JPS6250281A - Walking type wall-surface traveling device - Google Patents

Abstract

PURPOSE:To permit the smooth traveling even on a curved wall surface by installing sucking legs equipped with a sensor for detecting the distance from the wall surface, onto an adjusting frame and either of an inner or outer frame. CONSTITUTION:An adjusting frame 11 is supported in tiltable ways at a fulcrum 10 onto an inner frame 4, and a spring 9 and an expandable actuator 8' are installed therebetween. Sucking legs having an sucking device 7 and an expandable actuator are installed onto the adjusting frame 11 and an outer frame 1, and further, a sensor 15 for detecting the gap 14 between a wall W is installed onto the sucking device 7. A detecting circuit 12 detects the information simultaneously with the detection by the sensor 15, and a control instruction is calculation-outputted so that the attitude for the wall surface W of the frame 1 or 11 in transfer is set uniform for the wall surface, and the relative attitude between the inner frame 4 and the adjusting frame 11 is controlled by driving the actuator 8'.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to a walking-type m-plane traveling device, and in particular, even when the wall surface forms a curved surface such as a spherical or cylindrical surface, the present invention relates to a walking-type m-plane traveling device. This article relates to a walking-type wall lI [Y traveling device] that can be used for traveling.

[Background of the invention]

Maintenance work such as inspections and inspections of each tank, lintel vIJ, etc. is carried out regularly, but in the congratulations, it is only done in the middle of the day. The application of this cut has become an essential need. For this reason, various types of walking-type wall running devices have been developed (for example, Japanese Patent Application Laid-Open No. 54-59
789), all of which walked in a straight line on a flat surface.

FIG. 2(a) l (kt) is a plan view and an A-A sectional view showing an example of such a walking wall surface traveling device.
In the figure, 1 indicates the horizontal members 2, 2 and the vertical rod 3 connecting them.
3), 4 is an inner frame that is slidably mounted on the vertical rod 3.3, and 5 is supported by the outer frame l in parallel with the vertical rod 3.3, and is connected to the inner frame 4. The screw rod 6 has a motor attached to the ninth outer frame that rotates the screw rod 5 forward and backward. The outer frame I and the inner frame 4 are equipped with an IT adsorber 7 (for example, electromagnetic or suction type) and an adsorber having a compression actuator 8 . For example, to walk on the wall on the right side of the figure d, actuator 8 is actuated to move the adsorber 7' of frame l outside p! km
At the same time, the suction unit 7 of the inner frame 4 is moved away from the wall surface, and the screw rod 5 is rotated by the motor 6 to move the inner frame 4 to the right with respect to the outer frame l. When activated, the L&7Jt device 7 of the inner frame is brought into contact with the wall, and the suction f# device 7 of the outer frame L is separated from the wall surface, and the screw rod 5 is rotated to move the outer frame L to the right with respect to the inner frame 4. move it to By repeating this, p-walking can be achieved. The same applies to walking to the left.

However, according to such a walking wall surface traveling device, the third
If the wall surface is curved as shown in the figure, for example, when the walking inner frame 4 moves in the direction of the arrow in the figure, there will be a larger gap between the suction device 7 and the Iik surface W than in the case of a flat wall. 1 occurs, and a gap difference occurs between the front and rear in the traveling direction, and at the same time, the center line of the inner frame 4 for walking shifts from the center of the curved surface. Therefore, if the inner frame's @ layer device 7 tries to suction the wall surface in such a situation, the suction device 7 of the inner frame will not be able to absorb the suction on the rear side. The ffI device may be subjected to a resistance force due to the curved surface, and furthermore, the inner frame 4 is inclined with respect to the outer frame 1 for walking, and a moment acts around the contact point between the inner frame and the outer frame. A class arises. The situation is similar when the outer frame l for traveling moves. For this reason, it has been difficult for the conventional M-plane traveling device to perform smooth and well-balanced walking while following a curved surface.

[Purpose of the invention]

SUMMARY OF THE INVENTION An object of the present invention is to provide a walking-type wall surface traveling device that enables balanced and smooth suction travel on curved surfaces.

[Summary of the Invention] ゛The present invention provides an outer frame or an inner frame of a walking type wall surface traveling device that can adjust the tilting angle between the outer frame and the inner frame 114! i7
Attach the frame, and the suction leg is installed on the adjustable frame and either the inner frame or the outer frame, and the suction leg is one of the famous suction legs.
The 4th part is equipped with a sensor that detects the distance to the wall...i, and the 1 & 1 alignment frame is adjusted according to the output of the sensor to maintain the same distance to the wall of each suction device located at a distance from the wall. The tilt angle is 1i141i111),
This ensures that the moving frame of the suction device always faces the center of the curved wall surface, allowing for smooth and well-balanced walking.

[Example of saturation of invention]

FIG. 1 shows an embodiment of the invention. 1 is an outer frame consisting of horizontal members 2 and vertical rods 3, 4 is an inner frame that can slide freely on this, 5 is a screw rod for driving, and 6 is the driving motor.The configuration of these parts is shown in Figure 2. This embodiment is the case where the outer frame is the silk wJl frame and the j142 frame is the inner frame, and the k14 frame 11 is the fulcrum l on the inner frame 4.
A spring 9 and an offshore actuator 8' are installed between the circular frames 4 and 11, and by naming these actuators 8', the inner frame of the v4m7 frame 11''k 4, it can be tilted at different angles.

■A suction device equipped with a suction device 7 and a telescopic actuator 8 is attached to the outer frame 11 and the outer frame l. A sensor 15 is provided to detect the ridge 14 and the ridge W.

Walking is basically the same as explained in FIG. The frame 4'1 is moved relative to the outer frame l, and then the attachment device 7 of the 141-aligned frame 11 is brought into contact with the wall surface, and the adsorption device 7 of the outer frame is separated from the wall surface, and the outer frame is moved relative to the inner frame. Move relatively. We walk by repeating the following actions, but in this case, *fl
The earpiece 1 with the wall surface of each suction device 7 in a state away from Ii
4 (- At the same time as the sensor 15 detects the information, the detection circuit 12 detects the lever information, and the control circuit 13 adjusts the posture of the moving frame 11 with respect to the wall surface W so that the gaps are equal to each other. The relative attitude between the inner frame 4 and #r4 frame 11 is controlled by outputting a control command uniformly to the wall surface and driving the actuator 8'. It is composed.

According to this embodiment, by controlling the posture of the entire frame to which the lliU legs are fixed, running is performed while keeping the curved surface and the ears of the legs uniform, so that balanced and smooth running is automatically achieved. Furthermore, as shown in FIG. 1, by adding an actuator 81 similar to that described above to each suction arm, the posture of each suction device can also be controlled. By affixing and integrating the sensor 15 and the attitude control circuit of the entire traveling device, in addition to controlling the attitude of the entire traveling device as described above, it is possible to better adsorb the ups and downs on one side. This enables even more stable walking posture control.

Figure 4 shows the mutual structure between the internal frame 4 and the frame 11 shown in Fig. 4, and the fulcrum 10i is set as a spherical bearing in the same figure (,). Support point lO'4I: By disposing it at the center of the inner frames 4 and 11, the adjustment frame 11 can be freely rotated about this position while being held and extended relative to the inner frame 4. Therefore, as shown in FIG.
If the adjustment frame 11 is placed in the target direction (direction), it is possible to control the adjustment frame 11 to any desired angle about the fulcrum 10 times υ.

As shown in Figure 5 (or (2)), it is possible to obtain a small size and a large stroke by using a linear actuator with a piston type or solenoid type. In the case of the above equation, the controllability can be further improved by also installing the feedback circuit 15.

The leg actuator 8 can be a linear actuator like the one made by Moe H, or the one shown in Fig.
As shown in a), by combining the linear actuator 8 and the spring 9' to give the suction device 7 vertical movement as shown in the diagram, it is possible to absorb the gap against the curved wall surface. Also, Figure 6 (b
), the adsorber 7 is placed on two axes.

It is rotatable in Y-turns, and an actuator 8 is further added to make it possible to deal with not only gaps in the vertical direction of the curved wall surface but also inclinations.

Figure 6 (,) uses spherical bearings S as fulcrums in place of the axes X and Y in Figure 6 (b), and the same function as hF) and (b) can be obtained more stably. I can do it.

In addition, the adjustment frame 11 is attached not to the inner frame but to the outer frame 1 with the same configuration as described above so as to be adjustable in tilt.
Legs similar to those described above for wall adsorption An embodiment in which the adjustment frame and the inner frame are respectively attached, that is, in the case of a wall surface in which the first frame is the inner frame and the second frame is the outer frame as claimed in the claims. However, it allows for smooth and well-balanced driving.

[Brief explanation of the drawing]

FIG. 1 is a side view of a walking type wall traveling device according to an embodiment of the present invention, FIGS. The figure is an explanatory diagram of the operation of the example on the lifting platform when traveling on a curved surface, and Figures 4(a) and 4(b) are diagrams of the configuration between the inner frame and the 14-frame frame according to the embodiment of the present invention. Figure 5 (1) (2
) are illustrative diagrams of the actuator, Fig. 6 (a) (b)
(-) is an illustrative view of the end configuration of the suction arm containing the A-layer device and its actuator in the present invention. l...outer frame, 2...horizontal material, 3...
Connecting vertical rod, 4...Inner frame, 5...Power transmission screw rod, 6...Motor, 7...Adsorber,
8... Actuator. 9... Spring, 10... Fulcrum. 11...Glasses 7 frames, 12...Detection circuit. 13...Control device, 14...Gatsu! . 15...Gap sensor, (lO) Fig. 2 (a) A1r% - Fig. 3 Fig. 4 (b) Fig. 5 ↓ No. 61 (a) (b) μs) (C)

Claims (1)

[Claims] a first and a second coupled to each other so as to be movable in parallel relative to each other;
a frame, a drive mechanism for causing relative translation of both frames, an adjustment frame attached to the second frame so as to be tiltable relative to the second frame, a mechanism for adjusting the tilt angle between the second frame and the adjustment frame; A suction leg that is connected to the first frame and the adjustment frame and whose end portion is moved toward and away from the wall surface; a sensor that detects the distance between the end of the suction leg and the wall surface; and a sensor that is separated from the wall surface. A walking wall surface traveling device comprising: a control device that controls the tilting angle adjustment mechanism according to the output of the sensor so as to maintain the same distance between the suction legs and the wall surface.