WO2000002769A1 - Dispositif mobile sur une surface - Google Patents

Dispositif mobile sur une surface Download PDF

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Publication number
WO2000002769A1
WO2000002769A1 PCT/JP1999/003725 JP9903725W WO0002769A1 WO 2000002769 A1 WO2000002769 A1 WO 2000002769A1 JP 9903725 W JP9903725 W JP 9903725W WO 0002769 A1 WO0002769 A1 WO 0002769A1
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WO
WIPO (PCT)
Prior art keywords
moving
unit
state
axle
units
Prior art date
Application number
PCT/JP1999/003725
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
Priority claimed from JP10229906A external-priority patent/JP2000025663A/ja
Priority claimed from JP10242495A external-priority patent/JP2000043766A/ja
Application filed by Uragami Fukashi filed Critical Uragami Fukashi
Publication of WO2000002769A1 publication Critical patent/WO2000002769A1/fr

Links

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

Definitions

  • the present invention relates to a device that can be moved along an inner or outer wall surface of a building, a floor surface or a ceiling surface, or an underwater surface such as a water storage tank for cleaning or the like.
  • the present inventor has already proposed a device that can move along a surface in Japanese Patent Application Laid-Open No. 3-26671 (U.S. Pat. No. 5,161,631 and drawings). ing.
  • the above apparatus there is provided at least two moving units connected to each other via a connecting means capable of being extended and contracted, and each of the moving units is provided with each of the moving units along a surface thereof.
  • State setting means for selectively setting a movable state in which the movable unit can be moved and a locked state in which the movable unit is locked to the surface, and one moving unit is set in the locked state to set the movable unit in the locked state.
  • the connecting means is extended or contracted, the one moving unit is moved along the surface, whereby a device movable along the surface is provided.
  • the movable unit can move each of the moving units along the surface.
  • the configuration of the state setting means for selectively setting the locking state to be locked to the surface is somewhat complicated, and the locking state is set when the device turns left or right. Since a certain moving unit has a hindrance to the turning function in place due to frictional resistance with the wall surface, the left / right turning function of the device is hindered to a certain extent. There was a problem.
  • each of the moving units has a movable state that can move along the surface and the movable unit can move along the surface. It is selectively set to a locked state where it is locked to When a device or the like that cleans the surface by spraying ultra-high pressure water or an abrasive to the surface is mounted on the moving unit, each of the moving units is set in a movable state and a locked state. There was a problem that processing unevenness occurred due to the selective setting.
  • the present invention has been made in view of the above-mentioned facts, and its main technical solution is that the mechanism can be simplified as compared with the conventional device, and the device has a left-turn movement function or a right-turn movement.
  • the object is to provide an improved device that can be moved along a surface with improved functionality.
  • Another major technical problem is to provide an improved apparatus that can be moved along a surface and can prevent the occurrence of processing unevenness as compared with a conventional apparatus.
  • Another object of the present invention is to provide an improved device which can be moved along a surface, in which the moving function of the device is improved by adding a function of moving the connecting means in a direction intersecting the direction of extension and contraction.
  • a device which is movable mainly along the surface described below.
  • it has at least two moving units connected to each other via connecting means that can be extended and contracted, and each of the moving units can move each of the moving units along the surface.
  • at least one wheel unit for selectively setting a movable state and a non-movable state locked on the surface, and a movable state capable of moving each of the movable units along the surface.
  • Axle direction setting means is provided on the wheel unit so that the axle direction can be arbitrarily changed in order to selectively set the axle direction to a non-movable state in which the wheel unit is locked to the surface.
  • movable device is provided along the surface, characterized in that.
  • axle direction setting means for setting the direction of the axle in three moving states of the moving unit, namely, straight moving, left turning and right turning, and one non-moving state in which the moving unit can turn at the place, are provided.
  • An apparatus is provided that is movable along a surface as described above.
  • each of the moving units is a rigid or semi-rigid body, a seal member mounted on the body and brought into contact with the surface to define a decompression space in cooperation with the body and the surface, and A pressure-reducing means for depressurizing the space, wherein the device is movable along the surface as described above, wherein the device is vacuum-adsorbed to the surface by depressurizing the depressurized space.
  • one of the moving units when one of the moving units is set to the moving state and the other moving unit is set to the non-moving state to extend or contract the connecting means, one of the moving units is moved.
  • the device can be moved along the surface by moving it along the surface, thus alternately inverting the moving and non-moving states of the two moving units and extending or contracting the coupling means as appropriate. be able to.
  • axle direction setting means for setting the direction of the axle in three moving states of the moving unit, namely, a straight movement, a left turn and a right turn.
  • the axle direction setting means for setting the direction of the axle so that the moving unit can further turn at the place is provided. Can easily move in any direction.
  • the sealing member attached to the main body of the moving unit is used. The suction cleaning operation is performed on the surface by being moved in contact with the surface.
  • a device which is movable mainly along the surface described below.
  • each of the moving units has at least two moving units connected to each other via connecting means that can be extended and contracted, and each of the moving units connects each of the moving units to the extension of the connecting means.
  • at least one selective traveling unit for selectively setting a moving state in which the moving means can be moved in the contracting direction and a non-moving state in which the connecting means cannot be moved in the extending and contracting directions.
  • Each of the moving units or at least one of the moving units includes a working unit that reciprocates in a direction intersecting the direction in which the connecting means extends and contracts.
  • the working unit includes a rigid or semi-rigid body, a seal member mounted on the body and brought into contact with the surface to define a decompression space in cooperation with the body and the surface, and A pressure-reducing means for depressurizing the space, wherein the device is movable along the surface, wherein the device is vacuum-adsorbed to the surface by depressurizing the depressurized space.
  • the selective running unit provided in the moving unit further extends the connecting unit.
  • a device that can be selectively set so as to be able to travel in a direction intersecting with the direction of contraction.
  • one of the moving units when one of the moving units is set to the moving state and the other moving unit is set to the non-moving state and the connecting means is extended or contracted, one of the moving units is extended. Is moved in the direction of extension or contraction of the connecting means. Therefore, the moving state and the non-moving state of the two moving units are alternately reversed to extend or contract the connecting means appropriately. This allows the device to move along the surface.
  • the moving unit has three moving states, namely, a straight moving, a left-hand turning and a right-hand moving, and four moving states in which the moving state of the lateral moving is added.
  • Axle direction setting means for setting the direction of the axle is provided, and the direction of the axle is set so that the movable unit can turn further at the place where the movable unit is set to the non-movable state. Since the axle direction setting means is provided, the device of the present invention can easily move in any direction.
  • each of the moving units or at least one of the moving units has a working unit which reciprocates in a direction intersecting the direction in which the connecting means extends and contracts. Therefore, even when one of the moving units on which the work unit is mounted is in a non-moving state, the work unit reciprocates in a direction intersecting the direction in which the connecting means extends and contracts. It is possible to continue working. That is, since the movement of the work unit is not stopped, the occurrence of processing unevenness is prevented. Further, in the apparatus of the present invention, when the work unit is moved along the surface by reducing the pressure in the decompression space of the work unit, the sealing member attached to the main body of the work unit is attached to the surface.
  • the surface By being moved in contact, the surface is subjected to a suction cleaning operation.
  • the work unit is equipped with a device or the like that sprays ultra-high pressure water or an abrasive material toward the surface to clean the surface, all the injected water and the abrasive material are sucked. Can be recovered.
  • the moving unit in a moving unit provided with a working unit having a decompression space and reciprocating in a direction intersecting a direction in which the connecting means extends and contracts, the moving unit is provided with the moving unit.
  • the selective running unit provided is configured so that it can be selectively set so that it can also travel in a direction intersecting with the direction of extension and contraction of the connecting means. Is straight ahead, left turn, right turn, and sideways Since the axle direction setting means for setting the direction of the axle of the wheel in the moving state of the wheel is provided, the working unit is extended and contracted after the setting of the axle direction in the moving state of the lateral movement. If the device is moved in a direction that intersects with the direction in which the connecting means extends, the device of the present invention can also move in a direction that intersects with the direction in which the connecting means expands and contracts, that is, in the lateral direction.
  • FIG. 1 is a plan view of one preferred embodiment of an apparatus constructed in accordance with the present invention.
  • FIG. 2 is a plan view showing a state where the moving unit 2A is moving straight in the apparatus shown in FIG.
  • FIG. 3 is a plan view showing a state in which the moving unit 2B is moving straight in the apparatus shown in FIG.
  • FIG. 4 is a side view of the device shown in FIG.
  • FIG. 5 is an enlarged partial sectional view of a part of the apparatus shown in FIG.
  • FIG. 6 is an explanatory view showing four setting positions of wheels 52 in the device shown in FIG.
  • FIG. 7 is a plan view showing a state in which the moving unit 2A is turning left in the apparatus shown in FIG.
  • FIG. 8 is a plan view showing a state in which the moving unit 2A is turning left in the apparatus shown in FIG.
  • FIG. 9 is a plan view showing a state in which the moving unit 2A is turning right in the apparatus shown in FIG.
  • FIG. 10 is a plan view showing a state in which the moving unit 2A is turning right and moving in the apparatus shown in FIG.
  • FIG. 11 is a plan view of another preferred embodiment of an apparatus constructed in accordance with the present invention.
  • FIG. 12 is a bottom side view of the device shown in FIG.
  • FIG. 13 is a lower side view and a partial cross-sectional view of the apparatus shown in FIG. 11;
  • FIG. 14 is an enlarged partial sectional view of the device shown in FIG.
  • FIG. 15 is an explanatory view showing four setting positions of wheels 52 in the device shown in FIG.
  • FIG. 16 is an explanatory diagram showing a state in which the device is moving straight in the device shown in FIG. 11;
  • FIG. 17 is an explanatory view showing a state in which the device is laterally moving in the device shown in FIG. 11;
  • the illustrated apparatus constructed in accordance with the present invention comprises two moving units 2A and 2B.
  • the moving units 2A and 2B have a main body 3 made of a rigid or semi-rigid material such as steel.
  • the main body 3 may have an appropriate shape, but in the specific example shown in the drawings, a substantially cylindrical box, that is, a pressure receiving box 31 has a shape in which an annular plate or flange 32 facing the surface 1 is welded around the opening of the pressure receiving box 31. Has formed.
  • a seal member 4 is provided on the flange 32.
  • two flange-like mounting portions are connected to the flange 32, and an annular lip portion is disposed close to and parallel to the surface 1.
  • the outer peripheral portion of the lip portion is brought into contact with the surface 1, and in a specific example, the sealing member 4 defines a decompression space 11 in cooperation with the main body 3 and the surface 1.
  • the seal member 4 is formed of a non-breathable and relatively flexible material such as polyurethane rubber, and therefore, is elastically deformed by a relatively small force and deforms freely according to the unevenness of the surface 1. I'm sullen.
  • a connection fitting 33 for connecting one end of a flexible suction hose (not shown) to the main body 3 is welded to the flexible suction hose (not shown). Is connected to a reduced pressure generating means (not shown).
  • the decompression The generation means may be a known means which drains fluid from the decompression space 11 and decompresses the interior of the decompression space 11 . If the above device is used in the atmosphere, for example, use an exhaust pump or a pump. When the above device is used in water or in the sea, for example, a drain pump or the like can be used.
  • axle direction setting means 5 are provided outside the pressure receiving box 31, outside the pressure receiving box 31, three types of axle direction setting means 5 are provided.
  • Wheels 52 are rotatably held by an axle 51 parallel to the surface 1, and the axle 51 is held by an axle holder 53.
  • the lower end of a turning drive shaft 54 for turning the axle 51 on a plane parallel to the surface 1 is fixed to the axle holder 53, and the turning drive shaft 54 is fixed to a bearing holder 59.
  • the bearing 58 is rotatably mounted.
  • the bearing holder 59 is fixed to the pressure receiving box 31.
  • an output shaft 600 of an aerodynamic reactor 60 having a swing angle of 90 degrees is inserted and fixed.
  • the parts are connected by a port (not shown).
  • the output shaft 6 1 1 of the air rotary actuator 6 1 is fixed to a torque arm 62.
  • the torque arm 62 is fixed to the bearing holder 59 with a port and a nut.
  • the swing angle of Aero-Year-Rakuchi-Yue 61 is 45 degrees.
  • the air outlet 60 and the air rotary reactor 61 are connected to the wheels 5 with respect to the moving direction of the moving unit 2A or 2B (leftward in Fig. 6).
  • the direction of movement 2 is 45 degrees counterclockwise (Pl), 45 degrees clockwise (P2), 0 degree clockwise (P3), and 9 clockwise.
  • Set 1 position arbitrarily selected among the 4 positions above the 0 degree position (P 4).
  • the arrow indicates the direction in which the wheels 52 move.
  • the air ports 61 and 61 are also connected to a source of pressurized air via an appropriate pneumatic circuit.
  • FIG. 2 shows each vehicle in the state where mobile unit 2A is moving straight.
  • the position of the wheel 52 is shown.
  • FIG. 3 shows the position of each wheel 52 in a state where the moving unit 2B is moving straight.
  • FIG. 7 shows the position of each wheel 52 in a state where the moving unit 2A is turning left.
  • FIG. 9 shows the position of each wheel 52 in a state where the moving unit 2A is turning right.
  • the moving unit 2A can make a left turn, but cannot move, due to the position of each wheel 52.
  • mobile unit 2B can be turned on the spot.
  • the moving unit 2A can turn rightward but cannot move the moving unit 2B due to the position of each wheel 52.
  • mobile unit 2B can turn in place.
  • the moving units 2A and 2B have three moving states, that is, a straight traveling movement, a left-turning movement, and a right-turning movement. It is configured so that each user can select any one of the four non-moving states that can be turned.
  • the connecting means 7 in the specific example shown in FIG. 1 comprises a pair of air cylinders 70 and 71 which are arranged in parallel at a distance in the vertical direction in FIG. 0 and 71 are also connected to the source of pressurized air via appropriate pneumatic circuits). Air cylinders 70 and 71 and main unit 3 of moving units 2A and 2B allow relative tilt in any direction It is desirable to be connected via a universal joint.
  • the pair of air cylinders 70 and 71 constituting the connecting means 7 are in a contracted state, that is, in a state shown in FIG.
  • the direction of each wheel 52 is in the state shown in FIG.
  • the mobile unit 2A is in a mobile state
  • the mobile unit 2B is in a non-mobile state.
  • the external force acts to turn the moving unit 2B, the moving unit 2B can easily turn on the spot.
  • the pair of air cylinders 70 and 71 constituting the connecting means 7 are extended.
  • the moving unit 2B is kept locked without being moved with respect to the surface 1, but the moving unit 2A is moved straight to the left in FIG.
  • the arrow indicates the moving direction of the moving unit 2A or 2B.
  • the direction of each wheel 52 is changed to the position shown in FIG. 2 while the air cylinders 70 and 71 are extended.
  • the moving unit 2B is in the moving state, and the moving unit 2A Is in a non-moving state.
  • the moving unit 2A can easily turn on the spot.
  • moving unit 2B When one of the moving units 2B is set to the moving state and the other moving unit 2A is set to the non-moving state, when the air cylinders 70 and 71 are contracted, the moving unit 2A Is held in place without being displaced with respect to surface 1, but moving unit 2 B is shown in FIG. You can move straight to the left.
  • the moving unit 2A is in the moving state, and the moving unit 2B is in the non-moving state.
  • the moving unit 2B can easily turn on the spot.
  • the illustrated device constructed in accordance with the present invention comprises two moving units 2AA and 2BB. I have.
  • Each of the moving units 2AA and 2BB is connected to two airless cylinders 8 connected by two connecting plates 100 and one airless cylinder.
  • One set of axle direction setting means 5 attached to one support bracket 84 fixed to the outside of the cylinder 81 of the cylinder 8, and the other fixed to the outside of the cylinder 81 of the airless cylinder 8 Work connected to two sets of axle direction setting means 5 mounted on two support brackets 8 4 and each sliding bracket 83 extending to each piston 82 of two airless cylinders 8 Units 2A and 2B.
  • Each of the work units 2A and 2B has a body 3 formed from a rigid or semi-rigid material such as steel, for example.
  • the main body 3 may have an appropriate shape, but in the specific example shown in the drawing, a substantially cylindrical box, that is, a pressure receiving box 31 has a shape in which an annular plate or flange 32 facing the surface 1 is welded around the opening of the pressure receiving box 31. Has been established.
  • a seal member 4 is provided on the flange 32.
  • two flange-like mounting portions are connected to the flange 32, and an annular lip portion is disposed close to and parallel to the surface 1.
  • An outer peripheral portion of the lip portion is brought into contact with the surface 1, and in a specific example, the seal member 4 defines a decompression space 11 in cooperation with the main body 3 and the surface 1.
  • the seal member 4 is made of a non-breathable and relatively flexible material such as polyurethane rubber, and therefore, is elastically deformed by a relatively small force, and is freely deformed according to the unevenness of the surface 1. I'm sullen.
  • the decompression space 11 defined by the main body 3, the surface 1, and the seal member 4 is communicated with a decompression generating means (not shown).
  • a connection fitting 33 for connecting one end of a flexible suction hose (not shown) to the main body 3 is welded to the flexible suction hose (not shown).
  • the decompression generating means may be a device known per se that discharges fluid from the decompression space 11 and decompresses the interior of the decompression space 11 .For example, when the above-described device is used in the atmosphere, an exhaust pump or a pump is used.
  • Each of the working units 2A and 2B has a rotating nozzle unit 9 for spraying ultra-high pressure water to the inner surface 1 of the decompression space 11, and the rotating nozzle unit 9 is a rotating nozzle unit.
  • 9 1, a rotating shaft 92, a rotating shaft holder 93, a driving motor 94 and a rotating joint 95.
  • An ultra-high pressure water hose (not shown) is connected to the rotary joint 95.
  • Wheels 52 are rotatably held on an axle 51 parallel to the surface 1, and the axle 51 is held by an axle holder 53.
  • the lower end of a turning drive shaft 54 for turning the axle 51 on a plane parallel to the surface 1 is fixed to the axle holder 53, and the turning drive shaft 54 is fixed to a bearing holder 59. It is rotatably mounted on bearings 58.
  • the bearing holder 59 is fixed to a support bracket 84 fixed to the outside of the cylinder 81 of the air portless cylinder 8.
  • An output shaft 600 of an air rotary actuator 60 having a swing angle of 90 degrees is inserted and fixed to the upper end of the turning drive shaft 54.
  • the back of the cylinder case 613 of the aerospace reactor 61 is mounted on the back of the cylinder in the opposite direction to the output shaft 61. (Not shown).
  • the output shaft 6 1 1 of the aerodynamic reactor 6 1 1 is fixed to the torque arm 62.
  • the torque arm 62 is fixed to the bearing holder 59 with a port and a nut.
  • the swing angle of Reactuyue aero evening 61 is 45 degrees.
  • the air outlet overnight reactor 60 and the air outlet reactor 61 are in the direction in which the moving unit 2 AA or 2 BB moves straight, that is, the direction in which the connecting means extends and contracts.
  • the direction of movement of the wheels 52 with respect to the left and right directions (Fig. 15) is 45 degrees counterclockwise (P 1), 45 degrees clockwise (P 2), and 0 clockwise. Set one position arbitrarily selected among the four positions above the position of degree (P3) and the position of 90 degrees clockwise (P4).
  • the arrow indicates the direction of movement of the wheels 52.
  • such air ports 60 and 61 are also available at appropriate It is connected to a source of pressurized air via a pneumatic circuit.
  • the connecting means in the specific example shown in the figure is composed of a pair of air cylinders 700, 710 arranged in parallel at intervals in the vertical direction in FIG. 11 (not shown, but such air cylinders).
  • the 700 and 710 are also connected to a source of pressurized air via an appropriate pneumatic circuit).
  • FIG. 16 show the positions of the wheels 52 in a state where the mobile unit 2AA is about to start moving straight to the left.
  • (B) and (d) of FIG. 16 show the positions of the wheels 52 in a state where the moving unit 2BB is about to start moving straight to the left.
  • FIGS. 16 (a) and (c) although the moving unit 2AA can move straight ahead due to the position of each wheel 52, the moving Unit 2 BB cannot move. But mobile unit 2 B B can turn on the spot. Also, in FIGS. 16 (b) and (d), the moving unit 2BB can move straight ahead due to the position of each wheel 52, but the moving unit 2AA cannot move. However, mobile unit 2 A A can turn in place.
  • the moving units 2 AA and 2 BB move in three movement states, that is, a straight movement, a left turn movement, and a right turn movement, and in that place. It is configured so that each of them can select any one of a total of four non-moving states that can be turned.
  • FIG. 17 (a) shows the position of each wheel 52 in a state in which the devices of the present invention except for the working units 2A and 2B are about to start moving up.
  • FIG. 17 (b) shows the position of each wheel 52 in a state in which the devices of the present invention except for the work units 2A and 2B have finished moving upward. are doing.
  • the moving units 2AA and 2BB are involved in the lateral movement state and on the spot. It is configured so that each user can select any one of a total of two non-moving states to be stopped.
  • the pair of air cylinders 700, 70 constituting the connecting means is in a contracted state, that is, in a state shown in FIG. 16 (a).
  • the moving unit 2AA is in the moving state
  • the moving unit 2BB is in the non-moving state.
  • the moving unit 2BB can easily turn on the spot.
  • the work unit 2A is located at the upper side in the figure, and the work unit 2B is located at the lower side.
  • the arrow in each figure in FIG. 16 indicates the moving direction in which the working unit 2A or 2B is about to move.
  • a pair of air cylinders 700, 7 constituting the connecting means is provided in a state where one moving unit 2AA is set to the moving state and the other moving unit 2BB is set to the non-moving state.
  • moving unit 2 BB Is not locked against the surface 1 and is kept in the locked state, but the moving unit 2 AA is moved straight to the left in the figure, and at the same time, the work unit 2 A is also moved straight to the left I'm sullen.
  • the moving unit 2 BB is in the locked state, but the work unit 2 B is moved upward in the figure by the operation of the air rodless cylinder 8.
  • the apparatus of the present invention moves straight to the left in the figure while repeating the above-mentioned operations, and the work units 2A and 2B continuously reciprocate in a direction intersecting the moving direction of the apparatus of the present invention. repeat.
  • the entire apparatus By thus moving the moving units 2AA and 2BB sequentially, the entire apparatus can be moved as required. Further, by making the work units 2A and 2B reciprocate continuously in a direction intersecting the moving direction of the entire apparatus, work without processing unevenness can be realized. Next, a method of moving the entire apparatus in a direction intersecting with the direction in which the connecting means expands and contracts, that is, in a lateral direction, will be described below.
  • the entire apparatus moves upward in FIG. 17 while repeating the above operation.
  • the entire device can be moved as required in a direction intersecting the direction in which the connecting means extends and contracts, that is, in the lateral direction.
  • the moving unit in the moving state In order to move the entire device leftward or rightward in the direction in which the connecting means extends and contracts, the moving unit in the moving state must be moved.
  • the rolling direction of each wheel 52 is changed to a position of 45 degrees in a counterclockwise direction or a position of 45 degrees in a clockwise direction toward the moving direction of the entire apparatus.
  • the configuration of the state setting means for selectively setting each of the movable units to a movable state in which the movable units can move along the surface and a locked state to be locked to the surface is somewhat complicated.
  • the moving unit in the locked state has a slight hindrance to the turning function in place due to frictional resistance with the wall surface. Therefore, there has been a problem that the left-turn movement or right-turn movement function of the device is somewhat hindered.
  • the mechanism is simplified as compared with the conventional device. Thus, an excellent effect such as an improvement in the left-turn movement function or right-turn movement function of the device can be achieved.
  • each of the moving units is selectively set to a movable state in which the moving units can move along the surface and a locked state in which the moving units are locked to the surface.
  • each of the moving units can be selectively set to a movable state and a locked state.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif pouvant se déplacer sur une surface, lequel dispositif est caractérisé en ce qu'il comprend au moins deux unités mobiles reliées l'une à l'autre par un organe de connexion pouvant se détendre ou se contracter. Chacune des unités mobiles comprend au moins une unité roue destinée à permettre sélectivement le réglage de l'unité mobile en position mobile, chacune des unités mobiles pouvant alors être déplacée le long de la surface, ou en position fixe, l'unité mobile étant alors verrouillée sur la surface. Des moyens de réglage de la direction de l'essieu sont disposés sur l'unité roue pour permettre le changement d'orientation d'un essieu dans n'importe quelle direction de manière que chacune des unités mobiles puisse être sélectivement réglée en position mobile, chacune des unités mobiles pouvant alors être déplacée le long de la surface, ou en position fixe, l'unité mobile étant alors fixée à la surface. Cela permet, lorsqu'une unité mobile est réglée en position mobile et que l'autre unité mobile est réglée en position fixe, et lorsque l'organe de connexion est détendu puis contracté, de déplacer une unité mobile sur la surface.
PCT/JP1999/003725 1998-07-11 1999-07-09 Dispositif mobile sur une surface WO2000002769A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP10229906A JP2000025663A (ja) 1998-07-11 1998-07-11 表面に沿って移動可能な装置
JP10/229906 1998-07-11
JP10/242495 1998-07-26
JP10242495A JP2000043766A (ja) 1998-07-26 1998-07-26 表面に沿って移動可能な装置

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WO2000002769A1 true WO2000002769A1 (fr) 2000-01-20

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PCT/JP1999/003725 WO2000002769A1 (fr) 1998-07-11 1999-07-09 Dispositif mobile sur une surface

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01111578A (ja) * 1987-10-26 1989-04-28 Ishikawajima Kensa Keisoku Kk 真空吸着式走行装置
JPH01141184A (ja) * 1987-11-26 1989-06-02 Bridgestone Corp 壁面走行装置
JPH03266781A (ja) * 1989-11-27 1991-11-27 Fukashi Uragami 表面に沿って移動可能な装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01111578A (ja) * 1987-10-26 1989-04-28 Ishikawajima Kensa Keisoku Kk 真空吸着式走行装置
JPH01141184A (ja) * 1987-11-26 1989-06-02 Bridgestone Corp 壁面走行装置
JPH03266781A (ja) * 1989-11-27 1991-11-27 Fukashi Uragami 表面に沿って移動可能な装置

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