JPS60176869A - Wall surface movile device - Google Patents

Abstract

PURPOSE:To make a working truck travel on a wall surface, by attaching plural pieces of leg bodies installing a suction device at its tip end to a working pedestal free of rocking and turning motions and rocking and turning these leg bodies with an actuator. CONSTITUTION:A pedestal is designed so as to make it stickable to a wall surface via suction devices 3-1-3-4 installed in each tip of four legs. Legs 2-1-2-4 are reciprocatively turned round by turning actuators 6-1-6-4 centering on shafts 5-1-5-4, and also designed so as to be rockingly operated by rocking actuators 8-2-8-4 centering on shafts 7-1-7-4, these suction devices are connected with one another through each leg and a spherical joint 10-1 whereby contact inclination of suction due to unevenness of a wall surface is made so as to be absorbed in design. Each suction device installed at the leg tip is made into on-off operation and each leg corresponding to this motion is rocked and turned round by each actuator whereby the pedestal is made travelable on the wall surface.

Description

[Detailed Description of the Invention] (Industrial Application Field) Requirements on wall surfaces for construction, painting, or maintenance on non-horizontal surfaces of towers and tanks and building structures, especially near-vertical wall surfaces, and overhang surfaces. It relates to a work device that sets and operates equipment in a certain position or raises and lowers a worker.

(Prior art) Conventional methods include temporarily setting up so-called assembled scaffolds from the ground to the necessary locations, installing permanent or temporary ladders or puttu+, and such methods as seen in the window cleaning work of high-rise buildings. Required operations on walls can be carried out by suspending a mobile scaffolding commonly known as a "gondola" from the rooftop, or by attaching the necessary equipment to one end of a long support rod and holding the other end from the ground. methods have been adopted.

On the other hand, as seen in JP-A No. 51-81398 ``How to operate a magnetic traveling vehicle,'' a cart with a permanent magnet setapillar is adsorbed onto a wall surface and moved to a desired position. -12597 "Wall suction traveling device" has been considered, but it has been considered that legs with suction devices such as electromagnets are sequentially operated for walking, but in these methods, the ratio of the number of magnets being suctioned and held to the total number of magnets is low. As a result, the ratio of the loadable load to the overall weight of the device was low, and there were also obstacles in the way.

(Purpose of the Invention) The present invention solves the above-mentioned problems with the conventional system regarding load capacity and obstacle movement, and provides a device for safely and reliably transporting workers and machinery to desired positions on a wall. It was made for the purpose of providing.

(Structure of the Invention) That is, the present invention advantageously solves the above-mentioned problem, and the gist thereof is to swing and swing a plurality of legs each having a suction device at the tip on a work base. This wall surface moving device is characterized in that the shaft is rotatably mounted, and the legs are arranged on a pedestal and are connected to a swinging actuator and a swinging actuator.

The configuration of the present invention will be explained in detail below using an embodiment of the present invention shown in FIG.

Reference numeral 1 designates a pedestal for attaching a predetermined device, etc., and the pedestal 1 is attached to a wall surface 4 via four legs 2-1 to 2-4 and suction devices 3-1 to 3-4 in the figure. It can be adsorbed to. leg 2
-1 to 2-4 are actuators 6-1 to 6-4 (6-1.
6-2 (only 6-2 is visible) allows the robot to make reciprocating turns. In addition, rocking actuators (for lifting and raising movements) 8-2 to 8-4 (
FIGS. 1(a) and 1(b) show the 8-2 groove, and s-t, s-a, and 8-4 are the dust-proof bellows 9-1.
It is hidden in 9-3.9-4. ) swings. The suction devices Ll to 3-4 are connected to the legs 2-1 to 2-4 through spherical joints 1o-i to 10-4 (FiIO- in FIG. 1(a)), respectively.
Only 1 and 10-2 are shown, and in (t)) only 10-2 is shown as a hidden line. ) to absorb the inclination of the suction surface due to unevenness of the wall surface 4. Also, the adsorption device 3
-1 to 3-4 are turned on and off by actuator 11-1
~11-4, and further add the pantatarough mechanisms 12-1 to 12-4 as necessary, so that the centers of the adsorption devices 3-1 to 3-4 *i! It is also effective to keep 13-1 to 13-4 always parallel to the center line 14 of the base 1.

(Action of invention) Next, the operation will be explained with reference to FIGS. 2(a) to 2(j).

(3) to (t) in Figure 2 are (a) to (j) in Figure 2, respectively.
It is a top view corresponding to the front view of.

The parts indicated by each symbol in Figures 2 (a) and (6) are shown in Figure 1 (a).
), Φ), only those particularly necessary for explaining the action are shown with the same symbols as in FIG. 1, and for the sake of simplicity, the parts other than N in FIGS. 2(a) and (f) are omitted.

A case will be described in which the apparatus moves upward in the figure in FIG.

Turn off the suction device 3-1 and turn the leg 2-1 upward (Fig. 2 (a), (6)) with the leg 2-1 on its back (Fig. 2 (b), (1)
)).

The legs 2-1 are swung to the positions shown in FIGS. 2(c) and 2(e), and the suction device 3-1 is turned on to be suctioned to the wall surface 4 again.

In the same way, the leg 2-2 and suction device 3-2 are attached as shown in Fig. 2(e)\
(0) position. At this point, the legs 3-1 to 3-4 are rotated to lift the pedestal 1 to the position shown in Figure 2 (f) and (T)). The resulting deviation of the leg root toward the vertical center line of the base 1 and the subsequent displacement in the opposite direction are absorbed by the swinging motion of the legs 2-1.

Therefore, at this time, the pedestal 1 first moves away from the wall surface 4 and approaches it again.

Legs 2-3 below (Fig. 2 @), (q) to middle), (r)),
By operating 2-2 (Fig. 2 (i), (S) to (j), (t)) in sequence in the same way as the other legs, the same as in Fig. 2 (a) and (6) is again achieved. The pedestal 1 assumes the postures shown in FIGS. 2(j) and 2(S) and moves upward by the amount of rotation stroke of each leg.

The above operations can be performed in the left and right directions in the figure by simply changing the order of the leg movements, and the device of the present invention can freely run up and down and left and right on the wall surface.

(Effects of the Invention) Among the suction mechanisms in the prior art described above, the ratio of those inactive to those in operation is lower than that of, for example, Japanese Patent Application Laid-Open No. 51-8139.
No. 8 is larger than 6:4, and the loadable weight is correspondingly lower, but with the method of the present invention, even in the case of four legs, the ratio is 1:3, which can be further improved by increasing the number of scripts.

It is also possible to easily move behind obstacles on the wall by swinging the legs.

[Brief explanation of drawings]

Fig. 1 shows an embodiment of the present invention, in which (a) is a side view showing a state in which it is adsorbed on a vertical surface, (b) is a plan view seen from the wall side, and Figs. 2 (a) to (1) are FIG. 4 is an explanatory diagram of the operation when the apparatus W of the present invention moves upward on the paper. 1...Pedestal 2...Legs 3...Adsorption device 4...Wall surface 5...Axis 6...Swivel actuator 7...
Shaft 8... Swinging actuator 9... Dust-proof bellows 10... Spherical hand 11... Actuator 12... Pantage rough 13... Core heel 14... Center line

Claims (1)

[Claims] A plurality of legs each having a suction device disposed at the tip thereof are pivoted on a work base so as to be able to freely swing 2 and turn, and the legs are connected to a swing actuator and a swing actuator arranged on the base. A wall moving device featuring: