JPWO2018061122A1 - 壁面移動装置および壁面移動方法 - Google Patents
壁面移動装置および壁面移動方法 Download PDFInfo
- Publication number
- JPWO2018061122A1 JPWO2018061122A1 JP2018541785A JP2018541785A JPWO2018061122A1 JP WO2018061122 A1 JPWO2018061122 A1 JP WO2018061122A1 JP 2018541785 A JP2018541785 A JP 2018541785A JP 2018541785 A JP2018541785 A JP 2018541785A JP WO2018061122 A1 JPWO2018061122 A1 JP WO2018061122A1
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- JP
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- Prior art keywords
- wall surface
- magnet
- moving device
- wall
- crawler
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims description 13
- 238000004140 cleaning Methods 0.000 claims description 46
- BGPVFRJUHWVFKM-UHFFFAOYSA-N N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] Chemical compound N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] BGPVFRJUHWVFKM-UHFFFAOYSA-N 0.000 abstract description 37
- 238000002347 injection Methods 0.000 description 15
- 239000007924 injection Substances 0.000 description 15
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 15
- 239000007921 spray Substances 0.000 description 5
- 238000005406 washing Methods 0.000 description 4
- 230000009194 climbing Effects 0.000 description 2
- 230000006866 deterioration Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 229910001172 neodymium magnet Inorganic materials 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 229910000938 samarium–cobalt magnet Inorganic materials 0.000 description 2
- 239000000969 carrier Substances 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000008399 tap water Substances 0.000 description 1
- 235000020679 tap water Nutrition 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
- Cleaning By Liquid Or Steam (AREA)
- Manipulator (AREA)
Abstract
Description
2 車体
2a フレーム
3 クローラ
3a 履帯
4 第1磁石
5 第2磁石
5a、5b 板状磁石
6 弾性部材
7 アーム部
8 掃除用回転ブラシ
9 押圧調整機構
10 ガイドキャスター
10a ガイド部
10b ボールキャスター
11 射水機構
12 カメラ
13 ガイドパイプ
14 支持部
15 安全索用金具
16 安全策
W 壁面
Claims (7)
- 磁石の磁気吸引力を利用して壁面に吸着した状態で前記壁面上を走行する壁面移動装置において、
車体と、車体に対して左右対に配置された無限軌道式のクローラと、それぞれの前記クローラの履帯に取り付けられた複数の第1磁石と、前記車体の下面に取り付けられた第2磁石とを備え、前記壁面と前記第1磁石とが接触し、かつ、前記壁面と前記第2磁石とが離間した状態で、前記第1磁石と前記第2磁石との両方の磁気吸引力により前記壁面に吸着しながら前記壁面上を走行することを特徴とする壁面移動装置。 - それぞれの前記クローラの履帯において、前記履帯の周方向に配列された前記第1磁石の列が前記履帯の幅方向に複数列取り付けられている請求項1に記載の壁面移動装置。
- 前記第2磁石が、2枚の板状磁石の同極面どうしを対向当接させた複層磁石で構成された請求項1または2に記載の壁面移動装置。
- 前記履帯とそれぞれの前記第1磁石との間に弾性部材を介在させた請求項1〜3のいずれか1項に記載の壁面移動装置。
- 前記壁面を掃除する掃除用回転ブラシを設けた請求項1〜4のいずれか1項に記載の壁面移動装置。
- 前記掃除用回転ブラシの近傍に前記壁面に対して前記掃除用回転ブラシを案内するガイドキャスターを設けた請求項5に記載の壁面移動装置。
- 壁面移動装置に磁石を塔載し、前記壁面移動装置を前記磁石の磁気吸引力によって壁面に吸着させた状態にして前記壁面移動装置を前記壁面上で走行させる壁面移動方法において、
車体に左右対に配置された無限軌道式のクローラの履帯の周方向に取り付けられた複数の第1磁石を前記壁面に接触させると共に、前記車体の下面に取り付けられた第2磁石を前記壁面から離間させた状態で、前記第1磁石と前記第2磁石との両方の磁気吸引力により前記壁面に吸着しながら、前記クローラを回転駆動することにより前記壁面移動装置を前記壁面上で走行させることを特徴とする壁面移動方法。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2016/078703 WO2018061122A1 (ja) | 2016-09-28 | 2016-09-28 | 壁面移動装置および壁面移動方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2018061122A1 true JPWO2018061122A1 (ja) | 2019-07-04 |
JP6681474B2 JP6681474B2 (ja) | 2020-04-15 |
Family
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JP2018541785A Active JP6681474B2 (ja) | 2016-09-28 | 2016-09-28 | 壁面移動装置および壁面移動方法 |
Country Status (2)
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---|---|
JP (1) | JP6681474B2 (ja) |
WO (1) | WO2018061122A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114644090A (zh) * | 2022-03-24 | 2022-06-21 | 广东海洋大学 | 船体清污机器人 |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108655077B (zh) * | 2018-06-15 | 2023-06-16 | 山东交通学院 | 一种爬壁除锈机器人及其双重吸附方法 |
CN110481655A (zh) * | 2019-09-12 | 2019-11-22 | 无锡金诚工程技术服务有限公司 | 履带磁吸附钢结构攀行检测机器人 |
CN110508518B (zh) * | 2019-09-30 | 2020-11-13 | 大唐东营发电有限公司 | 一种火电厂用锅炉表面的去除灰垢结构 |
GB2592921B (en) * | 2020-03-09 | 2024-04-17 | Jotun As | Hull cleaning robot |
CN111842302A (zh) * | 2020-07-30 | 2020-10-30 | 重庆交通大学 | 一种船舶货舱智能清洗装置 |
JP7389011B2 (ja) * | 2020-12-01 | 2023-11-29 | 株式会社スギノマシン | 壁面洗浄装置 |
CN112478078A (zh) * | 2020-12-11 | 2021-03-12 | 兰州理工大学 | 一种新型船舶除锈机器人 |
CN116710769A (zh) | 2020-12-11 | 2023-09-05 | 杰富意钢铁株式会社 | 移动装置、使用其的构件的检查方法及构件的制造方法 |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6380870A (ja) * | 1986-09-25 | 1988-04-11 | Kobe Steel Ltd | タンク塗装装置 |
US6102145A (en) * | 1998-06-25 | 2000-08-15 | Technical Mechanical Resource Associates, Inc. | Coating removal vehicle with resilient suction ring |
JP2001046290A (ja) * | 1999-08-09 | 2001-02-20 | Mitsubishi Heavy Ind Ltd | 高層構造物外壁洗浄方法及び装置 |
JP2001324317A (ja) * | 2000-05-12 | 2001-11-22 | Nkk Plant Engineering Corp | 厚さ計測装置及び厚さ計測方法 |
JP2004125752A (ja) * | 2002-10-07 | 2004-04-22 | Sumitomo Metal Ind Ltd | 測定装置および測定方法 |
CN1709654A (zh) * | 2005-06-30 | 2005-12-21 | 上海交通大学 | 基于同步齿形带的磁吸附履带式爬壁机器人 |
JP2012141476A (ja) * | 2011-01-04 | 2012-07-26 | Shimizu Corp | 撮影装置 |
EP2708454A1 (en) * | 2012-09-18 | 2014-03-19 | Eliot Systems, S.L. | Robot for treating metal structures |
WO2016111625A1 (en) * | 2015-01-09 | 2016-07-14 | Stichting Quick Docking | Vehicle urged against a magnetizable wall by magnetic forces |
-
2016
- 2016-09-28 JP JP2018541785A patent/JP6681474B2/ja active Active
- 2016-09-28 WO PCT/JP2016/078703 patent/WO2018061122A1/ja active Application Filing
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6380870A (ja) * | 1986-09-25 | 1988-04-11 | Kobe Steel Ltd | タンク塗装装置 |
US6102145A (en) * | 1998-06-25 | 2000-08-15 | Technical Mechanical Resource Associates, Inc. | Coating removal vehicle with resilient suction ring |
JP2001046290A (ja) * | 1999-08-09 | 2001-02-20 | Mitsubishi Heavy Ind Ltd | 高層構造物外壁洗浄方法及び装置 |
JP2001324317A (ja) * | 2000-05-12 | 2001-11-22 | Nkk Plant Engineering Corp | 厚さ計測装置及び厚さ計測方法 |
JP2004125752A (ja) * | 2002-10-07 | 2004-04-22 | Sumitomo Metal Ind Ltd | 測定装置および測定方法 |
CN1709654A (zh) * | 2005-06-30 | 2005-12-21 | 上海交通大学 | 基于同步齿形带的磁吸附履带式爬壁机器人 |
JP2012141476A (ja) * | 2011-01-04 | 2012-07-26 | Shimizu Corp | 撮影装置 |
EP2708454A1 (en) * | 2012-09-18 | 2014-03-19 | Eliot Systems, S.L. | Robot for treating metal structures |
WO2016111625A1 (en) * | 2015-01-09 | 2016-07-14 | Stichting Quick Docking | Vehicle urged against a magnetizable wall by magnetic forces |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114644090A (zh) * | 2022-03-24 | 2022-06-21 | 广东海洋大学 | 船体清污机器人 |
Also Published As
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JP6681474B2 (ja) | 2020-04-15 |
WO2018061122A1 (ja) | 2018-04-05 |
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