and 2 are diagrams showing embodiments of the present invention,
Fig. 1 is a cross-sectional side view, Fig. 2 is a plan view taken at section AA in Fig. 1, and Figs. , second, third
Partial perspective views showing the structure of FIGS. 4, 6, and 8
The figures are first, second, and third explanatory views showing the attachment structure of the annular seal body to the vacuum vessel, and Figs. 9 to 12 are explanatory views of conventional examples. Fig. 9 is a cross-sectional side view, and Fig. Figure 10 is a partial sectional view of the annular seal body, the first
1 and 12 are explanatory diagrams shown in cross-sectional side views. DESCRIPTION OF SYMBOLS 1... Annular seal body, 2... Direction perpendicular to the running surface, 3... Vacuum container, 4... Running surface, 6... Wheels, 7, 8... Seal body guide mechanism, 7... (bracket) , 8... (guide pin)], 9... Seal body biasing means (compression spring), 10, 10a... Stopper means (stopper), 11... Bellophram, 1
5, 15a... Fixture, 16, 16a... Cut, 18, 18a... Member having an annular groove for guiding the annular seal body 1, 19... Metal fitting, 20... Filler, 21... Running direction, 22...Gap.

Claims (1)

[Scope of Claims] 1. A vacuum container serving as a semi-closed box having an opening on the side facing the running surface such as a wall surface and capable of evacuating the internal space, and a vacuum container that is attached to the vacuum container so that the container can be internally evacuated. a plurality of wheels that contact the running surface and movably support the vacuum container relative to the running surface when the vacuum container is sucked toward the running surface; It becomes a flexible annular body,
An annular seal body comprising a sealing material whose tip contacts the running side and prevents outside air from entering the internal space of the vacuum container, and a fixture that supports and fixes the peripheral edge of the sealing material on the side opposite to the running surface. , a seal body guide for regulating the annular seal body provided between the annular seal body and the vacuum vessel along the peripheral edge of the vacuum vessel in a direction parallel to the running surface, and movably guiding it in a direction perpendicular to the running surface; a mechanism, a seal body biasing means for biasing the annular seal body toward the running surface, and a stopper means for preventing the sealing material of the annular seal body from protruding from the opening of the vacuum container toward the running surface. 1. A vacuum suction traveling device characterized in that the annular seal body is made flexible by reducing the rigidity in a direction perpendicular to the running surface of a fixture constituting the annular seal body. 2. In the device according to claim 1,
A plurality of cuts are made in an annular fixing device that sandwiches and caulks the constituent members of the annular seal body, and the cuts are connected with an airtight flexible member, and a plurality of the annular seal members are provided inside the wall surface of the vacuum container. a seal body guide mechanism consisting of a guide pin that slides into a guide hole of the bracket and is attached to the annular seal body; and a compression spring provided in the guide pin portion that biases the annular seal body toward the running surface. a stopper that prevents the sealing material of the annular sealing body from protruding beyond a predetermined dimension from the opening of the vacuum container toward the running surface;
A vacuum suction traveling device comprising a flexible airtight velofram for sealing between the vacuum container and the annular sealing body. 3. In the device according to claim 1,
A plurality of cuts are made only in the inner and outer side walls of the groove of the annular fixing device, which opens downward and has a U-shaped groove cross section, and which is used to sandwich and caulk the constituent members of the annular seal body. An annular seal body connected with a flexible member to provide flexibility, a seal guide mechanism having an annular groove for guiding the annular seal body provided inside the wall surface of the vacuum container, and a seal body guiding mechanism that guides the annular seal body toward the running surface. A compression spring that biases, a stopper that prevents the sealing material of the annular seal body from protruding beyond a predetermined dimension from the opening of the vacuum vessel toward the running surface, and flexibility that seals between the vacuum vessel and the annular seal body. A vacuum suction traveling device characterized by being equipped with an airtight velofram. 4. In the device according to claim 1,
An annular annular seal body fixing device made of an elastic material having a thickness smaller than its width dimension, and the constituent members of the annular seal body are fixed to the annular seal body in a flexible and airtight manner. An annular seal body, a seal body guide mechanism having an annular groove for guiding the annular seal body provided in contact with the inside of the wall surface of the vacuum vessel, a compression spring that urges the annular seal body toward a running surface, and a compression spring for biasing the annular seal body toward a running surface. 1. A vacuum suction traveling device comprising: a stopper that prevents a sealing material from protruding beyond a predetermined dimension from an opening of a vacuum container toward a traveling surface.