WO2012137767A1

WO2012137767A1 - Wall-surface travelling robot

Info

Publication number: WO2012137767A1
Application number: PCT/JP2012/059053
Authority: WO
Inventors: 林健治
Original assignee: Hayashi Kenji
Priority date: 2011-04-04
Filing date: 2012-04-03
Publication date: 2012-10-11
Also published as: US20140020196A1; JP2012224326A

Abstract

[Problem] A wall-surface travelling robot which adheres to and travels on a vertical wall-surface can attach to/detach from the wall-surface when travelling due to a frame and the wall-surface not remaining parallel as a result of the rotational moment caused by the weight of the robot. [Solution] A wall-surface travelling robot which adheres to and travels on a vertical wall-surface is provided with: an expanding and contracting adhesion pad mechanism (3) in which an adhesion pad (3-3) for attaching to and detaching from a non-adhesive wall surface moves in parallel to the wall surface and in the vertical direction of the wall surface, and which expands and contracts in the direction of the wall; and a rotational moment offsetting mechanism (4) for providing a biasing force, in the reverse direction relative to the wall-surface, on a lower end part frame (2-1-2) in a frame (2).

Description

Wall running robot

The present invention relates to a wall traveling robot that travels by adsorbing a vertical wall surface.

In recent years, the durability and reliability of buildings have been questioned.
Many buildings such as buildings and piers have deteriorated prematurely due to secular changes, earthquakes, and environmental stress due to changes in the natural environment, and legal inspections have been started.
Although the demand for wall maintenance is increasing, there is no means for labor saving and automation in the field work, and it is not possible to keep up with the demand, and there is a large economic burden such as equipment costs such as scaffolding and gondola, personnel costs, etc. Is also an issue.

In order to solve this problem, various wall running robots have been invented and disclosed.
However, conventional wall-climbing robots have many problems in terms of functional performance and operation, and there are also problems that equipment costs, incidental equipment costs, and operation costs are high, and there is no merit of robotization compared to conventional robots. It has not spread.

Robots that run on non-magnetic wall surfaces include the SRI electrostatic attraction type traveling robot and the vacuum attraction type traveling robot that has been studied in Japan. The vacuum suction method with weak force and close contact with the wall surface is superior in the wall surface adsorption force.

The vacuum suction system travel system is an endless track system in which a wall surface suction pad is placed on the outer periphery of the endless rotation belt, and only the contact surface is evacuated and adsorbed to the wall surface to rotate the endless rotation belt. Crawler method), and the suction pad method with a driving drive wheel that keeps the tip of the suction pad in the wall direction at a very small distance from the wall for simplification and weight reduction, and the tip of a multi-jointed multi-legged leg There is a multi-legged walking (robot traveling) type robot that is equipped with a large number of suction pads and controls the multi-legged legs in a three-dimensional manner.

In the endless track system, the suction tip is caught at the place where the suction pad comes into contact with the wall surface, and the suction force is lost suddenly. There is a problem that efficiency is poor at around 3, and in order to obtain suction power, it is necessary to enlarge the suction pads or increase the number of suction pads, and it is difficult to reduce the size, weight and cost. There are also challenges.
The slippery suction pad method is mainly used for smooth surfaces because irregular vacuum walls such as concrete and mortar walls have a large vacuum leak and lose the suction force, or fall off or the suction force is weak even if it is sucked. There is a problem with that.
The multi-legged walking (蜘蛛) method has many problems because it performs multi-leg control, has many mechanisms, is complicated in control, is heavy and cannot increase the traveling speed, and has a high cost.

On the other hand, the invention described in Japanese Patent No. 3396325 shows a vacuum suction type robot that moves a vacuum suction disk in a direction perpendicular to a direction parallel to a wall surface on an annular main body frame. According to this method, the operation rate of the suction pad is high, the suction force can be secured, and the control is relatively easy.

Japanese Patent No. 2557786 (Japanese Patent Laid-Open No. 7-017443) Japanese Patent Laying-Open No. 2005-047451 Japanese Patent No. 3396325 (Japanese Patent Laid-Open No. 8-257951)

However, the invention described in Japanese Patent No. 3396325 states that the role of the adsorption-type wall walking device is to gently hold the blast mechanism and to prevent the mechanism from swinging in the lateral direction. When it is considered as a traveling device that does not support suction by the left and right suction pads provided on the blast mechanism and the upper and lower frame bodies as described in .

The invention described in Japanese Patent No. 3396325 moves the vacuum suction disk one by one. However, such a moving method has a problem that the traveling speed becomes slow.
In order to increase the traveling speed, it is conceivable to simultaneously perform the movement of the frame and the movement of the suction pad away from the wall surface. For example, when traveling in the upward direction, the suction of the upper suction pad of the left and right horizontal frame is released and the piston of the lower suction pad of the left and right horizontal frame is extended to move the frame, and the upper suction pad piston If it is also extended, the upper suction pad can be moved by a distance twice as long as the piston is simply extended, and the traveling speed can be increased.
However, in the invention described in Japanese Patent No. 3396325, such traveling is structurally difficult.

In addition, in the invention described in Japanese Patent No. 3396325, when the suction of the wall surface of the suction pad on the upper side of the left and right horizontal frame is canceled in the vertical traveling, the wall surface suction point of the suction pad on the lower side of the left and right horizontal frame is used as a fulcrum. As a result, the urging force that moves the upper part of the frame away from the wall moves, and the distance from the wall at the upper part of the frame is wider than the distance from the wall at the lower part of the frame. There is a problem of adsorption peeling.

Furthermore, even when the spread of the distance from the wall surface is not large, the lower suction pad on the left and right horizontal frames rises while supporting the frame, and when the upper suction pad is to be re-adsorbed to the wall surface, Since the distance to the wall surface is wide on the upper side due to the rotational moment and narrow on the lower side, the suction part of the upper suction pad does not contact the wall surface perpendicularly due to the inclination of the frame, and the contact surface of the suction pad There is a problem that a peripheral edge seal is involved to cause a vacuum leak, reducing the suction force, and gradually losing the suction force.
When the running speed is fast, the contact pad periphery seal of the suction pad is repeatedly wound in a short period, and the suction peeling from the wall surface occurs in a short time due to pain due to vacuum leakage or repeated winding of the seal. There is a problem.

According to claim 1, in a robot that performs suction running on a vertical wall surface, the suction pad mechanism that is attached to and detached from the wall surface to be suctioned moves in the vertical direction of the wall surface in parallel with the wall surface, and expands and contracts in the wall surface direction. It is characterized in that it includes a rotational moment canceling mechanism that applies a force in the opposite direction of the wall surface to the lower end of the frame.

According to a second aspect of the present invention, the telescopic suction pad mechanism includes three or more rows of guide rails erected on the upper and lower frames, and a reciprocating mechanism portion that is slidably contacted with the guide rails and slidable in the vertical direction. A suction pad mechanism portion provided in a pair with the reciprocating mechanism portion and provided with a vacuum generating device in a wall surface direction, and engaged with the reciprocating mechanism portion and the suction pad mechanism portion, It is characterized in that it includes an expansion / contraction mechanism part that expands and contracts the suction pad mechanism part in the wall surface direction in parallel with the wall surface, and a travel drive mechanism that moves the reciprocating mechanism part in the upper and lower frame body direction.

According to a third aspect of the present invention, the rotational moment canceling mechanism is provided at a lower end portion of the frame body, and a wheel that urges the wall surface, and one end of the wheel is attached to the lower end portion of the frame body. It is characterized in that it includes a supporting plate to be locked and a driving means for rotating the supporting plate or pushing the supporting plate to the wall surface.

According to a fourth aspect of the present invention, the expansion / contraction mechanism section is screwed into a linear shaft provided in the direction of the suction pad mechanism section on the wall surface side of the reciprocating mechanism section, and is attached to the suction pad mechanism section. The present invention is characterized in that it is provided with a linear bush or a linear ball provided and a driving means for supporting the linear shaft.

According to a fifth aspect of the present invention, the telescopic mechanism part is provided through the reciprocating mechanism part and the suction pad mechanism part, and one end is a guide fixed to the reciprocating mechanism part or the suction pad mechanism part. It is characterized in that a hook and a stopper that abuts the guide hole through hole of the reciprocating mechanism part or the suction pad mechanism part are provided at the loose end of the other end of the guide stick.

According to a sixth aspect of the present invention, the expansion / contraction mechanism section is provided on each of the left and right sides between both side plates in the vertical movement direction of the reciprocating mechanism section and the suction pad mechanism section. The X-shaped end portions are pivotally attached to predetermined positions of the both side plates of the reciprocating mechanism portion and the suction pad mechanism portion, and one end portion of the X-shape is reciprocated. An X-shaped link mechanism provided in a predetermined position on the both side plates of the moving mechanism portion and slidably attached to a long hole parallel to the vertical movement direction of the reciprocating mechanism portion, and slidably attached to the elongated hole of the link mechanism And a driving means for reciprocating one end of the link mechanism in the direction of the long hole.

According to a seventh aspect, the telescopic mechanism is provided at a predetermined position on the wall surface side of the reciprocating mechanism and a predetermined position on the opposite side of the wall surface of the suction pad mechanism, and meshes with the rack. The present invention is characterized in that it includes a pinion, a roller or a ship-bottom shoe that holds the back of the rack, and drive means that pivotally supports the pinion.

According to claim 8, the travel drive mechanism includes a predetermined number of pulleys respectively provided on the upper and lower frame bodies, a predetermined number of endless rotation bands stretched between the pulleys, The present invention is characterized in that it includes a fastening mechanism for fastening a predetermined portion to each of the reciprocating mechanism portions, and a driving means pivotally supported by the pulley.

According to a ninth aspect of the present invention, the travel drive mechanism includes a linear shaft for linear motion conversion that is pivotally supported by the upper and lower frames, a drive means that is pivotally supported by one end of the linear shaft, and a screw that is screwed to the linear shaft. It is characterized in that it includes a linear bush or a linear ball provided in a direction opposite to the wall surface of the reciprocating mechanism.

According to a tenth aspect of the present invention, the suction pad mechanism is characterized in that two or more suction pads are erected in the vertical direction of the wall surface direction.

According to the eleventh aspect, the suction pad mechanism portion is provided with two or more suction pads, is provided through the substrate of the suction pad mechanism portion, is slidable in the wall surface direction, and is provided on the wall surface side. The suction pad is fixed to one end, the outer peripheral wall of the other end is provided with a concave groove perpendicular to the sliding direction, and is urged in the wall direction by an elastic body, and supports a plurality of suction pads provided in the vertical direction A hook mechanism, a biting mechanism that engages with the concave groove of the suction pad support rod and restrains the sliding movement of the suction pad support rod, and the suction pad support rod slides when the suction pad is adsorbed to the contact surface. And a driving means for controlling the start of sliding of the suction pad support rod when the suction pad is separated from the surface.

According to the first and third aspects of the present invention, when the lower end of the frame body obtains a force in the direction opposite to the wall surface by the rotational moment canceling mechanism provided at the lower end of the frame body, the suction pad is located on the lower side and adsorbs Since a force toward the wall surface is applied to the upper end portion of the frame body with the fulcrum as a fulcrum, the frame body can be maintained in a posture parallel to the wall surface in the vertical direction.
According to the second aspect of the present invention, the two or more suction pads that are positioned on the lower side are sucked by the stretchable suction pad mechanism that moves up and down in three or more rows, and the remaining suction pads are moved upward. Therefore, the frame body can be kept parallel to the wall surface not only in the vertical direction but also in the horizontal direction in combination with the rotational moment canceling mechanism.
Therefore, in traveling, the frame body and the wall surface are kept parallel in the vertical and horizontal directions, and the suction pad is attached to and adsorbs the peripheral edge of the contact seal to the wall surface, so that a strong suction force can be obtained by high vacuum. .
Further, since a strong suction force can be obtained in a short time by high vacuum due to close contact, the stability of the wall surface suction posture is high, the time for switching between suction and non-adsorption of the suction pad can be shortened, and high-speed traveling can be achieved.
In addition, since the frame body and the wall surface are kept parallel in the vertical and horizontal directions, the vertical length of the guide rail installed in the vertical direction can be set to an arbitrary length and is not attracted to the wall surface. Since the moving distance of the telescopic suction pad mechanism that moves in the moving direction of the frame can be increased, the number of switching between suction and non-suction of the suction pad can be reduced, and the vehicle can travel at high speed.

In the invention of claim 2, each of the three or more rows of the expansion and contraction suction pads is configured such that each of the plurality of rows of suction pads extends, touches and sucks in the direction of the wall surface, and moves up and down with respect to the frame of the stretchable suction pad mechanism that has already been suctioned. A series of operations including the suction release of the suction pad, the shortening of the suction pad, and the up / down driving of the non-adsorptive telescopic suction pad mechanism with respect to the frame body are repeated, and the frame body can move in the up and down direction.
That is, simultaneously with the movement of the frame body, the non-adsorptive expansion / contraction suction pad mechanism is moved in the movement direction of the frame body, and after the movement, the suction pad is extended in the wall surface direction to perform wall surface adsorption. By releasing and shortening the suction pad that has supported the movement of the frame, the role of supporting the frame is switched to the newly-adsorbed telescopic suction pad mechanism. The expansion and contraction suction pad mechanism that has been attracted moves in the moving direction of the frame body, and a series of operations are continuously repeated by a plurality of the expansion and contraction suction pad mechanisms. Can be moved up and down.

In the invention of claim 2, since the expansion / contraction suction pad mechanism that moves in the movement direction in a non-adsorption manner moves in the advancing direction of the frame body simultaneously with the movement of the frame body, the movement speed of the expansion / contraction adsorption pad mechanism is The moving speed of the frame body + the moving speed of the telescopic suction pad mechanism with respect to the frame body, and can move at twice the moving speed of the frame body, and the robot can move up and down the wall surface at high speed.

In the inventions according to claims 4 to 7, the expansion / contraction mechanism part that translates the reciprocation mechanism part and the suction pad mechanism part by a linear shaft mechanism, a link mechanism, and a rack and pinion mechanism is realized in a small size and at low cost. did it.
According to a fifth aspect of the present invention, the displacement of the reciprocating mechanism portion and the suction pad mechanism portion, which are problems due to the parallel movement caused by the rotation of one linear shaft mechanism of the fourth aspect, and the telescopic mechanism portion The guide rod and the stopper of the guide rod are provided and solved to cope with the rotational moment due to the dead weight applied when adsorbing the wall surface.

The inventions of claims 8 and 9 are such that a predetermined portion of an endless rotation band stretched between the upper and lower frame members, or a linear bush or linear ball screwed to a linear shaft is engaged with the travel drive mechanism, The traveling drive mechanism that moves up and down in parallel to is realized.

In the tenth aspect of the present invention, since two or more previous suction pads are provided in the vertical direction of the wall surface of the suction pad mechanism, the suction pads are suctioned in the vertical direction of the wall surface, and the rotational moment with the lower suction pad as a fulcrum The suction pad mechanism portion itself is provided with a mechanism for canceling the rotational moment by adsorbing and offsetting the upper suction pad.

According to the eleventh aspect of the present invention, when there is a step on the wall surface and the suction pad comes into contact with the step surface, the suction pad biased toward the wall surface stops sliding in the wall surface direction at a position in close contact with the wall surface. At the same time, the biting mechanism meshes with the concave groove of the suction pad support rod that fixes the suction pad to one end on the wall surface side, and changes the height of the suction pad support rod according to the height of the wall surface. Because of the detention, the suction pad mechanism absorbs the difference in wall height, and the robot frame and wall remain parallel even on the stepped surface, and the suction pad adheres the peripheral edge of the contact seal to the wall. Can be adsorbed.
Thereby, even if there is a stepped surface on the wall surface, it is possible to run by suction.

1 is a perspective external view of a wall traveling robot according to a first embodiment of the present invention. It is a top view of the wall surface traveling robot of Example 1 of this invention. It is a side view by the AA section of Drawing 1-2 of a wall running robot of Example 1 of the present invention. It is illustration of the rotational moment cancellation mechanism of this invention, (a) is a side view of the rotational moment cancellation mechanism provided in the frame and its lower end part, (b) is expansion of the N section of FIG. (A). It is a side view. It is a top view of the apparatus which provided the vertical drive mechanism by the linear shaft of Example 2 of this invention. These are perspective external views illustrating the telescopic suction pad mechanism part of Examples 1 and 2 of the present invention, FIG. It is an illustration of the link mechanism of Example 3 of the present invention. These are side views of the telescopic suction pad mechanism portion provided with the holding mechanism of Example 4 of the present invention, These are the perspective external views of the suction pad mechanism part which provided the holding mechanism. FIG. 7 is an enlarged view of a portion E illustrated in FIG. It is illustration of the holding mechanism of Example 5 of this invention. It is an enlarged view of the J section shown in FIG. FIG. 10 is a perspective view of each of the holding mechanisms of the fifth embodiment, where (a) shows an open / close plate mechanism that opens and closes the holding mechanism with a half nut, and (b) shows a half nut. FIG. FIG. 10- (b) illustrates in detail the holding mechanism portion by the half nut, (a) is a plan view, and (b) illustrates the MM cross section of FIG. (A). Is It is for explaining the movement of the wall surface traveling robot of the present invention as a state transition by the operation of the telescopic suction pad mechanism, and (a) is a state after the telescopic suction pad mechanism of FIG. FIG. 2 is a view of the telescopic suction pad mechanism of FIG. 2 in a non-adsorptive state, (b) illustrates the state of the telescopic suction pad mechanism of FIG. (D) shows the situation in which the frame is raised by driving the telescopic suction pad mechanism shown in FIG. 2 and the telescopic suction pad mechanism shown in FIG. 1 is also being lifted by driving. is there.

The present invention will be described based on the following examples. *

The first embodiment will be described with reference to FIGS. 1-1, 1-2, and 1-3.
Between the rectangular frame 2 and the upper and lower end frames 2-1-1 and the lower end frame 2-1-2 of the frame, any even number of frames laid in parallel with the left and right side surface frame 2-2. A reciprocating mechanism guide rail 2-3, and guide wheels 3-12 and 3-13 slidably contacting the guide rail 2-3, and a telescopic suction pad mechanism 3 capable of reciprocating up and down in the vertical direction of the guide rail are provided. A predetermined plurality of pulleys are provided, and a pair of upper and lower pulleys 2-9 that pivotally support a driving belt 2-10 are provided on the upper and lower end frame bodies 2-1-1 and 2-1-2. The driving belt 2-10 is wound around the pulley 2-9 and is stretched between the upper and lower end frame bodies 2-1-1 and 2-1-2. A predetermined portion of the driving belt 2-10 on the reciprocating mechanism portion 3-1 side is fastened to the reciprocating mechanism portion 3-1 of the telescopic suction pad mechanism 3 by a reciprocating mechanism portion belt fastening mechanism 2-11. Is done.
The lower end frame 2-1-2 is provided with a motor 2-8 pivotally attached to the pulley 2-9, and the driving belt 2-10 is also rotated by the rotation of the motor 2-8. The reciprocating mechanism portion 3-1 fastened by the reciprocating mechanism portion belt fastening mechanism 2-11 can move up and down.
When the suction pad 3-3 of the telescopic suction pad mechanism 3 is attracted to the wall surface, if the drive belt 2-10 is rotated, the frame 2 supported by the pulley 2-9 Can move up and down the wall.

In the rotational moment canceling mechanism 4 shown in FIG. 1-3, the telescopic suction pad mechanism 3 lifts the frame body 2, and the non-adsorptive telescopic suction pad mechanism 3 is attached to the reciprocating mechanism guide rail 2-3. When sliding and moving, a downward rotating moment applied to the frame body is controlled and biased in the direction of the wall surface by a wheel provided at the lower end portion of the frame body 2, and the reaction body exerts a reaction force on the frame body 2. The lower end of the frame is lifted, and the reverse rotation moment about the telescopic suction pad mechanism 3 that is adsorbed to the wall surface on the upper side is obtained to control the parallelism between the frame and the wall surface.

Details of the rotational moment canceling mechanism will be described with reference to FIG.
Since the rotational moment due to its own weight applied to the wall traveling robot changes due to the change in the position and orientation of the frame 2 of the telescopic suction pad mechanism 3 during traveling, the rotational moment canceling mechanism cancels the rotational moment by the biasing force to the wall surface. 4 is provided at the lower end of the frame.
The rotational moment canceling mechanism 4 measures a difference in inclination between the perpendicular and the frame, and applies a biasing force to the wall surface corresponding to the difference, and includes a moment control wheel 4-1 that generates a biasing force, A moment control wheel support plate 4-2 that supports the control wheel 4-1, and a moment control wheel rotation support plate 4-3 that supports the moment control wheel support plate 4-2 that rotates to generate an urging force. And a control wheel rotation link 4-4 for transmitting the force of the driving means 4-5 such as a motor and an actuator to the moment control wheel support plate 4-2 as an urging force.
By detecting the difference in parallel between the wall surface and the frame and controlling it as the urging force from the rear of the frame to the wall surface, the frame body posture can be kept parallel to the wall surface and can run with a stable posture even at steps. .

In the above, the driving belt 2-10 may be another rotating band such as a chain, and the pulley 2-9 may be another supporting wheel such as a gear.
The rotational moment canceling mechanism 4 may be provided at a position lower than the position where the telescopic suction pad mechanism 3 attracts the wall surface by engaging with the frame.
Further, the urging force by the rotation using the moment control wheel support plate 4-2 and the control wheel rotation link 4-4 may be the urging force by pushing on the wall surface.
Further, the rotational moment canceling mechanism 4 may be provided with a simple structure in which a plate piece that pivotally supports a wheel is engaged with the frame body 2 and the wheel urges the wall surface during planar traveling.

Details of the telescopic suction pad mechanism will be described with reference to FIG.
The telescopic suction pad mechanism 3 shown in FIG. 4 has the reciprocating mechanism in which guide wheels 3-12 and 3-13 slidably contacting the reciprocating mechanism guide rail 2-3 are provided on both the left and right sides in the reciprocating direction. Part 3-1,
A linear shaft 3-5-1 provided on the suction pad mechanism portion 3-2 side on the wall side of the reciprocating mechanism portion 3-1, and a linear bush or a linear ball screwed to the linear shaft 3-5-1 3-5-2 is provided in the suction pad mechanism section 3-2, and the reciprocating mechanism is provided to prevent the suction pad mechanism section 3-2 from rotating due to the rotation of the linear shaft 3-5-1. A telescopic mechanism guide rod 3-9 that passes through the section 3-1 and the suction pad mechanism section 3-2 and is erected on the reciprocating mechanism section 3-1.
The telescopic mechanism portion 3-5 including the guide pad bush 3-9-1 that slides on the telescopic mechanism guide rod 3-9 and the suction pad mechanism portion 3-2;
A plurality of the suction pads 3-3 communicated with the vacuum generating device 3-10 are installed upright in the wall surface direction, and are expanded and contracted in the wall surface direction by the forward / reverse rotation of the linear shaft 3-5-1 of the expansion / contraction mechanism 3-5. The suction pad mechanism unit 3-2 for performing
The suction pad 3-3 can be brought into and out of contact with the wall surface by extending and contracting in the wall direction of the suction pad mechanism portion 3-2.

When the suction pad mechanism section 3-3 extends and adsorbs to the tip of the extension mechanism guide rod 3-9 and abuts against the guide rod bush 3-9-1, the extension and contraction is performed. A stopper is provided for receiving and protecting the rotational moment applied to the mechanism unit 3-5.
This stopper may be provided by a screw or the like screwed on the telescopic mechanism guide rod 3-9.

An embodiment will be described with reference to FIG.
A linear bushing or linear ball 3-11 for a reciprocating linear shaft that is screwed into a reciprocating linear shaft 2-5 that is installed between and supported by the upper and lower end frame bodies 2-1 of the frame body 2 is the telescopic type. The reciprocating linear shaft 2-5 is provided at one end of the reciprocating linear shaft 2-5 of the suction pad mechanism 3 and is supported by a motor 2-8.
By the rotation of the motor, the telescopic suction pad mechanism 3 can slide in contact with the reciprocating mechanism guide rail 2-3 and move in the vertical direction of the frame 2.
Further, the linear shaft reciprocating mechanism is a rack-and-pinion mechanism including a pinion that lays a rack in the vertical direction of the frame 2 and meshes with the rack in the reciprocating mechanism portion 3-1. It can also be a moving mechanism.
Also in this case, when the suction pad 3-3 of the telescopic suction pad mechanism 3 is attracted to the wall surface, if the reciprocating linear shaft 2-5 is rotated, the frame body 2 is moved in the vertical direction of the wall surface. Can be translated in parallel.

An embodiment will be described with reference to FIG.
The telescopic mechanism portion 3-5 that engages with the reciprocating mechanism portion 3-1 and the suction pad mechanism portion 3-2 has a pair of link plates 3-14- that are provided on both the left and right sides in the vertical movement direction. 1, 3-14-2, 3-15-1, 3-15-2, and a central shaft 3-17 that pivotally attaches the central part of the link plate, -2, 3-15-1, and 3-15-2 have rotating shafts 3-19-1 and 3-19-1, respectively provided at the reciprocating mechanism portion 3-1 and the suction pad mechanism portion 3-2. 3-19-2 is pivotally supported, and the other end is inserted into sliding holes 3-18-1, 3-18-2 provided in the reciprocating mechanism portion 3-1 and the suction pad mechanism portion 3-2. Each is in sliding contact with a sliding wheel 3-16-1.
The sliding wheel 3-16-1 is provided with driving means 3-20 such as a linear motor and a cylinder for reciprocating the sliding wheel along sliding holes 3-18-1 and 3-18-2.
The link structure in which the expansion / contraction mechanism section 3-5 is configured by the link plate may be configured by another link structure.

Further, the telescopic mechanism portion of the third embodiment holds a rack standing at a predetermined position of the reciprocating mechanism, a pinion provided at a predetermined position of the suction pad mechanism portion and meshing with the rack, and the back surface of the rack. A rack-and-pinion mechanism including a roller or a ship-shaped shoe and a motor that pivotally supports the pinion may be used.

A holding mechanism according to the fourth embodiment will be described with reference to FIGS.
The suction pad mechanism unit 3-2 is urged by an elastic body 3-8 such as a coil spring so as to be slidable in the direction of the wall surface, and has a suction pad 3-3 at one end and a concave shape on the outer peripheral wall at the other end. A plurality of suction pad support rods 3-3-1 provided with a plurality of grooves perpendicular to the pushing direction are provided so as to be slidable through the pad support rod bushes disposed on the substrate.
The suction pad support rod 3-3-1 is provided with a vacuum hole in the axial direction communicating with the vacuum chamber inside the peripheral seal wall of the suction pad 3-3 provided at one end. At the end, a joint 3-3-3 is provided, which communicates with the vacuum generator 3-10.
In order to control the sliding of the suction pad support rod 3-3-1 in the wall surface direction, a suction pad holding mechanism portion 3-4 is provided in engagement with the suction pad support rod 3-3-1. .
The suction pad holding mechanism 3-4 includes a holding plate 3-4-1 that engages with the concave groove of the suction pad support rod 3-3-1, and the concave groove that is inserted through the holding plate. A holding plate mechanism support plate 3-4-3 held on the side, an elastic body 3-4-2 such as a spring for urging the holding plate in the direction of the concave groove, and the holding plate And a drive means 3-4-4 such as a solenoid for releasing the engagement with the concave groove.

When the suction pad mechanism portion 3-2 extends in the wall surface direction, the chucking plate releases the occlusion with the concave groove by energization at the same time, so the suction pad support rod 3-3-1 Becomes slidable, and is urged by an elastic body 3-8 such as a coil spring, so that the suction pad 3-3 is brought into close contact with and adsorbed to the wall surface. The suction pad 3-3 is pressed against the wall surface by the elastic predetermined urging force and stops in close contact with the wall surface, so that the drive means 3-4-4 such as the solenoid is de-energized, and the spring or the like The holding plate 3-4-1 biased by the elastic body 3-4-2 is engaged with the concave groove of the suction pad support rod 3-3-1, and the suction pad support rod 3-3- 1 is stopped and held in the vertical direction of the wall surface.
If each of the suction pads 3-3 arranged in the vertical direction of the wall surface direction on the suction pad mechanism section 3-2 is in close contact with the wall surface, and then holds the suction pad support rod 3-3-1, Since the wall surface can be adsorbed according to the height of the wall surface, the frame body 2 can travel while maintaining parallel to the wall surface even at the step surface.

A holding mechanism according to the fifth embodiment will be described with reference to FIGS.
The holding pad holding mechanism portion 3-4 ′ of the holding mechanism shown in FIG. 8J includes a half nut portion shown in FIG. 10- (b) and a half nut opening / closing plate shown in FIG. 10- (a). Provided.
The half nut portion shown in FIG. 10- (b) includes nuts 3-4′-2 and 3-4′-3 which are vertically divided into two, as shown in a cross section in FIG. 11- (b). The divided one side was fixed by a half nut opening and closing leaf spring 3-4′-7 to obtain a shape before division, and in a normal state, the nut was opened.
As shown in FIG. 9, the half nut portion is provided so as to penetrate the substrate of the suction pad mechanism portion 3-2 so as to be slidable in the direction of the wall surface. The suction pad support rod 3-3-1 provided with a groove for meshing is provided around the suction pad support rod 3-3-1.
Half nut stoppers 3-4′-4 and 3-4′-5 shown in FIG. 10- (b) are provided on the upper and lower side surfaces of the half nut.

The tip is thin and wide in the depth direction, facing the half nut tip 3-4'-2-a, 3-4'-3-a shown in FIG. 10- (b), and FIG. 10- (a) The half nut end 3-4'-2-a and 3-4'-3-a shown in Fig. 2 are urged by an elastic body 3-4-2 such as a coil spring and are fitted to the half nut end. A half nut opening and closing plate 3-4'-1 is provided for tightening the half nut.
The half nut opening / closing plate 3-4′-1 urged in the direction of the half nut by the elastic body 3-4-2 is engaged with a driving means 3-4-4 such as a solenoid and is not energized. The half nut portion is closed, and the protrusions of the teeth of the nut engage with the groove portion engaging with the nut on the outer peripheral wall of the suction pad support rod 3-3-1 so as to extend toward the wall surface of the suction pad 3-3. Stop the sliding, release the urging to the half nut portion when energized, and the projection of the teeth of the nut engages with the groove engaging the nut of the suction pad support rod 3-3-1 Is released, and the movement of the suction pad 3-3 fixed to the wall surface side of the suction pad support rod 3-3-1 toward the wall surface is enabled.

By this suction pad holding mechanism, when each of the suction pads 3-3 erected on the suction pad mechanism portion 3-2 in the vertical direction on the wall surface side is in close contact with the wall surface, the half nut is not energized. The half nut opening and closing plate 3-4'-1 urged in the direction of the portion is fitted to the tip of the half nut, and the half nut is provided on the outer peripheral wall of the suction pad support rod 3-3-1. The nut is engaged in a groove meshing with the nut, the suction pad support rod 3-3-1 is stopped from sliding in the wall surface, and the suction pad 3-3 is held in accordance with the height of different wall surfaces. I can do it.
Therefore, the height difference of the wall surface is adjusted by the expansion and contraction of the suction pad support rod 3-3-1, so that the frame body 2 can travel while being parallel to the wall surface.

The wall running operation of the wall running robot of the present invention will be described step by step based on FIG. FIG. 12 is a side view from the lateral direction of the wall surface, and the case where the vertical wall surface rises is described.
In the figure (a), the lower expansion-and-contraction type suction pad mechanism 1 adsorbs to the wall surface to fix the robot to the wall surface.
In (b) in the figure, the suction pad comes into contact with the wall surface by the expansion / contraction mechanism of the upper expansion / contraction type suction pad mechanism 2 that is not adsorbed in (a), and the expansion / contraction type suction pad mechanism 1 is also continued. For the suction, the telescopic

suction pad mechanisms

1 and 2 are both attracted to the wall surface to attract the robot to the wall surface.
In the figure (c), the wall surface adsorption of the telescopic suction pad mechanism 1 is released and the telescopic mechanism is separated, and the robot maintains the wall surface adsorption by the wall surface adsorption of the telescopic suction pad mechanism 2. Yes.
In the drawing (d), the telescopic suction pad mechanism 1 is disposed above the telescopic suction pad mechanism 2 by the upward movement of the telescopic suction pad mechanism 1 and the frame of the robot. The telescopic suction pad mechanism disposed above extends the telescopic mechanism, and the suction pad comes into contact and is attracted to the wall surface.

The state shown in FIG. 4D is the same as the state transition shown in FIG. 2A when the numbers of the telescopic

suction pad mechanisms

1 and 2 are read.
The wall surface traveling robot can adsorb and travel on the wall surface while repeating the state transitions a to d.

The reason why the conventional wall-climbing robots have not become widespread is that they are equipped with incidental equipment, and there are problems such as difficult to run by adsorption on various outer wall surfaces, large size / high weight / high cost and difficult to operate. The person who relied on was not popular because of its versatility and economy.
The robot of the present invention adsorbs not only smooth wall surfaces but also uneven wall surfaces such as concrete / mortar / tile and stepped surfaces with different wall heights, and has a new type of robot that has excellent adsorption power and runs on the wall surface at high speed. It can be realized in a compact / lightweight that can be carried by hand, and it can be realized at low cost without any additional equipment.
Since the robot of the present invention can be equipped with work equipment, it can be used as a platform for wall work.
Work in high-risk places of conventional type that could only be done manually by using scaffolds, gondola, etc. is economical due to the labor-saving, automation, energy saving, and efficiency improvement due to the spread of small and low-cost robots with versatility. Can improve safety and improve safety.

DESCRIPTION OF SYMBOLS 1 Wall robot 2 Frame 2-1 Upper / lower end frame 2-1-1 Upper end frame 2-1-2 Lower end frame 2-2 Left / right side frame 2-3 Reciprocating mechanism guide rail 2 -5 Reciprocating linear shaft 2-6 Linear bushing or linear ball for reciprocating linear shaft 2-7 Coupler 2-8 Driving means 2-9 Pulley 2-10 Driving belt 2-11 Reciprocating mechanism belt fastening mechanism 3 Expansion / contraction Mold suction pad mechanism 3-1 Reciprocating mechanism 3-2 Suction pad mechanism 3-3 Suction pad 3-3-1, 3-2-2 Suction pad support rod 3-3-3 Vacuum joint 3-4, 3 -4 'Adsorption pad holding mechanism 3-4-1 Clamping plate 3-4'-1 Half nut opening and closing plate 3-4-2 Elastic body such as a spring 3-4'-2, 3-4'- 3, Half nut 3-4'-2-a, 3-4'-3-a Half nut tip 3-4-3 Bite plate mechanism Holding plate 3-4-4 Driving means 3-4'-4, 3-4'-5 Half nut stopper 3-4'-7 Plate spring for half nut opening and closing 3-5 Stretching mechanism 3-5-1 Telescopic mechanism linear shaft 3-5-2 Telescopic mechanism linear shaft linear bushing or linear ball 3-5-3 Telescopic mechanism linear shaft bushing or bearing 3-6 Driving means 3-7 Torque limit coupler 3-8 Spring etc. Elastic body 3-9 Telescopic mechanism guide rod 3-9-1 Guide rod bush 3-10 Vacuum generator 3-11 Linear linear bush or linear ball for reciprocating linear shaft 3-12, 3-13 Guide wheel 3-14 -1, 3-14-2, 3-15-1, 3-15-2 Link plate 3-16-1 Sliding wheel 3-17 Central shaft 3-18-1, 3-18-2 Sliding hole 3- 19-1, 3-19-2 Rotating shaft 3- 20 Linear motor, actuator, etc. 4 Rotation moment canceling mechanism 4-1 Moment control wheel 4-2 Moment control wheel support plate 4-3 Moment control wheel rotation support plate 4-4 Control wheel rotation link 4-5 Driving means

Claims

In a robot that performs suction running on a vertical wall surface, a suction pad that is attached to and detached from the wall to be suctioned moves in the vertical direction of the wall surface in parallel with the wall surface, and expands and contracts in the wall surface direction, and a wall surface at the lower end of the frame body A wall traveling robot comprising a rotational moment canceling mechanism for applying a force in a reverse direction.
The telescopic suction pad mechanism includes three or more rows of guide rails erected on the upper and lower frame bodies, a reciprocating mechanism portion that is in sliding contact with the guide rails and is slidable in the vertical direction, and the reciprocating mechanism portion; A suction pad mechanism portion provided in pairs and having a suction pad provided with a vacuum generator is erected in the wall surface direction, and is engaged with the reciprocating mechanism portion and the suction pad mechanism portion, and the suction pad mechanism portion is engaged with the wall surface. The wall surface traveling robot according to claim 1, further comprising: an expansion / contraction mechanism section that expands and contracts in a wall surface direction in parallel with the reciprocating mechanism section;
The rotational moment canceling mechanism is provided at a lower end portion of the frame body, and a wheel that biases the wall surface, a support plate that pivotally attaches one end of the wheel and locks the other end to the lower end portion of the frame body, The wall traveling robot according to claim 1, further comprising: a driving unit that rotates the support plate or pushes the support plate.
The expansion / contraction mechanism part includes a linear shaft provided in the direction of the suction pad mechanism part on the wall surface side of the reciprocating mechanism part, and a linear bush or linear screw provided in the suction pad mechanism part. The wall traveling robot according to claim 1, further comprising a ball and a driving unit that pivotally supports the linear shaft.
The telescopic mechanism is provided through the reciprocating mechanism and the suction pad mechanism, one end of which is a guide rod fixed to the reciprocating mechanism or the suction pad mechanism, and the guide rod The wall traveling robot according to claim 4, wherein a free end of the other end is provided with a stopper that comes into contact with the guide rod through hole of the reciprocating mechanism or the suction pad mechanism. .
The expansion / contraction mechanism section is installed on each of the left and right sides of the both sides of the reciprocating mechanism section and the suction pad mechanism section in the vertical movement direction. Three end portions are respectively pivotally attached to predetermined positions of the both side plates of the reciprocating mechanism portion and the suction pad mechanism portion, and one end portion of the X-shaped end portion is the both side plates of the reciprocating mechanism portion. An X-shaped link mechanism that is provided at a predetermined position and is slidably attached to an elongated hole parallel to the vertical movement direction of the reciprocating mechanism, and one end portion of the link mechanism that is slidably attached to the elongated hole of the link mechanism. The wall surface traveling robot according to claim 1, further comprising: a driving unit that reciprocates in the direction of the long hole.
The expansion and contraction mechanism section includes a rack that is erected at a predetermined position on the wall surface side of the reciprocating mechanism, a pinion that is provided at a predetermined position on the opposite side of the wall surface of the suction pad mechanism section, and meshes with the rack; The wall traveling robot according to claim 1, further comprising: a roller or a ship bottom-shaped shoe to be held; and a driving unit that pivotally supports the pinion.
The travel drive mechanism includes a predetermined number of pulleys provided on each of the upper and lower frame bodies, a predetermined number of endless rotation bands stretched between the pulleys, and a reciprocating mechanism that passes through predetermined positions of the rotation bands. The wall surface traveling robot according to claim 1, further comprising: a fastening mechanism that is tightly coupled to each portion; and a driving unit that is pivotally supported by the pulley.
The travel drive mechanism includes: a linear shaft for rotation / linear motion conversion that is pivotally supported by an upper and lower frame body; drive means that is pivotally supported by one end of the linear shaft; and the reciprocating mechanism portion that is screwed into the linear shaft. A wall running robot according to claim 1, further comprising: a linear bush or a linear ball provided in a direction opposite to the wall surface.
The wall-surface traveling robot according to claim 1, wherein the suction pad mechanism section has two or more suction pads standing up and down in a wall surface direction.
The suction pad mechanism unit is provided with two or more suction pads, and is provided through the substrate of the suction pad mechanism unit so as to be slidable in the wall surface direction and to stop the suction pad at one end on the wall surface side. A plurality of suction pad support rod mechanisms provided in the vertical direction, each having a concave groove perpendicular to the sliding direction on the outer peripheral wall at the other end, and urged in the wall direction by an elastic body; A holding mechanism that engages with the concave groove of the support rod and restrains the sliding movement of the suction pad support rod; and the sliding movement of the suction pad support rod when the suction pad is adsorbed on the contact surface; The wall traveling robot according to claim 10, further comprising: a driving unit that controls the start of sliding of the suction pad support rod when the pad is separated from the surface. *