JPH06218679A - Self-sustaining type sucking mechanism - Google Patents

Abstract

PURPOSE:To obtain a wall surface walking device which is hardly restricted in an operation range and has the excellent transmission efficiency of the negative pressure generated in a negative pressure generation part. CONSTITUTION:An sucking part 1 which generates a suction force by successively supplying each negative pressure to a plurality of suckers 4 and a diaphragm vacuum pump 8 for supplying a negative pressure to the suction part 1 are constituted integrally. In concrete, the diaphragm vacuum pump 8 is joined with a motor 14 through a rod 11 and an eccentric crankshaft 10, and the suction side of the diaphragm vacuum pump 8 is joined with a manifold chamber 3, which is joined with a plurality of suckers 4 through an always closed type valve body 5, and a cam 7 for successively opening and closing the valve body 5 is installed in the manifold chamber 3, and a motor 14 is joined as the driving source for the cam 7.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-supporting scanning suction mechanism used for a work robot having a wall walking device, a transfer device, a construction support tool, and the like. More specifically, the present invention relates to a scanning suction mechanism that is attached to the end of a wall-walking device such as a work robot and that is composed of a plurality of suction cups that generate suction force by negative pressure and that sucks onto a wall surface.

[0002]

2. Description of the Related Art Wall walkers such as work robots are
It is composed of a suction mechanism mainly consisting of a suction cup that sucks on the wall surface, and a walking mechanism that moves the arm attached to this suction mechanism back and forth and left and right. ing.

Conventionally, the suction mechanism is divided into a suction portion mainly composed of a suction cup which is sucked on a wall surface and a negative pressure generation portion mainly composed of a vacuum pump which supplies a negative pressure to the suction portion to generate a suction force. It is composed of a body, and the negative pressure generating part is usually installed on the ground. Then, the suction portion and the negative pressure generating portion are connected by a negative pressure resistant tube.

[0004]

When the suction part and the negative pressure generating part are separately connected by a tube as in the prior art, the action range of the wall-walking device is limited to the length of the tube, and the action range is too wide. There was a problem that I could not do it. Although it is possible to extend the range of action by lengthening the tube, there is a problem in that the longer the tube, the more pressure loss in the tube and the negative pressure transmission efficiency deteriorates.

Further, when the wall surface walking apparatus is used, a part or all of the tube is suspended from the wall surface walking apparatus, so that the weight of the tube applied to the wall surface walking apparatus changes depending on the position, and a stable load weight is obtained. There was a problem that I could not do it. It is an object of the present invention to provide a wall surface walking device which has a limited range of action and has a high transmission efficiency of the negative pressure generated in the negative pressure generator.

[0006]

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and is a suction unit for sequentially applying a negative pressure to a plurality of suction cups to generate a suction force, and this suction unit. A vacuum pump that supplies a negative pressure to the unit is integrally configured. Also, specifically, connect the diaphragm vacuum pump to the motor via the rod and the eccentric crankshaft,
An intake side of the diaphragm vacuum pump is connected to a manifold chamber, the manifold chamber is connected to a plurality of suction cups via a normally closed valve body, and a cam for sequentially opening and closing the valve body is provided in the manifold chamber.
The motor is connected as a drive source of this cam.

[0007]

[Function] When power is supplied to the motor, the diaphragm vacuum pump operates to supply negative pressure to the manifold chamber, and the cam rotates to open and close the valve element to sequentially supply negative pressure to the suction cup, and to the wall surface. Adsorb.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, one embodiment of the present invention will be described with reference to FIGS.
It will be described based on. FIG. 1 shows an embodiment of a self-supporting scanning suction mechanism according to the present invention.
(2) is a negative pressure generator. The scanning suction unit (1) is shown in FIG.
As shown in the explanatory view of FIG. 5, five small suction cups (4) are arranged concentrically, and each has a pipe (18) and a valve body (5).
Is connected to the manifold chamber (3) that also serves as a negative pressure buffer. At the center of the manifold chamber (3), there is provided a cam (7) that rotates around a rotating shaft (6) to open and close the valve bodies (5).
The rotary shaft (6) is connected to the drive shaft (15) of the motor (14) via gears (12) and (13).

As shown in FIG. 1, the negative pressure generating section (2) is
Two diaphragm vacuum pumps (8) (8) are arranged on both sides of the eccentric crankshaft (10), and the diaphragm (9)
(9) and the eccentric crankshaft (10) are connected to the rods (11) (1)
They are linked in 1). The eccentric crankshaft (10) is connected to the drive shaft (15) of the motor (14) via gears (16) and (17). The diaphragm (9)
(9) is connected to the manifold chamber (3) via a pipe (19). The power of the motor (14) is supplied from the outside via a power supply line (not shown).

Next, the operation of the self-supporting scanning suction unit of the above embodiment will be described. When the power source is connected to the motor (14) and the drive shaft (15) is rotated, the eccentric crankshaft (10) is rotated via the gears (16) and (17) and the rod (11) is rotated.
(11) advances and retreats. This allows the vacuum pump (8)
The diaphragms (9) and (9) of (8) are activated, and the piping (1)
Negative pressure is supplied to the manifold chamber (3) via 9).

The scanning suction unit (1) is provided with the motor (14).
The cam (7) fixed to the rotary shaft (6) rotates from the drive shaft (15) of the vehicle through the gears (12) and (13) to open and close the valve bodies (5), and the manifold chamber (3). Negative pressure is sequentially supplied to each of the small suction cups (4) through the pipe (18).

In the above embodiment, the negative pressure generating section (2) has two
Although one diaphragm vacuum pump (8) is mounted, the present invention is not limited to this, and one or three or more diaphragm vacuum pumps (8) are provided depending on the required suction capacity and motor (14) capacity. ) May be mounted.

[0013]

As described above, according to the present invention, since the negative pressure generating portion and the scanning suction portion are integrally formed, the action range of the wall surface walking device is not limited by the length of the tube, and the action range is wide even if the tube is wide. It has the effect that there is no pressure loss at. Further, since the tube does not hang on the wall surface walking device, there is an effect that the load weight of the wall surface walking device does not change depending on the position and is stable.

[Brief description of drawings]

FIG. 1 is a sectional view showing an embodiment of a self-supporting scanning suction mechanism of the present invention.

FIG. 2 is an explanatory diagram of a negative pressure generating unit in FIG.

[Explanation of symbols]

(1) ... Scan adsorption part, (2) ... Negative pressure generating part, (3) ... Manifold chamber, (4) ... Small suction cup, (5) ... Valve body, (6) ... Rotating shaft, (7) ... Cam , (8) ... diaphragm vacuum pump, (9) ... diaphragm, (10) ... eccentric crankshaft, (11) ... rod, (12) (13) ... gear, (14) ... motor, (15) ... drive Axis, (16) (1
7) ... Gear, (18) (19) ... Piping.

Claims (2)

[Claims] 1. A self-sustaining scan comprising a suction section for sequentially supplying a negative pressure to a plurality of suction cups to generate a suction force, and a vacuum pump for supplying a negative pressure to the suction section. Adsorption mechanism. 2. A diaphragm vacuum pump is connected to a motor through a rod and an eccentric crankshaft, and an intake side of the diaphragm vacuum pump is connected to a manifold chamber,
The manifold chamber is connected to a plurality of suction cups via a normally closed valve body, and a cam for sequentially opening and closing the valve body is provided in the manifold chamber, and the motor is connected as a drive source of the cam. The self-supporting scanning adsorption mechanism according to claim 1.