KR101673698B1 - Device that move attaching on the surface - Google Patents

Abstract

The present invention relates to a surface mount moving apparatus, and more particularly, to a surface mount moving apparatus which includes a body portion provided with a sprocket on the front side, a support roller on the rear side, and an electric motor for driving the sprocket, A chain type endless track installed to surround the sprocket and the support roller, the chain type endless track rotating in engagement with the sprocket; A plurality of adsorption units installed at predetermined intervals in the chain type endless track and attached to the surface; And a vacuum generating unit for vacuuming the adsorption unit to bring the adsorption unit into close contact with the surface of the adsorption unit. The adsorption unit can be stably driven at wall surfaces of various conditions inclined at an angle of a vertical wall or more.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surface mount moving apparatus, and more particularly, to a surface mount moving apparatus capable of stably climbing a wall surface such as a vertical wall surface, which is firmly attached to a surface with a strong vacuum pressure.

As the industry develops and the economy grows, the number of high-rise buildings and high-rise buildings with high heights is increasing. However, there is a problem in that a high-rise building or a structure takes a lot of time and cost not only in construction but also maintenance after completion.

Especially, maintenance works such as painting and cleaning of skyscrapers are mainly carried out by rope work by manpower and gondola, and such work force is caused by the bad weather such as strong winds and winds It is exposed to the risk of industrial accidents.

In order to solve the above problems, there has been proposed a method of using an unmanned robot for maintenance of an outer wall of a skyscraper or a high-rise structure (super-large vessel, various industrial tanks, large aircraft, etc.).

However, until now, only robots which have very limited ability due to technical limitations have been presented, and in reality, they are not widely used.

No. 10-2005-0125476 (registration number: 10-0774147, entitled: Mechanical valve system and wall climbing robot having the same)

Disclosure of Invention Technical Problem [8] The present invention has been made in order to solve the above-mentioned problems of the prior art, and it is an object of the present invention to provide a power transmission apparatus which drives a chain type endless track by a sprocket, And it is an object of the present invention to provide a surface mount moving device capable of stably driving on a slanted wall surface.

According to an aspect of the present invention, there is provided a surface mount moving apparatus comprising: a body having a front sprocket, a rear support roller, and an electric motor for driving the sprocket; Wherein a plurality of steel panel central portions are formed so as to be rotatably coupled to each other by fins, and a central portion thereof is inserted into a tooth groove of the sprocket, Orbit; A plurality of adsorption units installed at predetermined intervals in the chain type endless track and attached to the surface; A solenoid valve connected to the vacuum generator; a solenoid valve having one end connected to the solenoid valve and the other end connected to each of the plurality of adsorption pads; And a plurality of pneumatic lines for evacuating the inside of the adsorption pad.

In this case, the steel panel is formed with protruding release protrusions spaced apart from each other by a predetermined distance, and the release preventing pieces are positioned on both the sprocket and the support roller when the chain type endless track is rotated.

The adsorption unit may include a support rod installed at a predetermined interval in the transverse direction on the chain type endless track and provided with a rotating roller at an upper portion thereof; A coil spring surrounding the outer surface of the support rod; A support panel installed at a lower end of the support rod; And an adsorption pad provided at both ends of the support panel and attached to the surface.

In addition, a rotary joint is provided on the pneumatic line to prevent the pneumatic line from being twisted.

In addition, a switch is provided in the body, and when the coil spring touches the switch, the inside of the adsorption pad moving toward the surface among the plurality of adsorption pads is evacuated by the pneumatic line.

A support caster is provided at the rear of the body portion.

Since the adsorption pad is firmly attached to the wall surface (or the surface) by the vacuum transferred by the vacuum generating unit, the surface-mounted moving apparatus of the present invention having the above- So that it can be stably driven.

In addition, since a steel type endless track coupled to a sprocket is connected to a plurality of steel panels so as to be pivotally connected to each other, power transmission is assured and strong driving force can be exerted, which is advantageous for vertical movement of heavy objects.

In addition, since a plurality of adsorption pads are attached to the surface, there is an advantage that the surface adhesion force is excellent.

In addition, since the lower end is further supported by the support caster when the vertical wall surface is climbed, there is an advantage that the upper partial adsorption pad of the surface mount moving device can be minimally separated from the wall surface.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a surface-attached moving device according to the present invention, as viewed from the front. FIG.
Fig. 2 is a perspective view of the surface-attached moving device according to the present invention as viewed from the back. Fig.
3 is a top view of the surface mount moving device according to the present invention.
4 is a side view of a surface mount moving apparatus according to the present invention;
5 is a perspective view showing a suction unit of a surface-attached moving device according to the present invention;
6 is a view showing a coupling relationship between a sprocket and a chain type endless track of a surface mount moving apparatus according to the present invention.
7 is a view showing a state in which a surface-attached moving device according to the present invention climbs a vertical wall surface.
8 is a view for explaining an operating process of the surface mount moving apparatus according to the present invention;
FIG. 9 is a simplified view of a vacuum generating unit of a surface mount moving apparatus according to the present invention; FIG.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of a surface mount moving apparatus according to the present invention will be described in detail with reference to the accompanying drawings.

2 is a perspective view of the surface mount moving apparatus according to the present invention as viewed from the rear, and Fig. 3 is a perspective view showing the surface mount moving apparatus according to the present invention as viewed from above. Fig. 1 is a perspective view of the surface mount moving apparatus according to the present invention, And Fig. 4 is a side view of the surface mount moving apparatus according to the present invention.

6 is a view showing a coupling relationship between a sprocket and a chain type endless track of the surface mount moving apparatus according to the present invention, and Fig. 7 is a view Fig. 8 is a view showing a state in which a surface-attached moving device according to the present invention climbs a vertical wall surface.

FIG. 8 is a view for explaining the operation of the surface mount moving apparatus according to the present invention, and FIG. 9 is a view showing a vacuum generating unit of the surface mount moving apparatus according to the present invention.

The surface mount moving apparatus according to the present invention is capable of stably driving a wall surface (or a surface) having various inclination from 0 degree to 90 degrees or more, and includes a body 100, A plurality of adsorption units 300 provided in the chain type endless track 200 and a plurality of adsorption units 300 connected to the adsorption units 300 so that the adsorption units 300 are brought into close contact with the surface And a vacuum generating unit 400 for generating a vacuum.

A side wall 110 is disposed on both sides of the body 100 at a predetermined interval and a sprocket 120 and a supporting roller 130 are installed between the side walls 110. An electric motor 140 is installed on one side of the body 100, Respectively.

The side wall 110 has a guide rib 111 formed on its inner surface.

The guide ribs 111 are formed on both sides of the body 100 and more specifically on the lower side of the side wall 110. The guide ribs 111 are formed on the support rods 310 of the absorption unit 300, (311). The guide rib 111 includes a horizontal portion 111a and an inclined portion 111b integrally formed at both ends of the horizontal portion 111a.

The horizontal portion 111a is extended along the side wall 110 and the inclined portion 111b is inclined at an angle to both ends of the horizontal portion 111a.

The sprocket 120 is rotatably installed in front of the body 100.

The electric motor 140 is installed on a side surface of the body 100, that is, on an outer surface of the side wall 110, and drives the sprocket 120. That is, when the motor shaft of the electric motor 140 is connected to the center of the sprocket 120 and the motor shaft rotates, the sprocket 120 rotates together.

The chain type endless track 200 is installed between the side walls 110 of the body 100 and is installed to surround the sprocket 120 and the support roller 130. Accordingly, both portions are supported by the sprocket 120 and the support roller 130, and are engaged with the sprocket 120 to receive the rotational force of the sprocket 120.

The chain type endless track 200 is formed such that a central portion of a plurality of steel panels 210 is rotatably coupled to each other by fins. When the steel panels 210 are connected to each other, the bottom surface of the coupled central portion is inserted and engaged with the teeth of the sprocket 120. Thus, the rotational force generated by the electric motor 140 rotates the chain type endless track 200 through the sprocket 120.

A pair of escape preventing pieces 211 protrude from the steel panel 210 so as to be spaced apart from each other by a predetermined distance. The escape preventing pieces 211 are formed on the steel panel 210 in such a manner that when the chain type endless track 200 rotates, 120 and the support rollers 130. [0035] That is, when the chain type endless track 200 rotates, the release preventing pieces 211 are positioned on both sides of the sprocket 120 and the support roller 130, so that the chain type endless track 200 is shaken in the horizontal direction .

The adsorption units 300 are installed at predetermined intervals in the chain type endless track 200 and are attached to the wall surface (or the surface of an object). The adsorption units 300 are installed in the chain type endless track 200 at predetermined intervals in the horizontal direction A coil spring 320 surrounding the outer surface of the support rod 310; a support panel 330 installed at a lower end of the support rod 310; And an adsorption pad 340 attached to both surfaces of the substrate.

Two support rods 310 are installed on a single steel panel 210 at a predetermined distance so that the upper portion of the support rod 310 passes through the steel panel 210 of the chain type endless track 200 and is fixed do. At the upper end of the support rod 310, a rotary roller 311 is installed.

The rotation roller 311 is installed on the upper end of the support rod 310 and rotates in contact with the guide rib 111 of the body part 100 when the chain type endless track 200 rotates.

The coil spring 320 is installed between the upper sub-panel 312 and the lower sub-panel 313 which are installed to surround the outer surface of the support rod 310 and are vertically spaced apart from the support rod 310, do. The coil spring 320 provides an elastic force so that the adsorption pad 340 can be brought into close contact with the wall surface.

The upper sub-panel 312 is installed individually on each of the two support rods 310, and the upper sub-panel 312 is installed on one of the support rods 310. The upper auxiliary panel 312 is in contact with the upper end of the coil spring 320.

The lower sub-panel 313 is installed across the two support rods 310 and contacts the lower end of the coil spring 320.

The support panel 330 is installed at the lower ends of the two support rods 310.

The adsorption pad 340 is installed at both ends of the support panel 330.

More specifically, the present invention consists of a total of twelve adsorption units (300). Five adsorption units 300 are positioned on the surface to be attached and five adsorption units 300 are positioned on the opposite side of the twelve adsorption units 300. One adsorption unit 300 And the remaining one adsorption unit 300 is positioned on the support roller 130 side. In this state, when the chain type endless track 200 rotates to move the surface mount moving apparatus according to the present invention on the surface, the three adsorption units 300 among the five adsorption units 300 located on the surface side are always attached to the surface And the adsorption units 300 on both sides of the three adsorption units 300 attached are slightly spaced from the surface.

The vacuum generating unit 400 makes the adsorption unit 300 vacuum, so that the adsorption unit 300 is brought into close contact with the surface. The vacuum generator 400 includes a compressor 410, a vacuum generator 420 for receiving compressed air from the compressor 410, a solenoid valve 430 connected to the vacuum generator 420, A plurality of pneumatic lines 440 connected to the pneumatic line 430 and a rotary joint 450 installed on the pneumatic line 440.

The compressor 410 generates compressed air to provide compressed air to the vacuum generator 420.

The vacuum generator 420 generates vacuum by using compressed air supplied from the compressor 410 as a power source.

The solenoid valve 430 is connected to the vacuum generator 420. The solenoid valve 430 is opened to transfer vacuum generated from the vacuum generator 420 to the adsorption pad 340 or to close the vacuum generated by the vacuum generator 420, So that it can not be transmitted to the adsorption pad 340.

One end of the pneumatic line 440 is connected to the solenoid valve 430 and the other end of the pneumatic line 440 is connected to each of the plurality of adsorption pads 340 to vacuum the inside of the adsorption pad 340. More specifically, the pneumatic line 440 is connected to each of the plurality of adsorption pads 340 one by one. When the solenoid valve 430 of the pneumatic line 440 is opened in this state, the vacuum pressure generated by the vacuum generator 420 is transmitted to the inside of the adsorption pad 340 so that the adsorption pad 340 strongly adheres to the surface do.

The rotary joint 450 prevents the pneumatic line 440 from being twisted. When the chain type endless track 200 rotates, the pneumatic lines 440 connected to the adsorption pad 340 can not be twisted or tangled with each other. To solve this problem, the solenoid valve 430 and the adsorption pad 340 A rotary joint 450 is installed on the connecting pneumatic line 440.

A switch 150 or a sensor is installed on the upper side of the side wall 110 of the body 100. When the chain type endless track 200 rotates, the coil spring 320 lightly touches the switch 150 as the suction unit 300 passes over the coil spring 320. Thus, when the coil spring 320 touches the switch 150 The inside of the adsorption pad 340 moving toward the surface of the plurality of adsorption pads 340 becomes a vacuum by the pneumatic line 440.

A support caster 160 is installed at a rear side of the body 100, that is, at a position adjacent to the support roller 130. When the surface mount moving apparatus according to the present invention climbs the vertical wall surface, the sprocket 120 is positioned on the upper side and the support roller 130 is positioned on the lower side. At this time, the adsorption pad 340, That is, the adsorption pad 340 adhering to the upper side of the vertical wall surface is not firmly attached to the wall surface and tries to fall off the wall surface. In order to prevent such a phenomenon, a support caster 160 is installed to support the rear side of the surface mount moving device.

Reference numeral 170 denotes an auxiliary frame for easily mounting the rotary joint 450, the pneumatic line 440, and the like on the body 100.

The operating procedure of the surface mount moving apparatus according to the present invention constructed as described above will be briefly described with reference to FIG. 8 where it is supposed that the adsorption pads of the second, third and fourth adsorption units are closely attached to the wall surface.

When electric power is supplied to the electric motor 140 and the vacuum generator 400, the electric motor 140 transmits rotational force to the sprocket 120 to rotate the sprocket 120 clockwise, and the compressor 410 The compressed air is generated and supplied to the vacuum generator 420, so that the vacuum generator 420 generates the vacuum pressure.

The chain type endless track 200 is rotated in the clockwise direction by the rotation of the sprocket 120 and the suction unit 300 is rotated by the rotation of the chain type endless track 200. At this time, The coil spring 320 of the switch 150 touches the switch 150.

As shown in FIG. 8, when the coil spring of the No. 7 adsorption unit touches the switch 150, the adsorption pad approaching the wall surface, that is, the solenoid valve corresponding to the No. 1 adsorption pad is opened and the vacuum pressure generated by the vacuum generator 420 The pneumatic line connected to the No. 1 adsorption pad is transferred to the No. 1 adsorption pad. As a result, the No. 1 adsorption pad is tightly adhered to the wall surface. At the same time, the fifth adsorption pad is separated from the wall surface by the rotation of the chain type endless track 200, so that the vacuum is released. At this time, the solenoid valve connected to the fifth adsorption pad is closed.

Therefore, initially, the adsorption pads of the adsorption units 2, 3 and 4 were firmly attached to the wall surface while maintaining the vacuum pressure. However, the coil spring of the adsorption unit 7 touches the switch 150, The adsorption pad of the adsorption unit is firmly attached to the wall surface by vacuum pressure.

If it is displayed simply and schematically, it becomes 2, 3, 4 → 1, 2, 3. The surface mount moving apparatus according to the present invention moves while repeating this process.

100: Body part 110: Side wall
111: guide rib 111a: horizontal portion
111b: inclined portion 120: sprocket
130: support roller 140: electric motor
150: switch 160: support caster
170: auxiliary frame 200: chain type infinite track
210: steel panel 211:
300: absorption unit 310: support rod
311: rotating roller 312: upper auxiliary panel
313: Lower sub-panel 320: Coil spring
330: support panel 340: adsorption pad
400: Vacuum generator 410: Compressor
420: Vacuum generator 430: Solenoid valve
440: Pneumatic line 450: Rotary joint

Claims (11)

A body part 100 provided with a sprocket 120 on the front side and a supporting roller 130 on the rear side and an electric motor 140 driving the sprocket 120 on its side; A chain type endless track 200 installed to surround the sprocket 120 and the support roller 130 and rotating in engagement with the sprocket 120; A plurality of adsorption units 300 installed at predetermined intervals in the chain type endless track 200 and attached to the surface; And a vacuum generating unit 400 for making the adsorption unit 300 vacuum and bringing the adsorption unit 300 into close contact with the surface,
The adsorption unit 300 includes two support rods 310 spaced at a predetermined interval in the transverse direction of the chain type endless track 200; A coil spring 320 surrounding the outer surface of the support rod 310; A support panel 330 installed at a lower end of the support rod 310; And an adsorption pad (340) installed at both ends of the support panel (330) and attached to the surface,
The vacuum generator 400 includes a compressor 410 for providing compressed air; A vacuum generator 420 for generating compressed air by receiving compressed air from the compressor 410; A solenoid valve 430 connected to the vacuum generator 420; And a plurality of pneumatic lines 440, one end of which is connected to the solenoid valve 430 and the other end of which is connected to each of the plurality of adsorption pads 340 to make the inside of the adsorption pads 340 vacuum,
A switch 150 is installed in the body 100 so that when the coil spring 320 touches the switch 150, the pneumatic line 440 moves toward the surface of the plurality of the adsorption pads 340 And the inside of the adsorbing pad (340) which is moving becomes a vacuum.
The method according to claim 1,
The chain type endless track 200 is formed such that a central portion of a plurality of steel panels 210 is rotatably coupled to each other by fins and the bottom surface of the coupled center portion is inserted into a tooth groove of the sprocket 120, Wherein the surface-mounted moving device is configured to move the surface-mounted moving device.
The method of claim 2,
The steel panel 210 is provided with a pair of escape preventing pieces 211 and the pair of escape preventing pieces 211 are protruded to be spaced apart from each other by a predetermined distance so that when the chain type endless track 200 rotates, (211) is positioned on both sides of the support roller (120) and the support roller (130).
delete The method according to claim 1,
And a rotating roller (311) is installed at an upper end of the support rod (310).
The method of claim 5,
Guide ribs 111 are formed on both sides of the body 100 to be in contact with the rotating rollers 311,
Wherein the guide ribs (111) comprise a horizontal portion (111a) and an inclined portion (111b) integrally formed at both ends of the horizontal portion (111a).
delete The method according to claim 1,
Wherein a rotary joint (450) is provided on the pneumatic line (440) to prevent the pneumatic line (440) from being twisted.
delete The method according to claim 1,
And a support caster (160) is installed at the rear of the body part (100).
The method according to claim 1,
Wherein the adsorption unit (300) comprises twelve adsorption units (300), and three adsorption units (300) are always attached to the surfaces when the adsorption units (300) are moved.

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