JPS63150147A - Device capable of moving along surface of body - Google Patents

Abstract

PURPOSE:To enable a device to move along the surface of a body due to its comparatively simple structure, by rotatably setting a rotor provided with a surface processing means on the central line of a slightly inclined rotary shaft in the body of device. CONSTITUTION:The cylindrical part 4 a device body 2 is set on a mounting part 6 at a slant angle alpha1 thereto. The mounting part 6 has an electric motor 32 fixed to its bottom and a wheel 30 serving as an auxiliary running means is attached to its rotary shaft. Further, the cylindrical body 4 includes an electric motor 12 fixed on its top and a rotor 10 fixed to a rotary shaft protruding downward therefrom and a brush member 26 serving as a processing means 22 and an annular member 28 made of rubber or the like attached to the lower surface of the rotor 10. And when the electric motors 12, and 32 are driven, both the rotor 10 and the brush member 26 rotate to make processing on the surface 14 of the body together with generation of running force caused by hitting of a slant piece and the brush member 26 moves by the auxiliary run of the wheel 30. Thus the device can move along the surface of a body while making surface processing of the body with a comparatively simple structure.

Description

DETAILED DESCRIPTION OF THE INVENTION Technical Field The present invention relates to a device capable of moving along the surface of an object.

<Prior Art> An apparatus capable of moving along an object surface and treating the surface generally includes an apparatus body, a traveling means for moving the apparatus body, and a surface for treating the object surface. It is equipped with processing means.

However, in conventional devices of this type, the traveling means with the traveling function and the surface treatment means with the processing function are composed of separate dedicated and independent means, and therefore the configuration is complex and the entire device is large. However, there was a problem in that the manufacturing cost increased further.

In addition, devices that can stick to a wall surface and move along it include a pressure receiving body, a traveling means provided on the pressure receiving body, and a partition wall that cooperates with the pressure receiving body and the wall surface to define a depressurized area. , and a vacuum source for creating a vacuum in a vacuum area (U.S. Pat. No. 4,099).
No. 5,378 specification and drawings).

In such a device, a vacuum is generated in the reduced pressure region by the reduced pressure source, and the fluid pressure acting on the partition wall due to the fluid pressure difference inside and outside the reduced pressure region causes the A portion of the device is brought into contact with the wall surface, and fluid pressure acting on the pressure receiving body due to a fluid pressure difference inside and outside the depressurized region is transmitted to the wall surface via the traveling means, thereby causing the device to stick to the wall surface. Further, each time the traveling means is driven, the device adsorbed to the wall surface as described above is moved along the wall surface in the adsorbed state.

However, in the above-mentioned known device, the traveling means with the traveling function and the partition wall with the sealing function are separate and dedicated devices, and therefore the configuration is complicated. Moreover, the overall size of the device has increased, and the problem of increasing manufacturing costs has arisen.

<Object of the Invention> The present invention has been made in view of the above facts, and its object is to provide an excellent device that can move along the surface of an object with a relatively simple configuration. .

Another object of the present invention is to provide an excellent device that can stick to a wall surface and move along it with a relatively simple structure.

Other objects and features of the invention will become apparent from the following description.

<Preferred specific examples of the invention> Further details will be given below with reference to the accompanying drawings.

First Specific Example First, a first specific example of an apparatus constructed according to the present invention will be described with reference to FIGS. 1 to 3.

Referring primarily to FIGS. 1 and 2, the device of the first embodiment includes a device main body 2 composed of, for example, a rigid frame. The illustrated device main body 2 includes a cylindrical portion 4,
It has a take-out portion 6 and a connecting portion 8 that connects the two.

A rotating body 10 is rotatably mounted on the cylindrical portion 4 of the device main body 2. In a specific example, a drive source 12 such as an electric motor capable of forward and backward rotation is attached to the upper part of the cylindrical portion 6, and an output shaft 12a of this drive source 12 penetrates the cylindrical portion 6 and protrudes downward. The rotating body 10 is attached to the protruding end portion of the rotor 12a. In this first embodiment, the rotating body 10 is mounted in a driving manner on the cylindrical part 4, so that, as shown in FIG. It is rotated about an inclined rotation axis 18. The inclination angle α1 of the rotation axis 18 with respect to the axis 16 may be, for example, about 3 to 5 degrees. The rotating body 10, which can be formed, for example, from a disc, is provided with surface treatment means, indicated as a whole by the number 20. The illustrated surface treatment means 20 includes a treatment means 22 mainly for treating the object surface 14 and a support means 24 for mainly supporting the apparatus main body 2. Illustrated processing means 2
2 is a relatively flexible brush member 2 that acts on the object surface 14;
6, and is arranged at the peripheral edge of the rotating body 10. Further, the illustrated support means 24 is constituted by an annular member 28 that can be made of polyurethane rubber, for example, and is attached to a portion inside the portion of the rotating body 10 where the brush member 26 is disposed. Since the rotating body 10 is rotated around the rotation axis 18 that is somewhat inclined with respect to the axis 16, a part of the annular member 28, that is, a portion located on the side where the rotation center axis 18 is inclined, is located on the object surface. 14.

On the other hand, an auxiliary traveling means composed of wheels 30 is disposed on the mounting portion 6 of the device main body 2. On the concrete side, a reversible electric motor 32 constituting an auxiliary drive source is mounted on the lower surface of the mounting portion 6, and a wheel 30 is connected to an output shaft 33a of a deceleration means 33 drivingly connected to the output shaft of the electric motor 32.
is installed. In order to increase the coefficient of friction between the wheel 30 and the object surface 14, it is preferable to provide a high friction layer 34 by coating the circumferential surface of the wheel 30 with a high friction material such as rubber.

In the device of the first specific example, the device main body 2 includes:
It is mainly supported on the object surface 14 via the annular member 28 attached to the rotating body 10 and the wheels 34 attached to the output shaft 33a of the deceleration means 33.

When the rotary body 10 is rotated as required by the action of the drive source 12, the treatment of the object surface 14 is accomplished mainly by the action of the brush member 26, and the apparatus is rotated mainly by the action of the annular member 28 and the auxiliary traveling means. 2 along the object surface 14. That is, when the rotating body 10 is rotated in a direction not shown by the arrows 36 or 38, the free end of the brush member 26 attached to the rotating body 10 is not constantly in contact with the object surface 14;
Since the brush member 26 is rotated together with the brush member 26, cleaning of the object surface 14 is accomplished by the action of the brush member 26. As is easily understood, as the processing means 20, for example, when cleaning the object surface 14, instead of the brush member 26, a member made of a rubber material, woven fabric, or non-woven fabric, etc. may be used. For example, when polishing or grinding the object surface 14, a member made of an abrasive cloth containing an abrasive can be used instead of the brush member 26, and a polishing agent may also be applied to the object surface. etc., a member made of porous sponge rubber with excellent liquid receptivity may be used in place of the brush member 26. Furthermore, when the rotating body 10 is rotated, the annular member 28 is rotated around the rotation axis &'1tL8 which is somewhat inclined with respect to the axis vA16. (located) acts on the object surface 14, thereby creating a force between the annular member 28 and the object surface 14 tending to move the device. The device can be moved as desired by the force thus generated and the action of the wheels 30 rotationally driven by the electric motor 32. In this regard, Article 3-A
To further explain with reference to FIG. There is a tendency to move in the direction, tangentially at the point of contact of the annular member 28 with the object surface 14, opposite to the direction of rotation indicated by the arrow 36. At this time, the electric motor 32 is rotated in the normal direction to rotate the wheel 30 in the direction not shown by the arrow 42, and the circumferential speed of the contact portion of the annular member 28 with the object surface 14 and the contact portion of the wheel 30 with the object surface 14 are If the circumferential speed is made substantially the same, the device will move straight in the direction shown by arrow 40, as is easily understood. On the other hand, if a difference is created between the circumferential speed of the contact portion of the annular member 28 and the circumferential speed of the contact portion of the wheel 30 in the normal rotation state of the drive source 12 and the electric motor 32, for example, When the circumferential speed of the contact area is greater than the circumferential speed of the contact area of the wheel 30, the annular member 28
Therefore, the device moves in the direction shown by the arrow 44 without turning, and for example, the circumferential speed of the contact portion of the annular member 26 is higher than the circumferential speed of the contact portion of the wheel 30. When it is small, the wheels 30 lead in the direction indicated by arrow 40 and the device therefore moves in the direction indicated by arrow 46 rather than turning. On the other hand, when the drive source 12 is reversely rotated in the normal rotation state of the electric motor 30 to rotate the rotating body 10, and hence the annular member 28 in the direction shown by the arrow 38, the device rotates in the direction shown by the arrow 48 about its approximate center. It is rotated in the direction shown. Incidentally, even when the electric motor 32 is in a reverse rotation state, the vehicle can be caused to travel in the same manner.

In the first specific example, as shown in FIG. 2, in order to increase the contact area between the annular member 28 and the object surface 14,
Preferably, the shape of the lower surface of the annular member 28 is substantially parallel to the object surface 14 at the point of contact with the object surface 14.

As described above, in the device of the first specific example, due to the fact that the rotating body 10 is rotated around the rotational axis 18 that is somewhat inclined with respect to the axis 16, The processing means 20 has a surface treatment function ζ which acts on the object surface 14 to clean the surface (mainly the brush member 28 has this function), and a surface treatment function ζ which acts on the object surface 14 to clean the surface
It has a poor running function (mainly the annular member 28 has this function) to move the device relative to the ring. Therefore, the processing means 20 can also serve as a part of the running means for running the device, making it possible to simplify and downsize the device.

Note that in this first embodiment, the support means 24 such as the annular member 28 may be omitted if the apparatus can be sufficiently supported by the processing means 22 such as the brush member 26. At this time, the processing means 22 has both a surface treatment function and a running function.

Second Kiyu-masu Next, a second specific example of the apparatus constructed according to the present invention will be described with reference to FIGS. 4 to 8. The device of this second embodiment is capable of adhering to a wall surface and moving along it, as will be described in detail later.

Referring primarily to FIGS. 4-6, the illustrated second embodiment of the apparatus includes a pressure body 102 which may be formed from a rigid to semi-rigid material. In this device, the pressure receiving body 102 has a substantially rectangular box shape, and a substantially circular opening 106 is formed in the lower wall facing a wall surface 104, such as the outer wall surface of a ship.

A disc-shaped rotating body 108 that can be made of, for example, a steel plate is disposed in the opening 106 of the pressure-receiving body]02. A drive source 110 such as an electric motor capable of forward and reverse rotation is installed on the wall of the pressure receiving body 102.
0 output shaft 110a extends in the direction of wall surface 104.

A connecting member 112 is attached to the end of the output shaft 110a, and the rotating body 108 is fixed to this connecting member 112. In the specific example, the connecting member 112 is connected to the attachment part 114a attached to the output cuff shaft 110a and the handle = J part 1.
It has a plurality of arm parts 114b extending radially outward from the arm part 14a, and a rotating body 10 is attached to the tip of each of the plurality of arm parts 114b.
8 is fixed by means such as welding.

A partition body 116 is provided at the peripheral edge of the rotating body 108 . The partition body 116 is connected to the pressure receiving body 1 as shown in FIG.
02 and wall surface 104 to define a reduced pressure area 118. This partition body 116 is connected to the pressure receiving body 102 as in the specific example.
and a seal portion 120 that cooperates with the wall surface 104 to define a depressurized region 118, and a support portion 122 that supports the pressure receiving body 102.
It is preferable that the seal portion 120 has a
The supporting portion 122 is provided on the inner side of the portion of the rotating body 108 where the seal portion 120 is provided.

It is preferable that the seal portion 120 is configured so that a portion that contacts the wall surface 104 can be displaced relative to the pressure receiving body 102 in the direction of the wall surface 104 and in the direction away from the wall surface 104 by a relatively small force. In this case, the support part 122 is composed of an annular member 324, and the rotating body 108
It is fixed to the lower surface of , that is, the surface facing the wall surface 104 .

Further, the seal portion 120 extends outward from one end and extends from the wall surface 1.
A main part 128 that extends in the direction toward 04 and has a free end 126 in contact with the wall surface 104, and a free end 1 of the main part 128.
26 and in a direction away from wall surface 104 , one end of main portion 128 is connected to the upper outer peripheral surface of annular member 124 . This main part 12
One end of 8 is replaced with the annular member 124 and has a rotating body 108.
It may also be connected directly to the periphery of the Partition body 1
16, which can be made of, for example, polyurethane rubber, and in the specific example is formed in one piece.

In addition, in the specific example, the seal portion 120 of the partition body 116
is relatively thin and the annular member 124 is relatively thick, so that the free end 126 of the main portion 128 in the seal portion 120 is pushed against the pressure receiving body 102 in the direction of the wall surface 104 and away from the wall surface 104 by a relatively small force. Displaced in the direction away from the
Further, the annular member 124 supports the pressure receiving body 102 as required as described later, but instead of this, the seal portion 120 is formed of a relatively flexible material, and separately, the support portion 122 is made of a relatively rigid material. A similar effect can also be achieved by forming it from a material having.

Referring to FIGS. 6 and 7, in the specific example, a first groove 132 is formed in the free end portion 126 of the main portion 128 of the seal portion 120, which communicates the inside and outside of the depressurized region 118. The first a 132 is the free end 126 of the main portion 128
A plurality of first grooves 132 are formed on the inner surface at intervals in the circumferential direction, and each first groove 132 extends radially outward in the radial direction.

The cross section of the first groove 132 may have any suitable shape, but in the illustrated example, it is formed into a substantially rectangular shape. The number and cross-sectional area of the first grooves 132 can be set as appropriate; however, as will be easily understood from the description below, when increasing the number or increasing the cross-sectional area, the first grooves 132 can be The amount of fluid flowing into the reduced pressure region 118 is increased, and therefore a relatively large and high capacity reduced pressure generation means is required to achieve the desired reduced pressure in the reduced pressure region 118, while a smaller number or A smaller cross-sectional area reduces the flow of fluid through the first groove 132 and therefore reduces the ability to collect dirt removed in the treatment operations described below. ”, in the specific example, the diameter of the main portion 128 of the seal portion 120 is approximately 12 mm.
Seventy-two first grooves 132 are formed in the On+ free end portion 126 at substantially equal intervals in the circumferential direction, and the cross-sectional shape of the first grooves 132 is a square with one side of one dragon. ing.

Further, the annular member 124 also has a second a1 passing through it.
34 is formed. The second groove 134 is connected to the annular member 124.
A plurality of second grooves 134 are formed at intervals in the circumferential direction on the inner surface (the surface that contacts the wall surface 104), and each second groove 134 also extends radially outward in the radial direction. The cross section of the second groove 134 may also have an appropriate shape, but in the specific example shown, it is approximately rectangular.

The number and cross-sectional area of the second grooves 134 can also be set appropriately. It is preferable that the cross-sectional area of the first a132 is relatively smaller than that mentioned above, but the a134 of the force cylinder 2
In this case, it is preferable that the cross-sectional area is relatively large so that the fluid that has flowed in through the first a132 further flows sufficiently through the second aperture 134. In the specific example, the diameter is approximately 6
Twenty-four second grooves 134 are formed in the annular member 124 of 5m+u at substantially equal intervals in the circumferential direction, and the cross-sectional shape of the second groove 134 has a side of 4. It is a square of in.

The rotating body 108 to which the above-mentioned partition body 116 is attached includes:
The first part of the reduced pressure area 118 defined by the rotating body 108, the partition body 116 (particularly the seal portion 120), and the wall surface 104
A plurality of openings 136 are formed to communicate the region of the pressure reduction region 118 with the second region of the depressurized region 118 defined by the rotating body 108 and the pressure receiving body 102. Further, it is preferable to arrange an annular seal member 138 between the pressure receiving body 102 and the rotating body 108 as shown in FIG. In a specific example, the seal member 138 has one end connected to the outer peripheral surface of a flange 140 provided at the periphery of the opening 106 of the pressure receiving body 102, and extends outward from the one end in the direction of the rotating body 108.
The other end is brought into contact with the rotating body 108. The seal member 138 is preferably constructed from a non-breathable, flexible material such as rubber.

In the device of the second specific example, the partition body 116 is
It is important that the rotational axis 144 be rotated about an axis of rotation 144 that is somewhat oblique to the axis 142 that is substantially perpendicular to 04. Therefore, in the second specific example, the output shaft 110a of the drive source 110 is rotatably supported by the pressure receiving body 102 at a slight inclination with respect to the axis 142. Therefore, driving source 1
10 is actuated, the rotating body 1 is connected via the connecting member 112.
08 and the partition body 116 integrally rotate the rotational axis 14 which is somewhat inclined with respect to the central axis of the output shaft 110a, that is, the axis 142.
Rotated around 4. By rotating the partition body 116 around the somewhat inclined rotation axis "ffA1.44, the partition body 116 also functions as a traveling means, as will be described in detail later.The inclination angle α of the rotation axis of the partition body 116
2 (in other words, the axis 1 substantially perpendicular to the wall surface 104
42 and the axis of rotation 144 of the partition 116
) is set to about 3 degrees in the specific example.

A rigid frame 146 is fixed to the pressure receiving body 102. The rigid frame 146 extends from one end connected to the pressure receiving body 102 in a direction opposite to the direction of inclination of the rotation axis 144 of the partition body 116, and the other end is connected to a deceleration means 148 (specifically, a housing of the deceleration means). There is. The input part of the deceleration means 148 is drivingly connected to an electric motor 150 that can rotate forward and backward and constitutes an auxiliary drive source mounted on the housing, and the output part is drivingly connected to a wheel 152 rotatably mounted on the housing. ing. Additionally, the rigid frame 146 is provided with leg portions 154, and the leg portions 154
A wheel 156 is also rotatably mounted on the wheel. wheel 15
Sprockets 152a and 156a are integrally provided on the wheels 2 and 156, respectively, and a roller chain 158 is connected between these sprockets 152a and 156a.
is wrapped around it. In order to increase the frictional force between the wheels 152 and 156 constituting the auxiliary traveling means and the wall surface 104, it is preferable to dispose a material having a high coefficient of friction such as rubber. As described above, when the electric motor 150 is rotated, the wheel 152 is rotated via the deceleration means 148, and the wheel 156 is also rotated via the roller chain 158. It should be noted that instead of using the wheels 152 and 156 as the auxiliary traveling means, one or more endless wheels, which are known per se, may be used. The wheels 152 and 156 in the specific example are preferably arranged substantially parallel to the tangential direction of the annular member 124 at the contact point with the wall surface 104, as will be understood from the description below.

The reduced pressure area 118 defined by the pressure receiving body 102, the wall surface 104, and the partition 116 is connected to a reduced pressure source 160 for evacuating the reduced pressure area 118. Decompression source 1
As the device 60, for example, an exhaust pump or an ejector can be used when the device is used in the atmosphere, and a water distribution pump or the like can be used, for example, when the device is used underwater or under the sea. In the specific example, a connection part 162 communicating with the reduced pressure area 118 is provided on the upper wall of the pressure receiving body 102, one end of a flexible hose 164 is connected to this connection part 162, and the other end of the flexible hose 164 is connected to the reduced pressure source 160. is communicated with.

The effects of the device of this second specific example will be explained as follows.

5 and 6, when the reduced pressure source 160 is energized, the action of the reduced pressure source 160 causes the fluid in the reduced pressure region 118 (air when used in the atmosphere, air when used in water) If water) is used, use a flexible hose 164.
is discharged to the outside through the vacuum region 118 .
A vacuum is created within. In this way, as is easily understood, the fluid pressure acting on the pressure receiving body 102 due to the fluid pressure difference inside and outside the depressurized area 118 is transferred to the wall surface 10 via the annular member 124 of the partition body 116 and the wheels 52 and 156.
4. That is, the surrounding area acting on the pressure receiving body 102 -
A part of the fluid pressure is transmitted to the annular member] 24 via the drive source 110, the connecting member 114, and the rotating body 108, and the remainder of the surrounding fluid pressure is transmitted to the rigid frame 146, the deceleration means 148 (more specifically, the deceleration means the surrounding fluid pressure is further transmitted to the wall 104 via the annular member 124 and the wheels 52 and 156, thereby causing the device to contact the wall 104. It can be absorbed.

In the specific example, the rotation axis 144 of the partition body 116 and the wheel 15
2 and 156 on the side opposite to the side on which the wheels 152 and 156 are located, as can be seen from FIGS. The portion that is also far away from the top is brought into contact with the wall surface 104.

On the other hand, the fluid pressure acting on the seal portion 120 of the partition body 116 due to the fluid pressure difference inside and outside the reduced pressure region 118 biases the seal portion 120 toward the wall surface 104, thereby causing the main portion 128 of the seal portion 120 to bias. Free end 126 of
is brought into contact with the wall surface 104. Although the partition body 116 is symmetrical, it is deformed as shown in FIGS. 4 to 6 by adhering the device to the wall surface 104 as described above. Furthermore, the fluid pressure acting on the sealing member 138 due to the fluid pressure difference inside and outside the reduced pressure region 118 is
biasing the sealing member 138 in the direction of the rotating body 108;
As a result, the other end of the sealing member 138 is connected to the rotating body 108.
be brought into contact with.

The drive source 110 in the adsorption state to the above-mentioned wall surface] 04
When the partition member 116 is energized, the partition member 116 is rotated in a predetermined direction about the rotation axis 144 via the connecting member 112 and the rotating body 108, thereby cleaning the wall surface 104.

That is, in the adsorption state, a portion of the annular member 124 of the partition body 116 and the main portion 128 of the seal portion 120
The free end 126 of is moved into contact with the wall 104, so that cleaning of the wall 104 is accomplished by the action of the annular member 124 and the seal 120. It should be noted that since the annular member 124 functions as a traveling means as described later, there is little relative movement between it and the wall surface 104, and therefore the cleaning described above is mainly performed by the seal portion 120 of the partition body 116. During such a creaming operation, the pressure in the reduced pressure area 118 is reduced as required, and - the free end 126 of the main portion 128 of the force cutter 116 is provided with a plurality of first grooves 132 at intervals in the circumferential direction. is formed, and therefore, as will be readily understood, a flow of fluid from the outside through the first groove 132 to the reduced pressure region 118 is substantially constantly generated. Therefore 1, the free end 126 of the main part 128 of the partition 116 outside the reduced pressure area 118
Dirt generated in the vicinity (degraded paint chips, rust, water scale, etc.) is carried by the above-mentioned fluid flow through the first groove 132 and transferred into the depressurized area 118, and thus the stain generated during cleaning is transferred to the surrounding area. Splashing is reliably prevented. In the specific example, since the first grooves 132 extend radially, a radial flow directed inward in the radial direction is generated around substantially the entire circumference of the partition body 116, thereby scattering dirt around the entire circumference of the partition body 116. It is prevented from doing so. The dirt transferred into the vacuum area 118 is reduced to a vacuum ti,1
60 along with the fluid in reduced pressure region 118 through tube 164 to a separator (not shown);
In this separator, the fluid is separated as required, and the separated clean fluid is discharged to the outside.

In the specific example, the first 1J1132 is formed on the inner surface of the free end portion 126 of the main portion 128 of the partition body 116, and there are further advantages as follows. That is, due to the presence of the first groove 132, a portion of the free end portion 126 of the main portion 128 where the first groove 132 is not present is located on the wall surface 10.
4, this portion substantially acts on the wall surface 104, and therefore cleaning efficiency during cleaning can also be improved.

Further, in the specific example described above, the free end portion 126 of the main portion 128 of the partition body 116 can be displaced with respect to the pressure receiving body 102 toward and away from the wall surface 104 by a relatively small force. Therefore, the partition body 116
The free end 126 of the main portion 128 of the partition Z body 116 is brought into contact with the wall surface 104 by the surrounding fluid pressure acting on the wall 104 . Therefore, the contact pressure between the free end 126 and the wall surface 104, in other words the working pressure of the cleaning operation, is substantially constant, thereby achieving substantially uniform leaning of the wall surface. In addition, since the contact pressure between the L free end 126 of the partition 116 and the wall surface 104 is affected by the surrounding fluid pressure acting on the partition 116, the partition 116
The contact pressure can be easily changed by changing the pressure-receiving area of the pressure-receiving body 102. Furthermore, in connection with this, by appropriately setting the pressure-receiving area of the pressure-receiving body 102, the pressure required for adhering the device to the wall surface 104 can be adjusted. The required adsorption force can be obtained.

Further, when the partition 116 is rotated as described above, a part of the partition 116, particularly the annular member 124, is rotated on the wall surface 104.
This creates a force between the annular member 124 and the wall 104 that tends to move the device. Therefore, the partition body 116 rotated in this manner and the electric motor 150
The l-wheels 152 and 156, which are rotationally driven by the l-wheels 152 and 156, allow the device to run on its own as desired, similar to the first embodiment. In this regard, Figures 8-A and 8
To further explain with reference to FIG.
When rotated in the direction indicated by 6, the device tends to move in the direction not indicated by arrow 168, ie, in the direction opposite to the direction of rotation indicated by arrow 166 in a tangential direction at the contact portion of annular member 124 with wall surface 104. At this time, the electric motor 150 is rotated in the normal direction to rotate the wheels 152 and 156 at the arrow 17.
The peripheral speed of the contact portion of the annular member 124 with the wall surface 104 and the wheels 152 and 156 are rotated in the direction indicated by 0.
As can be easily understood, if the circumferential velocity of the contact portion with the wall surface 104 is made to be substantially the same, the device moves straight in the direction shown by the arrow 168. On the other hand, when a difference is caused between the circumferential speed of the contact portion of the annular member 124 and the circumferential speed of the contact portions of the wheels 152 and 156 in the normal rotation state of the drive source 110 and the electric motor 150, for example, The circumferential speed of the contact portion of the annular member 124 is the same as that of the wheels 152 and 15.
6, the annular member 124 comes to lead in the direction shown by the arrow 168,
Therefore, the device moves in the direction shown by the arrow 172, and for example, when the circumferential speed of the contact portion of the annular member 124 is smaller than the circumferential speed of the contact portion of the wheels 152 and 156, the wheel 152 and 156 now leads in the direction indicated by arrow 168, so that the device follows arrow 174.
Turn and move in the direction shown.

On the other hand, when the drive source 110 is reversely rotated in the normal rotation state of the electric motor 150 to rotate the rotating body 1.08 and therefore the annular member 124 in the direction shown by the arrow 176,
The device is pivoted approximately about its center in the direction indicated by arrow 178. Incidentally, even when the electric motor 150 is in a reverse rotation state, the vehicle can be caused to travel in the same manner.

In the second specific example, as shown in FIG. 6, in order to increase the contact area between the annular member 124 and the wall surface 104,
It is preferable that the shape of the lower surface of the annular member 124 is made to be substantially parallel to the wall surface 104 at the contact portion with the wall surface 104.

As described above, in the device of the second specific example, the partition 116 is aligned with the axis 142 substantially perpendicular to the wall surface 104.
Due to the fact that the partition body 116 is rotated around a rotation axis 144 that is somewhat inclined to the The sealing portion 120 of 116 performs this function), and the wall surface 104 is treated as required (
For example, the processing function (cleaning) (mainly the sealing part 120 of the partition 116 performs this function) and the traveling function of moving relative to the wall surface 104 (the partition 11
6, the supporting portion 122 mainly exhibits this function. Therefore, it also serves as a means of transportation for moving the device.
A part of the traveling means can be omitted. Furthermore, since the partition 116 also serves as a surface treatment means, there is no need for a separate surface treatment means for treating the wall surface, and further simplification and miniaturization of the apparatus can be achieved.

Incidentally, the apparatus of the second specific example shown in FIGS. 4 to 8 may be separately equipped with a dedicated surface treatment means such as a cleaning means or a painting means, or an inspection means. In such a case, the partition body 116 has the above-mentioned sealing function and the above-mentioned running function.

The device described above is useful for removing radioactive corrosion products (so-called water scale) attached to the walls or floors of various pools in nuclear facilities in the air or underwater, that is, so-called decontamination work, and also for the outer walls of ships. It can be conveniently used for cleaning work, etc.

Next, a third specific example of the apparatus constructed according to the present invention will be described with reference to FIGS. 9 to 11. In this third specific example, Three unit bodies 202a, 202 having substantially the same configuration as the device shown in FIG.
b and 202C. In this third specific example, for convenience of explanation, members that are substantially the same as those in the second specific example will be described with the same numbers.

Mainly referring to FIG. 9, each unit body 202a.

202b and 202C are provided with a pressure receiving body and a partition body for defining a reduced pressure area. In the illustrated example, the pressure receiving body 102a in the unit bodies 202a and 202b is integrally formed, and the pressure receiving body 102a and the unit body 202a are integrally formed.
The pressure receiving body 102b at 2C is connected. A pair of openings 106 (only one of which is shown in FIG. 11) is provided in the lower wall of the pressure receiving body 102a at an interval in the vertical direction in FIG. A partition 116 is provided, and an opening (not shown) is also formed in the lower wall of the pressure receiving body 102b, and the partition 116 of the unit body 202C is also provided at the opening of this opening.

Therefore, as is easily understood, in the specific example, the depressurized area 118 of the unit body 202a is defined by the pressure receiving body 102a, the partition body 116, and the wall surface 104, and the depressurized area 118 of the unit body 202a is defined by the pressure receiving body 102a, the partition body 116, and the wall surface 1.04. The depressurized area 118 of the unit body 202b is communicated with the depressurized area 118 of the unit body 202b, and the depressurized area 1 defined by the pressure receiving body 1.02b, the partition body 116, and the wall surface 104 is connected to the depressurized area 118 of the unit body 202b.
18 is also interconnected with the reduced pressure area 118.

Note that instead of this, each unit body 202a, 202
In other words, each of the unit bodies 202a, 202b and 202c has a separate pressure receiving body and a partition body, so that the pressure reduction area is separately defined by R6), these unit bodies 202a , 202
b and 202C may be interconnected via a rigid frame.

Each of the unit bodies 202a, 202b and 202C has substantially the same configuration, and as shown in FIG.
The configuration of 2a will be outlined. A deceleration means 204 is attached to the pressure receiving body 102a, and a drive source 110 such as an electric motor capable of forward and reverse rotation is attached to this deceleration means 204.

The output shaft 204a of the deceleration means 204 is connected to the box-shaped pressure receiving body 102.
a and protrudes through an opening 106 formed in the lower wall, and the rotating body 10 is attached to this protruding end by a mounting screw 206.
8 is attached directly. The illustrated rotating body 108 has a mounting portion 206 fixed to the output shaft 204a of the deceleration means 204.
a. It has a plurality of arm parts 206b extending radially outward from the handle part 206a and a hollow cylindrical part 206C fixed to the distal ends of the plurality of arm parts 206b, and the partition body 116 is attached to the hollow cylindrical part 206C. has been done. In a specific example, the partition body 116 has a sleeve-shaped annular member 124 constituting a support part 122, and the upper end of this annular member 124 is attached to a hollow cylindrical part 2 of the rotating body 108 by a steel belt 208.
Several phrases are written on the outer circumferential surface of 06c. In addition, the partition body 11
6 has a seal portion 120 that cooperates with the pressure receiving body 102a and the wall surface 104 to define a depressurized area 118, and the seal portion 12
0 extends outward from one end connected to the outer circumferential surface of the intermediate portion of the annular member 124 in a direction toward the wall surface 104 and extends from the free end 12
6a has a main portion 128 that is brought into contact with the wall surface 104, and an extension portion 130 that extends outward from the free end 126 of the main portion 128 in a direction away from the wall surface 104. In the specific example, a seal member disposed between the pressure receiving body 102a and the rotating body 108 is further provided integrally with the partition body 116. That is, the upper end portion of the annular member 206C of the partition body 116 is thinner than other parts, and this thinner upper end portion extends upward to form the opening 10 of the pressure receiving body 102a.
6 is brought into contact with the outer circumferential surface of a flange portion 140 provided at 6. Unit body 202a (or 202b,
202C) is substantially the same as the device of the second embodiment shown in FIGS. 4 to 8, and therefore the details thereof will be omitted.

In this third embodiment, as can be seen from FIGS. 9 and 10, the rotating bodies 108 of the unit bodies 202a and 202b, and therefore the partition bodies 116, are arranged at an angle with respect to an axis substantially perpendicular to the skin wall surface 104. Figure 9 and 1st
9 and 10 with respect to an axis substantially perpendicular to the wall surface 104. is rotated about a rotation axis that is tilted slightly to the right. Moreover, the pressure receiving body 102a
A flexible port (not shown) that is common to the reduced pressure source is connected to the connecting portion 207 provided in the 207, and therefore, the reduced pressure region 118 of the unit bodies 202a, 202b, and 202C that communicates with each other is connected to the reduced pressure source. (not shown).

In the device of the third specific example, as is easily understood, each unit body 2
The surrounding fluid pressure acting on the seal portions 120 of the partitions 116 of 02a, 202b and 202c is transmitted to the wall surface 10 through the free end 126 of the main portion 128 of each seal portion 120.
4 and acting on each seal portion 120 causes the free end 126 of the corresponding main portion 128 to close to the wall surface 10.
4. On the other hand, the surrounding fluid pressure that acts on the pressure receiving bodies 102a and 102b due to the fluid pressure difference inside and outside the depressurized area] 18 is the same as that of each unit body 202a.

Reduction means 204 in 202b and 202c, sleeve-shaped annular member 12 of rotating body 108 and partition body 116
4 to the wall surface 104, thereby causing the device to be attracted to the wall surface 104.

In this specific example, since the partition body 116 in the unit bodies 202a and 202A b is rotated about the axis of rotation that is slightly tilted to the left in FIGS. 9 and 10, the partition body in the unit bodies 202a and 202B is 116, the leftmost portion of the annular member 124 in FIGS. 9 and 10 is in contact with the wall surface 104, and in the unit body 202C, the partition body 116 is in contact with the wall surface 104 in FIGS. 9 and 10. Since the partition body 116 in the unit body 202C is rotated around a rotation axis that is slightly inclined to the right, the ninth
In the figures and FIG. 10, the rightmost portion of the annular member 124 is brought into contact with the wall surface 104.

As is easily understood, the device as described above has the same effect as the device of the second specific example, and is further characterized in that it can self-propel as required without the need for auxiliary traveling means such as wheels. It also has

The operation of the apparatus of the third specific example will be summarized as follows with reference to FIG. That is, in the specific example, when the driving sources 110 of the unit bodies 202a and 202b are rotated in the normal direction and the partition body 116 is rotated in the direction not shown by the arrows 210 and 212 (clockwise in FIG. 9), the device moves in the direction indicated by the arrow 214. There is a tendency to move downwards in the direction indicated by , i.e., in FIG. 9, while these drives 8.110 are reversed to move the partition 116 in the direction indicated by arrows 216 and 218, respectively (counterclockwise in FIG. 9). When rotated, the device tends to move upwardly in the direction indicated by arrow 220, FIG. Further, when the drive source 110 of the unit body 202C is rotated in the normal direction and the partition body 116 is rotated in the direction shown by the arrow 222 (clockwise in FIG. 9), the device is rotated in the direction shown by the arrow 220, that is, upward in FIG. On the other hand, when the drive source 1.10 is reversed to rotate the partition 116 in the direction indicated by arrow 224 (counterclockwise in FIG. 9), the device moves in the direction indicated by arrow 21.
A tendency to move downwards in the direction indicated by 4, ie in FIG. 9, occurs. Therefore, as can be easily understood, the partitions 116 of the unit bodies 202a and 202b are rotated in the directions shown by arrows 210 and 212, and the partitions 116 of the unit body 202c are rotated in the direction not shown by the arrow 224. When rotated, the device is moved straight in the direction shown by arrow 214, and in contrast, unit body 202a
And when the partition body 116 of unit body 202b is rotated in the directions shown by arrows 216 and 218, and the partition body 116 of unit body 202c is rotated in the direction not shown by arrow 222,
The device is moved straight in the direction indicated by arrow 220. Furthermore, when the partitions 116 of the unit I bodies 202a, 202b, and 202c are rotated in directions not shown by arrows 210, 212, and 222, the device is rotated to the left about its approximate center; , unit body 202a
, 202b and 202C partitions 1]6 are indicated by arrows 2], 6
, 218 and 224, the device is rotated to the right about its approximate center.

In this third specific example, there are three unit bodies 202a.

202b and 202C, but it may be constructed from two units or more than four units may be used if the device can be supported as required.

Further, the device of the third specific example illustrated may be provided with auxiliary traveling means such as wheels, if necessary.

Fourth Specific Example Next, a fourth specific example of the apparatus constructed according to the present invention will be described with reference to FIG.

In the device of the fourth specific example, the partition body is rotated together with the pressure receiving body with respect to the device body.

Referring to FIG. 12, the illustrated device also includes a pressure body 302 formed from a rigid or semi-rigid material. The outer surface of this pressure receiving body 302 (the surface opposite to the surface facing the wall surface 304)
A shaft member 306 is fixed to the central portion. Shaft member 30
6 has a large diameter portion 308a that extends outward substantially perpendicularly to the pressure receiving body 302, and a small diameter portion 308b that extends further outward following the large diameter portion 308a. And the shaft member 3
The large diameter part 308a and the small diameter part 308b of 0G are the bearings 3, respectively.
It is rotatably attached to the device main body 312 via 10. The bearing 310 is used for thrust loads and radial loads. The free end of the shaft member 306 projects outward from the device main body 312, and a pulley 314 having two V-shaped grooves is attached to this projecting end. The device main body 312 also includes a drive source 316 such as an electric motor.
is installed. A pulley 318 having two V-shaped grooves is attached to the output shaft of the drive source 316, and the above-mentioned Boo!
Two wooden healds 320 are wrapped between J 314 and 318. Therefore, when the drive source 316 is rotated, the pressure receiving body 302 is integrally connected to the shaft member 306 via the belt 320.
is rotated as required.

A partition body 3 is provided on the surface of the pressure receiving body 302 facing the wall surface 304.
22 are arranged. In a specific example, the partition body 322 includes a seal portion 326 that cooperates with the pressure receiving body 302 and the wall surface 304 to define the depressurized area 324, and a support portion 328 for supporting the device, and the seal portion 326 and the support portion 328 are formed separately. That is, the seal portion 326 is composed of a relatively thin annular member made of a relatively flexible material, extends outward from one end connected to the pressure receiving body 302 in a direction toward the wall surface 304, and has a free end. 330 is wall surface 3
04 and an extension 334 extending outwardly from the free end 330 of the main portion 332 and away from the wall surface 304. In addition, the support part 32
8 is composed of a relatively thick annular member 336 made of a relatively rigid material, and the seal portion 326 of the pressure receiving body 302
It is fixed to the inner part of the attachment part. In this specific example as well, similarly to the second specific example, the free end portion 330 of the main portion 332 of the seal portion 326 is provided with a first corner in the circumferential direction.
It is preferable to provide a groove 338 and also provide a second a 340 in the annular member 336 at a distance in the circumferential direction.

The device main body 312 is further connected to one end of a rigid frame 342, and the other end of this rigid frame 342 is provided with wheels 344 that constitute an auxiliary traveling means, and these wheels 344 constitute an auxiliary drive source. It is designed to be rotationally driven by an electric motor 346 that rotates.

In this specific example, the shaft member 306 is slightly inclined to the left in FIG.
Therefore, when the drive source 316 is energized, the pressure receiving body 302, in other words the partition body 322, is rotated about a rotation axis 350 that is somewhat inclined with respect to the axis 348.

Note that the pressure reduction area 324 defined by the pressure receiving body 302, the partition body 322, and the wall surface 304 includes an opening formed in the pressure receiving body 302, a hollow portion 352 extending in the axial direction formed in the shaft member 306, and a plurality of vertically extending small holes 354; a space 356 defined within the device body 312;
as well as a vacuum source 36 via a flexible tube 358.
It is connected to 0.

In such a device, when the reduced pressure source 360 is energized, the fluid within the reduced pressure region 324 is transferred to the hollow portion 352 of the shaft member 306.
Small hole 354 formed in shaft member 306, device main body 312
It is exhausted to the outside through the inner space 356 and the flexible tube 358, thereby causing the reduced pressure area 324 to be reduced in pressure as desired. Thus, the reduced pressure area 324
Part of the surrounding fluid pressure acting on the pressure receiving body 302 due to the difference in fluid pressure between the inside and outside is caused by the annular member 33 of the partition body 322.
6 to the wall surface 304, and the remainder is transmitted to the wall surface 304 via the shaft member 306, bearing 310, device main body 312, rigid frame 342, and wheels 344, thereby causing the device to stick to the wall surface 304. .

On the other hand, the surrounding fluid pressure acting on the seal portion 326 of the partition body 322 due to the fluid pressure difference inside and outside the decompression area 324 is
The free end portion 330 of the main portion 332 of the seal portion 326 is attached to the wall surface 3.
04, thereby causing the main portion 332 to
The free end 330 of is brought into contact with the wall surface 304.

Then, when the drive source 316 is energized in the adsorbed state to the wall surface 304, the shaft member 306 is rotated via the pulley 318, the belt 320, and the pulley 314, and the partition body 322 is thereby moved integrally with the pressure receiving body 302 along the axis 348.
It is rotated about a rotation axis 350 that is somewhat inclined relative to the rotation axis 350 . In this way, a force is generated between the contact portion of the support portion 328 of the partition body 322 with the wall surface 304 and the wall surface 304 to move the device, and the wheels 344 that are rotationally driven by the electric morph 346 and the wheels 344 that are rotated as described above are generated. The support portion 328 allows the device to move along the wall 304 for a required distance, and the partition 322, particularly the seal portion 326, cleans the wall 304.

As described above, in the fourth specific example as well, the partition body 322 has a sealing function, a traveling function, and a surface treatment function, and such a device has substantially the same effects as the device of the second specific example. .

[Brief explanation of the drawing]

FIG. 1 is a plan view showing a first specific example of an apparatus constructed according to the present invention. FIG. 2 is a sectional view showing the device of FIG. 1 viewed from the front. 3-A and 3-B are explanatory diagrams for explaining the running of the apparatus shown in FIG. 1, respectively. FIG. 4 is a plan view showing a second specific example of an apparatus constructed according to the present invention. FIG. 5 is a front view of the apparatus of FIG. 4. FIG. 6 is a sectional view taken along line VI-VI in FIG. 4. FIG. 7 is a diagram showing the partition in the apparatus of FIG. 4, viewed from below. 8-A and 8-B are explanatory diagrams for explaining the running of the apparatus shown in FIG. 2, respectively. FIG. 9 is a plan view showing a third specific example of an apparatus constructed according to the present invention. FIG. 10 is a front view of the apparatus of FIG. 9; FIG. 11 is a cross-sectional view of one unit of the device of FIG. 9; FIG. 12 is a sectional view showing a fourth specific example of the apparatus constructed according to the present invention, viewed from the front. 2... Apparatus body 10... Rotating body 12... Drive source 14... Object surface 18... Rotation axis 20... Surface treatment means 22... Treatment means 24... Support means 102 .102a, 102b and 302...Pressure receiving bodies 104 and 304...Wall surfaces 110 and 316...Drive sources 116 and 322...Partition bodies 118 and 324...Decompression areas 120 and 326...Seal portion 122 and 328...Support parts 142 and 350...Rotation axes 160 and 360...Decompression sources 202a, 202b and 202 C-...4 units 312...Device main body 1 Figure 1 Figure 2 Figure 8-A Figure 8-8 1it) Figure 9

Claims (1)

[Claims] 1. An apparatus capable of moving along the surface of an object, comprising: a main body of the apparatus; and a rotation center axis that is somewhat inclined with respect to an axis substantially perpendicular to the surface. a rotating body attached to the apparatus body; a drive source attached to the apparatus body for rotating the rotating body with respect to the apparatus body; and a drive source attached to the rotating body for treating the surface. An apparatus comprising: a surface treatment means, wherein the surface is treated and the apparatus is moved by the action of the surface treatment means rotated by the drive source. 2. The device according to claim 1, wherein the main body of the device is provided with auxiliary traveling means that is brought into contact with the surface. 3. Further comprising an auxiliary driving source for driving the auxiliary traveling means, and the auxiliary traveling means driven by the action of the auxiliary driving source cooperates with the surface treatment means rotated by the action of the driving source. The device according to claim 2, wherein the device is self-propelled. 4. According to any one of claims 1 to 3, the surface treatment means mainly includes a treatment means for treating the surface and a support means for mainly supporting the device body. The device described. 5. The processing means includes a brush member disposed on the peripheral edge of the rotating body and acting on the surface, and the supporting means includes an annular brush member disposed inside the area of the rotating body where the brush member is disposed. 5. The device of claim 4, comprising a member, a portion of the annular member being brought into contact with the surface. 6. A device capable of adsorbing to a wall surface and moving along the wall surface by surrounding pressure fluid, including a pressure receiving body made of a rigid or semi-rigid material and disposed on the side of the pressure receiving body opposite to the wall surface. a partition that is provided and is rotatable with respect to the pressure receiving body around a rotational axis that is somewhat inclined with respect to an axis that is substantially perpendicular to the wall surface, a part of which is in contact with the wall surface; a partition that cooperates with the pressure receiving body and the wall surface to define a reduced pressure area; a drive source attached to the pressure receiving body and for rotating the partition with respect to the pressure receiving body; and the reduced pressure area. and a vacuum source for generating a vacuum in the vacuum area by discharging fluid from the vacuum area, the device is adsorbed to the wall surface due to the fluid pressure difference inside and outside the vacuum area, and the device is rotated by the drive source. The apparatus is characterized in that the apparatus is moved along the wall surface by the action of the partition body. 7. The partition body is rotated by the driving source about the axis of rotation that is somewhat inclined with respect to the axis that is substantially perpendicular to the wall surface, thereby moving the device along the wall surface and moving the partition body along the wall surface. 7. Apparatus according to claim 6, wherein: 8. Claim 6 or 7, wherein the pressure receiving body is provided with an auxiliary traveling means that is brought into contact with the wall surface.
Apparatus described in section. 9. Further comprising an auxiliary driving source for driving the auxiliary traveling means, and the auxiliary traveling means driven by the action of the auxiliary driving source cooperates with the partition body rotated by the action of the driving source. 9. The device according to claim 8, wherein the device is self-propelled. 10. A rotating body that is rotated by the drive source around the axis of rotation that is somewhat inclined with respect to the axis that is substantially perpendicular to the wall surface is disposed on the side of the pressure receiving body that faces the wall surface, The partition body is attached to the rotating body, and the rotating body further includes a first area defined by the rotating body, the partition body, and the wall surface, and a first area defined by the rotating body and the pressure receiving body. 10. The device according to claim 8, further comprising an opening that communicates with the second region. 11. The partition body includes a seal portion that is disposed on the peripheral edge of the rotary body and cooperates with the pressure receiving body and the wall surface to define the depressurized area, and a seal portion that is disposed inside the location where the seal portion is disposed. The sealing portion of the partition body includes a support portion, and the sealing portion of the partition body is configured such that at least a portion that contacts the wall surface can be displaced with respect to the rotating body in a direction toward and away from the wall surface with a relatively small force. The portion of the seal portion is brought into contact with the wall surface due to the fluid pressure acting on the seal portion due to the fluid pressure difference inside and outside the reduced pressure region, while the fluid pressure acting on the seal portion due to the fluid pressure difference inside and outside the reduced pressure region The device according to claim 10, wherein the fluid pressure acting on the pressure receiving body is transmitted to the wall surface via the support portion of the partition body and the auxiliary traveling means, whereby the device is attracted to the wall surface. . 12. The support part of the partition body is composed of an annular member attached to the rotating body, and the seal part extends outward from one end connected to the outer peripheral surface of the annular member and in the direction of the wall surface. a main part whose free end is brought into contact with the wall; and an extension extending further outward from the free end of the main part in a direction away from the wall; The free end portion of the main portion is brought into contact with the wall surface by the fluid pressure acting on the sealing portion, while the fluid pressure acting on the pressure receiving body due to the fluid pressure difference inside and outside the depressurized region is caused by the fluid pressure acting on the annular member. 12. The device according to claim 11, wherein the device is transmitted to the wall via a portion of the auxiliary running means and the auxiliary traveling means, thereby causing the device to be attracted to the wall. 13, comprising the pressure receiving body and the partition body, respectively;
A patent claim comprising two or more unit bodies that cooperate with the pressure receiving body, the wall surface, and the partition body to define the depressurized area, and the two or more unit bodies are interconnected. The device according to item 6 or 7. 14. On the side of each of the two or more plurality of unit bodies opposite the wall surface of the pressure receiving body, the rotation axis is slightly inclined by the drive source with respect to the axis substantially perpendicular to the wall surface. A rotating body rotated around is disposed, each of the rotating bodies is equipped with the partition body, and each of the rotating bodies is provided with a partition body that is rotated by the rotating body, the partition body, and the wall surface. 14. The device according to claim 13, further comprising an opening that communicates a defined first region with a second region defined by the rotating body and the pressure receiving body. 15. The partition body of each of the two or more plurality of unit bodies includes a seal portion that is disposed on the peripheral edge of the rotating body and cooperates with the pressure receiving body and the wall surface to define the depressurized area; The seal portion of each of the partitions includes a support portion disposed inside the seal portion arrangement portion, and the seal portion of each of the partitions has at least a portion that contacts the wall surface with respect to the rotating body. The portion of each seal portion is brought into contact with the wall surface by fluid pressure acting on the seal portion due to a fluid pressure difference inside and outside the reduced pressure region. On the other hand, the fluid pressure acting on each of the pressure receiving bodies due to the fluid pressure difference inside and outside the depressurized area is transmitted to the wall surface through the support portion of the partition body of each of the two or more plurality of unit bodies. Claim 15, wherein the device is adsorbed to the wall surface.
Apparatus described in section. 16. The support portion of the partition body of each of the two or more plurality of unit bodies is constituted by an annular member attached to the rotating body, and each of the seal portions is connected to the outer peripheral surface of the annular member. a main part extending outward from one end and in the direction of the wall and having a free end in contact with the wall, and an extension part extending further outward from the free end of the main part in a direction away from the wall. each of the free ends of the main portion is brought into contact with the wall surface by fluid pressure acting on the seal portion due to a fluid pressure difference inside and outside the reduced pressure region, while the fluid pressure inside and outside the reduced pressure region Fluid pressure acting on the pressure receiving body due to the difference is transmitted to the wall surface through a part of the annular member of each of the two or more plurality of unit bodies, thereby causing the device to adsorb to the wall surface. 16. The apparatus according to claim 15. 17. Claim 12, wherein the free end of the main portion of the partition is provided with a plurality of first grooves spaced apart in the circumferential direction and communicating with the inside and outside of the decompression area. or the device according to paragraph 16. 18. The device of claim 17, wherein the annular member of the partition has second grooves formed therethrough at circumferentially spaced intervals. 19. The apparatus of claim 18, wherein the first groove has a relatively small cross-sectional area and the second groove has a relatively large cross-sectional area. 20. The device according to any one of claims 6 to 19, wherein a sealing member is provided between the pressure receiving body and the rotating body to seal the space between them. 21. A device capable of adhering to and moving along a wall by surrounding pressure fluid, comprising a main body of the device, made of a rigid or semi-rigid material, and having a certain angle relative to an axis substantially perpendicular to the wall. a pressure-receiving body rotatably mounted on the device main body about a rotational axis tilted by the same amount, and a partition body disposed on the side of the pressure-receiving body opposite to the wall surface and connected to the pressure-receiving body and rotating together with the pressure-receiving body. a partition body, a part of which is brought into contact with the wall surface and cooperates with the pressure receiving body and the wall surface to define a depressurized area; A drive source for rotating the pressure receiving body, and a pressure reduction source for discharging fluid from the pressure reduction region to generate a vacuum in the pressure reduction region, the pressure reduction source being caused by a fluid pressure difference inside and outside the pressure reduction region. A device characterized in that the device is attracted to the wall surface and is moved along the wall surface by the action of the pressure receiving body and the partition body rotated by the drive source. 22. The partition body is rotated together with the pressure receiving body by the drive source around the rotation axis that is somewhat inclined with respect to the axis substantially perpendicular to the wall surface, whereby the device is rotated along the wall surface. 22. The apparatus of claim 21, wherein the wall surface is treated as it is moved. 23. The apparatus according to claim 21 or 22, wherein the apparatus main body is provided with an auxiliary traveling means that is brought into contact with the wall surface. 24, further comprising an auxiliary driving source for driving the auxiliary traveling means, and the auxiliary traveling means driven by the action of the auxiliary driving source is the partition that is rotated together with the pressure receiving body by the action of the driving source. 24. The device according to claim 23, wherein the device is self-propelled in cooperation with the body. 25. The partition body includes a seal portion disposed on the peripheral edge of the pressure receiving body and defining the depressurized area in cooperation with the pressure receiving body and the wall surface, and a support disposed inside the area where the seal portion is disposed. The sealing portion of the partition is configured such that at least a portion that contacts the wall surface can be displaced with respect to the pressure receiving body in the direction of the wall surface and in the direction away from the wall surface by a relatively small force, The portion of the seal portion is brought into contact with the wall surface due to the fluid pressure acting on the seal portion due to the fluid pressure difference between the inside and outside of the pressure reduction region, and the receiving pressure is caused by the fluid pressure difference between the outside and outside of the pressure reduction region. The fluid pressure acting on the body is transmitted to the wall surface through the support portion of the partition body and the auxiliary traveling means, thereby causing the device to be attracted to the wall surface. equipment. 26. The support part of the partition body is composed of an annular member attached to the pressure receiving body, and the seal part extends outward from one end connected to the outer peripheral surface of the annular member and in the direction of the wall surface. a main part whose free end is brought into contact with the wall; and an extension part extending further outward from the free end of the main part in a direction away from the wall; The free end portion of the main portion is brought into contact with the wall surface by the fluid pressure acting on the seal portion, while the fluid pressure acting on the pressure receiving body due to the fluid pressure difference inside and outside the reduced pressure region is 26. The device according to claim 25, wherein the device is conveyed to the wall via a part of the member and the auxiliary running means, thereby causing the device to stick to the wall. 27. Claim 26, wherein the free end of the main portion of the partition is provided with a plurality of first grooves spaced apart in the circumferential direction and communicating with the inside and outside of the decompression area. The device described. 28. The device of claim 27, wherein the annular member of the partition has second grooves extending therethrough at circumferential intervals. 29. The apparatus of claim 28, wherein the first groove has a relatively small cross-sectional area and the second groove has a relatively large cross-sectional area.