WO1996007580A1 - Appareil capable de monter et de se mouvoir sur la surface d'un objet - Google Patents

Appareil capable de monter et de se mouvoir sur la surface d'un objet Download PDF

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Publication number
WO1996007580A1
WO1996007580A1 PCT/JP1995/001752 JP9501752W WO9607580A1 WO 1996007580 A1 WO1996007580 A1 WO 1996007580A1 JP 9501752 W JP9501752 W JP 9501752W WO 9607580 A1 WO9607580 A1 WO 9607580A1
Authority
WO
WIPO (PCT)
Prior art keywords
suction
vacuum suction
linear actuator
vacuum
cylinder
Prior art date
Application number
PCT/JP1995/001752
Other languages
English (en)
Japanese (ja)
Inventor
Fukashi Urakami
Original Assignee
Uragami Fukashi
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Uragami Fukashi filed Critical Uragami Fukashi
Priority to AU33549/95A priority Critical patent/AU3354995A/en
Publication of WO1996007580A1 publication Critical patent/WO1996007580A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid

Definitions

  • the present invention uses an adsorbent that can be adsorbed on the surface of an object such as a vacuum suction cup or a magnet, and a mounting tool such as a chuck that attaches to the surface of the object using protrusions and holes on the surface of the object, such as a hull, various tanks, and a building.
  • the present invention relates to a device that can be attached to the surface of an object such as a wall or a rock wall of a large-sized structure, and that can be moved along the surface.
  • the present inventor has already proposed in Japanese Patent Application Laid-Open No. 51-79497 and U.S. Pat. No. 4,029,164 a device that adsorbs on a wall surface and travels along the wall surface.
  • an airframe running along a wall surface, a base slidably provided along a required number of guides arranged on the airframe, and> the base is slid.
  • the company did not provide a wall suction traveling device.
  • a conventional device that can be adsorbed on a wall surface and movable along the wall surface described in, for example, Japanese Patent Application Laid-Open No. Sho 51-97497 is described as follows.
  • the device does not have any function to move the device or the body along the wall, but has a function to move along the wall (it has the function to travel along the wall by itself or by external force. (Aircraft) "was required separately.
  • an airframe that can move by itself when the drive wheels are mounted, or an airplane that is mounted with guide wheels and can be moved by an external force such as a winch is indispensable.
  • the task to be solved by the present invention is to provide a simpler, more elaborate and less costly device that can be attached to and moved along the surface of an object. Is to do it.
  • the problem to be solved by the present invention is to use an attachment, such as a chuck or gripper, which can be attached to a projection or a hole existing on the surface of the object, in addition to the adsorbent, to ⁇ attach to the object surface ''. And a device that can move along with it.
  • the present invention has attempted to eliminate drive wheels or guide wheels which are indispensable in the above-mentioned conventional apparatus.
  • attachments that can be attached to the object surface in a broad sense, such as chucks and grippers.
  • an adsorbent such as a vacuum suction cup is used as an attachment to the object surface. And can be replaced.
  • one or more first linear actuators capable of reciprocating back and forth in the transfer direction; and being reciprocated back and forth in the movement direction by the first linear actuator.
  • One or more second linear actuators capable of reciprocating in a direction intersecting the object surface; and a direction intersecting the object surface by the second linear actuator.
  • a device that is provided with a plurality of suction units composed of a single or a plurality of adsorbents reciprocally moved to and that can move along the surface of the object; and the adsorbing surface of the adsorbent and the surface of the object.
  • the suction surface is separated from the object surface and the most retracted position where the suction surface is most drawn toward the device, and the suction surface is substantially at the same position as the object surface.
  • Level S and the position control of the potato body so that the adsorption surface can be arbitrarily selected from at least three of the most extended positions beyond the surface of the object further inwardly of the surface of the object. It is an object of the present invention to provide a device that can be attached to a surface of an object and that can move along the surface.
  • the function of the first activator for moving the device along the surface of the object is possessed by the first actuator.
  • the device in addition to the above object, in controlling the speed at which the device moves along the surface of the object, the device is controlled so as to be able to move continuously without stopping. It is an object of the present invention to provide a device that can be attached to a surface of an object and that can move along the surface.
  • the air for supplying compressed air to each air ejector for making each actuator and each vacuum suction S as an example of each adsorbent a negative pressure is provided.
  • each vacuum suction cup is in the standard position. Then, each air ejector is activated and each vacuum sucker is ready to be adsorbed on the surface of the object.
  • the device according to the present invention when the manual operation switch for raising or lowering the device a is not turned on at the time of air supply or heat supply and all solenoid valves are de-energized (hereinafter referred to as this device) This state is referred to as the standard state.
  • the air ejector of the vacuum suction cup of the first set of suction units stops operating. Transfer to the most retracted position.
  • the vacuum sucker starts operating the air ejector of the vacuum sucker, and at the same time, the vacuum sucker is activated by the second vacuum pump.
  • the suction surface of the vacuum suction cup comes into close contact with the wall surface during the movement, the gas inside the vacuum suction is exhausted and the sound is absorbed by the wall surface.
  • the vacuum suction moves to the standard position g by the action of the second linear actuator.
  • the vacuum switch that the vacuum suction has been adsorbed on the wall surface.
  • the vacuum sucker starts to move down to the lower limit position in the apparatus due to the action of the first linear actuator.
  • the shilling body of the linear actuator starts ascending movement, that is, the apparatus connected to the cylinder body starts ascending movement.
  • this device is composed of two suction units
  • the above-mentioned first linear actuator starts moving, immediately after that, another vacuum suction unit of another suction unit is immediately turned on.
  • the air ejector stops operating and the vacuum suction cup is separated from the wall, the vacuum suction cup moves to the most retracted position by the action of the second linear actuator.
  • the vacuum suction starts the air ejector of the vacuum suction and at the same time, the vacuum suction is started.
  • the present apparatus is composed of two sets of suction units
  • the first linear actuator of the suction unit described below starts moving
  • the first unit of the suction unit described above starts moving. If the linear actuator has not reached the lower limit position in the device and is still moving, the device can move up continuously without stopping temporarily.
  • the first linear actuator of the suction unit described later starts moving, the first linear actuator of the above-mentioned suction unit has reached the lower limit position in the apparatus. If the cylinder body of the first linear actuator of the suction unit, which will be described later, starts ascending while moving, the suction unit described above is immediately thereafter. The first linear reactor stops moving, and at the same time, the vacuum suction air ejector of the suction unit stops operating again, and the above-described operation of the suction unit described above will be resumed. Since it is repeated again, the description is omitted below.
  • the adsorbent of at least one set of suction units is detached from the wall surface. It is possible to control this device so that each suction unit repeats a series of operations that move in the running direction, re-adsorb to the wall surface, and then move in the opposite direction to the running direction. In other words, it is possible to control this device so that all the adsorbents of the other adsorption units excluding one set of adsorption units having the adsorbents erected from the wall surface are adsorbed on the wall surface. In the device, the adsorbing power of a plurality of adsorbents can be utilized very effectively.
  • attachments to the surface of the object including the adsorber of this device include, in addition to vacuum suction, permanent magnets and adhesives equipped with electromagnets and jigs that forcibly detach from the wall.
  • Various considerations can be made in consideration of the material and shape of the surface of the object such as the suction disk. For example, if there are many projections or holes on the surface of the object, a chuck that can arbitrarily grip the projections. A grip that can be inserted into the hole and arbitrarily grip the hole is attached. It is also possible to use it as a tool. It is also possible to use a drill that can be attached to the hole by drilling a deep hole in the surface of an object such as a rock wall.
  • FIG. 1 is a plan view showing a first preferred embodiment of an apparatus constructed according to the present invention.
  • FIG. 2 is a right side view of the device shown in FIG.
  • FIG. 3 is a cross-sectional view taken along line AA of the apparatus shown in FIG.
  • FIG. 4 is an enlarged partial cross-sectional view of the suction unit having the vacuum suction 51 in the apparatus shown in FIG.
  • FIG. 5 is an explanatory view showing the suction moving operation of the apparatus shown in FIGS. 1 to 4 and FIGS. 6-1 to 7-2.
  • FIG. 6-1 is a pneumatic circuit diagram showing a pneumatic circuit of a suction unit having a vacuum suction 51 in the apparatus S shown in FIGS. 1 to 5 and FIGS. 7-1 to 7-2.
  • FIG. 5 is a pneumatic circuit diagram showing a pneumatic circuit of a suction unit having a vacuum suction cup 52 in the apparatus shown in FIGS. 1 to 5 and FIGS. 7-1 to 7-2.
  • FIG. 7-1 is a flowchart showing the suction moving operation of the apparatus shown in FIGS. 6-1 and 6-2.
  • Figure 7-2 is a flowchart that follows the flowchart in Figure 7-1.
  • FIG. 8 is a plan view of a second preferred embodiment of the device of the present invention.
  • the apparatus shown in the figure has four sets of suction units each having one vacuum suction S 51, 52, 53, 54 in the ascending direction of the apparatus (FIG. 1). 4 in parallel with (upward in 1). Since the elements constituting each of the four sets of suction units are common to the four sets of suction units and are completely the same, the components of the rightmost adsorption unit in FIG. 1 are the same. Will be described in detail.
  • the suction unit includes a first linear actuator composed of two mouthless cylinders 2 that can reciprocate back and forth in the movement direction; and two pistons 2 of the rowless cylinder 2.
  • a connecting plate 3 that connects between: The cylinder case 4 1 1 is fixed to the connecting plate 3 and the two piston rods 4 1 2 can reciprocate in the direction intersecting the object surface 0 1.
  • a second linear actuator composed of a tandem cylinder 4; a vacuum suction 51 fixed to the distal end of a piston rod 41 through a spherical bearing 415; and two portless cylinders It consists of two H-shaped frames 11 1 that connect the upper and lower ends of the two cylinder cases 2 11 respectively.
  • a second biston rod 4 14 and a second cylinder case 4 13 are provided at the rear of the first air cylinder composed of the piston rod 4 12 and the cylinder case 4 1 1.
  • the stroke of the second air cylinder in the dem cylinder 4 is half that of the first air cylinder.
  • the function of the second air cylinder in the illustrated tandem cylinder 4 is to enable the piston rod 412 of the first air cylinder to be arbitrarily set to three positions: the most extended position, the standard position, and the most retracted position. It has a function as a stopper. Note that FIG. 4 shows a state where the tandem cylinder 4 is in a standard position.
  • the base S section 51 made of a rigid body such as aluminum is connected to the tip of the piston rod 4 12 via a spherical bearing 4 15 and the base section.
  • the suction main body 5 12 made of a material having flexibility and a large coefficient of friction such as natural rubber is bonded to 5 11.
  • an annular sponge rubber seal portion 5 13 is attached to the entire outer periphery of the suction cup main body 5 12, but the state of the sponge rubber seal portion 5 13 shown in FIG. Due to the pressure bonding to 1, the dimension in the direction perpendicular to the object surface 0 1 shrinks, indicating a state in which the suction cup main body 5 1 2 and the object surface 0 1 are strongly adhered.
  • FIG. 3 it is shown that the vacuum suction cup 51 is in the standard position, the vacuum suction cup 52 is in the most retracted position, the vacuum suction cup 53 is in the most extended position, and the vacuum suction cup 54 is in the standard position. ing.
  • two sets of suction units having a vacuum suction cup 51 and a vacuum suction cup 52 are connected by two upper and lower H-shaped frames 11 to form a set of books. It becomes an invented device (hereinafter referred to as the right device unit), and two sets of pot units having vacuum suction 53 and vacuum suction 54 are connected by two upper and lower H-shaped frames 12.
  • the other two sets of the present invention are hereinafter referred to as a left unit, and the two sets of the present invention are shown connected to each other at the left and right ends of the H-shaped frames provided therein. I have.
  • two sets of suction units each having a vacuum suction cup 51 and a vacuum suction cup 52 are connected to each other by a pair of upper and lower H-shaped frames 11 so that one set of right-hand units is provided.
  • an installation unit and two sets of suction units having a vacuum suction cup 53 and a vacuum suction cup 54 are connected by upper and lower two H-shaped frames 12, A state in which the two sets of the present invention g are quickly connected up and down is shown.
  • the operation procedure of the vacuum suction cups 51 and 54 and the vacuum suction cups 52 and 53 is so that the same operation is performed at the same timing when the moving direction of the device is straight. Is programmed in the programmable controller.
  • each of the factories 21, 41 F, 41 R, 22, 42 F, 42 R, and each vacuum pump 51, 52, 53, 5 Turn on the air source 61 that supplies compressed air to each air ejector 65 to make each a negative pressure, and control the driving direction of each actuator and supply compressed air to each air ejector.
  • Each vacuum suction device is located at the standard position, and each air ejector is operated so that each vacuum suction device can be sucked to the object surface 01 at any time.
  • the device for raising or lowering the device is not turned on and the solenoid valves are all de-energized. Is referred to as a standard state.
  • the air ejector 65 of the suction unit 51 of the suction unit on the right side of the right device unit stops operating, so that the degree of vacuum of the vacuum unit 51 is reduced.
  • the vacuum switch 66 (VS 1) is turned off and turned off, the tandem The syringe 41 R constituting the cylinder contracts, and the vacuum suction cup 51 moves to the most retracted position.
  • the rodless cylinder 21 starts operating, moves up to the upper limit position in the device, and when the limit switch LSD1 operates, the air ejector 65 resumes operation and at the same time the cylinder 4 operates.
  • both the cylinder 41F constituting the tandem cylinder extends and the vacuum suction cup 51 moves to the S extension position, but in the middle of the movement, the suction surface of the vacuum suction 51 When pressed against 1, the gas inside the vacuum suction cup 51 is exhausted and adsorbed on the wall surface 01.
  • the vacuum switch 66 (VS 1) confirms that the vacuum suction cup 51 has been adsorbed to the wall surface 01
  • the cylinder 41 F contracts and the vacuum suction cup 51 moves to the standard position.
  • the rodless cylinder 21 starts to move down to the lower limit position in the apparatus.
  • the cylinder body of the address cylinder 21 starts to move upward, that is, the cylinder body is connected. The device starts ascending movement.
  • the vacuum ejector 65 of another suction unit 52 stops operating, and when the vacuum sucker 52 is disengaged from the wall surface 01, the tandem cylinder is released.
  • the vacuum suction 52 moves to the standard position S by the action of the tandem cylinder 42R.42F.
  • the vacuum suction 52 is actuated by the loadless cylinder 22 to the right device.
  • the descent movement starts to the lower limit position in the unit, but at this time, the vacuum suction 52 has already started.
  • the cylinder body of the rodless cylinder 22 starts ascending movement because it is adsorbed on the wall surface 01, that is, the right unit to which the cylinder body is connected starts ascending movement.
  • the unit in which the two sets of the present invention are connected can move along a gentle curve. It becomes.
  • the operation of the device shown in FIG. 8 is the same as that of the device shown in FIGS. 1 to 7-2, and will not be described.
  • the device S shown in FIG. 8 is configured to have a small width dimension. It is suitable for purple cultivation on narrow walls.
  • the drive wheels or the guide wheels which are indispensable in the conventional device, are eliminated, and a simple, lightweight, low-cost “attachment to the object surface and A device that can move along it.
  • a fixture such as a chuck or a gripper that can be attached to a projection or a hole existing on the surface of the object is used.
  • Device can be provided.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)

Abstract

La présente invention concerne un appareil de structure simple, léger, bon marché et capable de mouvements continus, pouvant monter et se mouvoir sur la surface d'un objet sans avoir recours ni à une roue motrice ni à une roue de guidage. L'appareil mobile est constitué d'une pluralité d'unités d'aspiration qui sont constituées chacune: d'un ou de plusieurs premiers actionneurs linéaires capables de mouvements de va-et-vient suivant l'axe avant-arrière; d'un ou de plusieurs seconds actionneurs linéaires capables de mouvements de va-et-vient suivant l'axe perpendiculaire au plan de la surface de l'objet; d'un ou de plusieurs corps d'aspiration montés sur les seconds actionneurs linéaires. L'appareil peut régler le positionnement de la surface d'aspiration du corps d'aspiration selon au moins trois positions: le positionnement le plus en retrait selon lequel la surface d'aspiration est la plus en retrait par rapport à la surface de l'objet, en direction de l'appareil; le positionnement normal selon lequel la surface d'aspiration coïncide généralement avec la surface de l'objet; et le positionnement le plus saillant selon lequel la surface d'aspiration dépasse au-delà de la surface de l'objet, en direction de l'intérieur de l'objet.
PCT/JP1995/001752 1994-09-06 1995-09-04 Appareil capable de monter et de se mouvoir sur la surface d'un objet WO1996007580A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU33549/95A AU3354995A (en) 1994-09-06 1995-09-04 Apparatus capable of mounting and moving on object surface

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP6/248261 1994-09-06
JP6248261A JPH0872762A (ja) 1994-09-06 1994-09-06 物体表面に取り付き且つそれに沿って移動可能な装置

Publications (1)

Publication Number Publication Date
WO1996007580A1 true WO1996007580A1 (fr) 1996-03-14

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1995/001752 WO1996007580A1 (fr) 1994-09-06 1995-09-04 Appareil capable de monter et de se mouvoir sur la surface d'un objet

Country Status (3)

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JP (1) JPH0872762A (fr)
AU (1) AU3354995A (fr)
WO (1) WO1996007580A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998013251A1 (fr) * 1996-09-25 1998-04-02 Plustech Oy Actionneur d'execution du mouvement d'oscillation d'un bras oscillant
CN111824281A (zh) * 2020-07-20 2020-10-27 中国科学院沈阳自动化研究所 一种壁面全方位移动机构

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102390453B (zh) * 2011-10-21 2013-09-25 南京理工大学 一种可重构的爬壁机器人及其协同越障方法
KR101358384B1 (ko) * 2012-03-12 2014-02-06 주식회사 엠텍 벽면주행로봇
CN105620584B (zh) * 2016-04-01 2017-11-28 安徽理工大学 全气动迈步式行走机构及其气动控制系统
JP2020108991A (ja) * 2019-01-07 2020-07-16 ウラカミ合同会社 負圧吸着自走ロボット装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5420594A (en) * 1977-07-15 1979-02-16 Hitachi Metals Ltd Method of attracting and moving
JPS6154376A (ja) * 1984-08-22 1986-03-18 Agency Of Ind Science & Technol 壁面歩行機械
JPS61222878A (ja) * 1985-03-29 1986-10-03 Agency Of Ind Science & Technol 壁面歩行機械
JPS6275U (fr) * 1985-06-17 1987-01-06

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5420594A (en) * 1977-07-15 1979-02-16 Hitachi Metals Ltd Method of attracting and moving
JPS6154376A (ja) * 1984-08-22 1986-03-18 Agency Of Ind Science & Technol 壁面歩行機械
JPS61222878A (ja) * 1985-03-29 1986-10-03 Agency Of Ind Science & Technol 壁面歩行機械
JPS6275U (fr) * 1985-06-17 1987-01-06

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998013251A1 (fr) * 1996-09-25 1998-04-02 Plustech Oy Actionneur d'execution du mouvement d'oscillation d'un bras oscillant
US6193002B1 (en) 1996-09-25 2001-02-27 Plustech Oy Actuator for accomplishing the swinging motion of a swinging arm
CN111824281A (zh) * 2020-07-20 2020-10-27 中国科学院沈阳自动化研究所 一种壁面全方位移动机构

Also Published As

Publication number Publication date
JPH0872762A (ja) 1996-03-19
AU3354995A (en) 1996-03-27

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