WO2015145846A1 - Adsorption mechanism and travel device - Google Patents

Adsorption mechanism and travel device Download PDF

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Publication number
WO2015145846A1
WO2015145846A1 PCT/JP2014/078217 JP2014078217W WO2015145846A1 WO 2015145846 A1 WO2015145846 A1 WO 2015145846A1 JP 2014078217 W JP2014078217 W JP 2014078217W WO 2015145846 A1 WO2015145846 A1 WO 2015145846A1
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WO
WIPO (PCT)
Prior art keywords
negative pressure
wall surface
traveling device
traveling
suction
Prior art date
Application number
PCT/JP2014/078217
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French (fr)
Japanese (ja)
Inventor
剛史 永田
仁史 乾
瑛昌 沢戸
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シャープ株式会社
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Publication of WO2015145846A1 publication Critical patent/WO2015145846A1/en

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    • 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
    • B62D57/024—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 specially adapted for moving on inclined or vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools, brushes, or analogous members
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00—Working measures on existing buildings
    • E04G23/002—Arrangements for cleaning building facades
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B47/00—Suction cups for attaching purposes; Equivalent means using adhesives

Definitions

  • the present invention relates to a traveling device that travels by being attracted to a surface to be attracted such as a wall surface, and an adsorption mechanism used in the traveling device.
  • the wall surface moving device includes a moving body that moves along the wall surface and a suction cup provided on the moving body, and sucks the fluid in the suction cup to generate a negative pressure in the suction cup, thereby adsorbing to the wall surface.
  • the wall surface moving device By using the wall surface moving device, it is not necessary for the worker to go up to work and work safely.
  • the wall surface moving device can automatically travel on the wall surface, and the wall surface can be cleaned, painted, inspected, and the like.
  • Patent Document 1 describes a vacuum suction device that moves while adsorbing on a wall surface.
  • the vacuum suction device is provided with a vacuum suction mechanism and a plurality of wheels capable of traveling to stably receive the vacuum suction force generated by the vacuum suction mechanism.
  • the vacuum suction mechanism includes a vacuum box that is open on the suction surface side and formed with a circular recess that is connected to a vacuum generating means, and an elastic seal that is fitted into an annular recess provided around the circular recess. And a sliding material having a small coefficient of friction attached to the suction surface side of the sealing material. Thereby, even if the suction surface slides, the vacuum suction device can move while maintaining the vacuum in the circular recess.
  • Patent Document 2 describes a wall surface adsorption traveling device that travels and moves by wheels pressed against the wall surface while the suction cup is negatively adsorbed on the wall surface.
  • the suction cup is made of a flexible elastic body, and the wall surface traveling is possible by reducing the friction coefficient of the suction surface of the suction cup and increasing the friction coefficient of the wheel.
  • Japanese Patent Publication Japanese Patent Laid-Open No. 9-99877 (published on April 15, 1997)” Japanese public utility model publication “Japanese Utility Model Publication No. 60-50088 (published April 8, 1985)”
  • the sealing material is made of sponge rubber, and the sliding material adhered to the suction surface side of the sealing material is formed of Teflon (registered trademark) or the like.
  • Patent Document 2 travels on the wall surface while a suction cup formed of a flexible elastic body is adsorbed on the wall surface. For this reason, if the apparatus is used repeatedly, the suction surface of the suction cup will get over the unevenness on the wall surface many times. As a result, there is a problem that a load is repeatedly applied to the suction surface to cause cracks and the like, and the suction cup is likely to deteriorate.
  • the present invention has been made in view of the above problems, and an object of the present invention is to provide an adsorption mechanism and a traveling apparatus that are less likely to deteriorate even when used repeatedly while suppressing sliding off from the surface to be adsorbed.
  • an adsorption mechanism is an adsorption mechanism that adsorbs to a surface to be adsorbed, and is connected to a negative pressure generation unit that generates negative pressure and the negative pressure generation unit A flexible member that does not contact the attracted surface; and a contact member that is provided independently of the flexible member and that contacts the attracted surface, the flexible member, the contact member, and the attracted member.
  • An adsorption space is formed by the surface.
  • a traveling device includes the suction mechanism according to one aspect of the present invention.
  • Embodiment 1 Hereinafter, embodiments of the present invention will be described in detail.
  • the attracted surface on which the traveling device travels is not limited to a wall surface, and may be a horizontal surface or an inclined surface.
  • the direction perpendicular to the wall surface is defined as the vertical direction
  • the side away from the wall surface is defined as the upper side
  • the side approaching the wall surface side is defined as the lower side.
  • FIG. 1 and 2 are perspective views of a traveling device 1 having a suction mechanism 2 according to an embodiment of the present invention.
  • FIG. 1 is a perspective view when viewed from above and FIG. 2 is viewed from below.
  • the traveling device 1 includes a suction mechanism 2, a housing 3, a tire 4, a motor 5, a crawler 6, and a cover 7.
  • the suction mechanism 2 includes a negative pressure generator (negative pressure generator) 8, a discharge port 9, a sliding material (contact member) 10, and a suction cup (flexible member) 11.
  • the housing 3 is a hollow member having a substantially rectangular parallelepiped shape whose upper surface is open, and a motor 5 and a negative pressure generator 8 are mounted therein.
  • a substantially circular opening (not shown) is formed on the bottom surface of the housing 3 facing the wall surface.
  • Two tires 4 are provided on each side of the housing 3.
  • Two motors 5 are provided inside the housing 3, one motor 5 for the front wheel tire 4 and the other motor 5 for the rear wheel tire 4 via axles (not shown). Rotate.
  • the traveling device 1 can travel forward and backward by rotating the motor 5 forward and backward. Further, the traveling device 1 can be turned by controlling each motor 5 independently.
  • the crawler 6 is an annular member, and is wound around the front and rear tires 4 and circumscribes the rotation surface of each tire 4.
  • the crawler 6 is a member for transmitting the rotational movement of the tire 4 on which the motor 5 is disposed to the other tire 4.
  • an appropriate material is selected according to the wall surface on which the traveling device 1 travels, the weight of the traveling device 1, the output of the negative pressure generator 8, and the like, but the traveling device 1 may not include the crawler 6. Good.
  • the cover 7 is a substantially rectangular parallelepiped hollow member whose lower end is opened.
  • the lower surface of the cover 7 has a shape corresponding to the upper surface of the housing 3 and is disposed so as to cover the upper surface of the housing 3.
  • the cover 7 has an opening 7a on the upper surface.
  • the negative pressure generating device 8 is a device for generating a negative pressure for adsorbing the traveling device 1 to the wall surface, and one end is connected to the suction cup 11 and the other end is connected to the discharge port 9.
  • the negative pressure generator 8 may be any device that generates a negative pressure.
  • a vacuum pump, an ejector, a propeller, a vacuum fan, or the like is used.
  • the negative pressure generator 8 is disposed inside the housing 3, but is not limited thereto.
  • the negative pressure generator 8 may be connected to the suction cup 11 through a long pipe or the like, and the negative pressure generator 8 may be provided at a position away from the housing 3.
  • the discharge port 9 is a cylindrical hollow member having one end connected to the negative pressure generator 8 and the other end being an open end.
  • the traveling device 1 provided with the discharge port 9 is shown. However, when the traveling device 1 travels in the air, the discharge port 9 may not be provided, and the negative pressure generating device may be provided.
  • the structure in which the fluid is directly discharged from the atmosphere 8 may be used.
  • the sliding material 10 is a substantially cylindrical member disposed so as to be fitted into an opening formed at the bottom of the housing 3.
  • the sliding material 10 is a member that contacts the wall surface, and the lower surface of the sliding material 10 is in close contact with the wall surface.
  • the sliding material 10 slides while maintaining a state of being in close contact with the wall surface W even when the traveling device 1 is traveling. Since the traveling device 1 includes the tire 4 and the motor 5 as drive means, the material forming the sliding material 10 is not particularly limited.
  • the sliding material 10 is preferably made of, for example, PTFE (polytetrafluoromethylene), POM (polyoxymethylene), PE (polyethylene), and the like, and preferably has a low coefficient of friction with the wall surface. Thereby, the traveling device 1 can smoothly travel along the wall surface.
  • the suction cup 11 is a flexible member that is provided independently of the sliding material 10 and does not contact the wall surface.
  • the suction cup 11 is a substantially truncated cone-shaped cylindrical member arranged so as to be fitted inside the sliding material 10.
  • the upper surface of the suction cup 11 is connected to the negative pressure generator 8.
  • the suction cup 11 only needs to be formed of a flexible material, and can be formed of, for example, nitrile rubber, fluorine-based rubber, silicon rubber, or the like.
  • FIG. 3 is a cross-sectional view in the vertical direction (up and down direction) with respect to the traveling direction of the traveling device 1 during suction traveling.
  • a negative pressure chamber (adsorption space) is formed by the sliding material 10, the suction cup 11, and the wall surface (not shown). That is, the negative pressure generator 8 sucks the fluid inside the suction cup 11 and discharges it through the discharge port 9, thereby forming the negative pressure chamber 12 surrounded by the wall surface, the sliding material 10 and the suction cup 11.
  • the suction cup 11 can also be said to be a partition wall constituting the negative pressure chamber 12.
  • the fluid sucked from the negative pressure chamber 12 is transported through the discharge port 9 to a position that does not affect the traveling of the traveling device 1 and is discharged. Then, the tire 4 and the crawler 6 are rotated by the motor 5, and the traveling device 1 travels by suction on the wall surface. The traveling device 1 travels while the sliding material 10 is kept in close contact with the wall surface even during adsorption traveling. For this reason, the airtightness of the negative pressure chamber 12 is maintained also at the time of adsorption
  • FIG. 4A and 4B are cross-sectional views showing a deformation state of the suction cup 11 in the traveling device 1, in which FIG. 4A is a non-adsorption state on the wall surface W, and FIG. FIG.
  • the shape of the suction cup 11 when not attracted to the wall surface W is a dome shape.
  • the shape of the negative pressure chamber 12 at the time of installing the traveling device 1 on the wall surface W (before the operation of the negative pressure generating device 8) is similarly dome-shaped.
  • the negative pressure generating device 8 sucks the fluid inside the negative pressure chamber 12 to such an extent that the traveling device 1 can be adsorbed to the wall surface W.
  • the flexible suction cup 11 is recessed so as to be pulled toward the wall surface W, and the volume of the negative pressure chamber 12 is reduced as compared with FIG. It deforms as follows. For this reason, in the state of FIG.
  • the force applied to the negative pressure chamber 12 by the negative pressure generator 8 and the suction cup 11 try to return to the original shape (the shape of FIG. 4A).
  • Two forces, the restoring force, act, and the negative pressure state in the negative pressure chamber 12 is maintained.
  • the traveling device 1 can be prevented from sliding off the wall surface W when the negative pressure generating device 8 is stopped.
  • the traveling device 1 since the traveling device 1 includes the check valve 8a, the negative pressure in the negative pressure chamber 12 is maintained by the restoring force of the suction cup 11, and the sliding from the wall surface W of the traveling device 1 can be more reliably prevented. Can do.
  • the sliding member 10 is a cylindrical member that penetrates the bottom surface of the housing 3 and reaches the inside of the housing 3. ing. And the contact part 11a with the sliding material 10 in the suction cup 11 becomes a structure inscribed in the inner surface of the sliding material 10.
  • FIG. This increases the range of deformation of the suction cup 11 when it is not attracted to the wall surface W in FIG. 4A and when attracted to the wall surface W in FIG.
  • the volume change of the pressure chamber 12 also increases.
  • the traveling device 1 can be more reliably prevented from sliding off the wall surface W.
  • the traveling device 1 in which the contact portion 11 a at the end of the suction cup 11 extends along the inner surface of the sliding material 10 like a syringe. This is because the structure is slidable. With this configuration, since the restoring force of the suction cup 11 made of a flexible member and the force of volume fluctuation of the negative pressure chamber 12 are applied to the negative pressure chamber 12, sliding from the wall surface W of the traveling device 1 is prevented. be able to.
  • the suction cup 11 may have a configuration in which the contact portion 11a and other portions are integrated, or a configuration in which separate members are connected.
  • the traveling device 1 has a configuration in which a sealed space 12 ⁇ / b> A is formed separately from the negative pressure chamber 12 by the inner surface of the sliding material 10 and the outer surface of the suction cup 11. At the time of non-adsorption to the wall surface W of FIG. 4A, the pressure in the sealed space 12A is the same as that of the negative pressure chamber 12 (usually atmospheric pressure).
  • the volume of the sealed space 12A becomes larger than that at the time of non-adsorption to the wall surface W in FIG.
  • (pressure) ⁇ (volume) constant under a constant temperature condition.
  • the pressure in the sealed space 12A is a negative pressure rather than the atmospheric pressure state (the state of FIG. 4A).
  • the negative pressure state in the negative pressure chamber 12 can be reliably maintained. Therefore, it is possible to reliably suppress the traveling device 1 from sliding off the wall surface W when the negative pressure generating device 8 is stopped.
  • the traveling device 1 in order to reduce the volume of the negative pressure chamber 12, at least a part of the suction cup 11 may be deformed. However, it is preferable that the entire suction cup 11 is deformed according to the negative pressure state of the negative pressure chamber 12. Even with such a configuration, the restoring force of the suction cup 11 is increased. Therefore, the traveling device 1 can be more reliably prevented from sliding off the wall surface W.
  • the suction cup 11 does not contact the wall surface W in any state of (a) and (b) in FIG. For this reason, even if the traveling device 1 is repeatedly used, the suction cup 11 does not deteriorate due to a crack or the like.
  • the suction cup 11 is a flexible member, and the shape of the suction cup 11 (volume of the negative pressure chamber 12) is when the traveling device 1 is attracted and not attracted. Change.
  • the traveling apparatus 1 which concerns on this embodiment, the restoring force of the suction cup 11 presses the traveling apparatus 1 against the wall surface W. Therefore, the negative pressure in the negative pressure chamber 12 is not suddenly lost. Therefore, the traveling device 1 can travel without sliding off the wall surface W.
  • the negative pressure chamber 12 is formed by the sliding material 10, the flexible suction cup 11, and the wall surface W, and the sliding material 10 and the suction cup 11 are configured separately. ing. Therefore, it is possible to provide the suction mechanism 2 and the traveling device 1 in which the suction cup 11 is not easily deteriorated even when used repeatedly while suppressing the sliding from the wall surface W of the traveling device 1.
  • the traveling device 1 can travel without sliding off the wall surface even when the wall surface W has irregularities.
  • the unevenness of the wall surface W is small.
  • the wall surface W is exposed to the outside air, and a lot of dirt (foreign matter such as dust) is often attached.
  • the dirt is often an aggregate of fine particles, forms fine irregularities, and hinders stable running of the traveling device 1.
  • the traveling device 1 travels over dirt and dust is sucked into the negative pressure generator 8, the negative pressure generator 8 may have a reduced function.
  • the traveling device 1 is repeatedly used, the sliding material 10 that contacts the wall surface W may be deteriorated due to cracks or the like due to the unevenness on the wall surface W.
  • FIG. 5 is a perspective view of the traveling device 1a according to the present embodiment as viewed from the lower side (wall surface side).
  • the traveling device 1 a includes two squeegees (cleaning units) 13 at the bottom of the housing 3, and the sliding material 10 is disposed between the two squeegees 13.
  • the traveling device 1 a can travel forward and backward by driving the tire 4. For this reason, if the sliding material 10 is arrange
  • the squeegee 13 can be formed from, for example, a hard resin.
  • the squeegee 13 By providing such a squeegee 13, it is possible to sweep away dust or the like that causes unevenness formed on the wall surface during traveling. Thereby, the unevenness of the wall surface is reduced, the dust sucked into the negative pressure generating device 8 is reduced, and the function deterioration of the negative pressure generating device 8 can be prevented. Furthermore, the unevenness on the wall surface can prevent the sliding material 10 that contacts the wall surface from being deteriorated by cracks or the like. Therefore, the traveling device 1a can travel on the wall surface W stably. Further, the squeegee 13 can also clean a wall surface in a place that is dangerous for a person to work or a place that cannot be reached by a person.
  • the squeegee 13 is provided with a small gap between the squeegee 13 and the wall surface W so as not to become a friction source that hinders the traveling of the traveling device 1a.
  • the squeegee 13 is not limited to the arrangement as shown in FIG. 5, and may be provided in a circular shape along the outer periphery of the sliding material 10, for example. As a result, it is possible to sweep away dust or the like that causes unevenness formed on the wall surface during traveling, regardless of which direction the traveling device 1a travels.
  • FIGS. 6 and 7 are perspective views of the traveling device 1b according to the present embodiment.
  • FIG. 6 is a perspective view of the traveling device 1b as viewed from above.
  • FIG. 7 is a perspective view of the traveling device 1b as viewed from below (wall surface side). It is a perspective view.
  • the traveling device 1b includes a cleaning device (cleaning unit) 14 that cleans the wall surface.
  • the cleaning device 14 is provided either on the front side or the rear side in the traveling direction of the traveling device 1b.
  • the cleaning device 14 may be provided at both ends of the traveling device 1b in the traveling direction.
  • the cleaning device 14 has a cleaning case 14a and a brush 14b.
  • the cleaning case 14a is connected to the housing 3 and moves in conjunction with the traveling of the traveling device 1b.
  • the brush 14b is provided on the bottom surface (surface facing the wall surface) of the cleaning case 14a. The brush 14b contacts the wall surface and cleans the wall surface according to the traveling of the traveling device 1b.
  • the traveling device 1b has the same effect as the traveling device 1a. That is, the unevenness of the wall surface is reduced, and dust sucked into the negative pressure generating device 8 is reduced, thereby preventing the function of the negative pressure generating device 8 from being lowered. Furthermore, the unevenness on the wall surface can prevent the sliding material 10 that contacts the wall surface from being deteriorated by cracks or the like. Therefore, the traveling device 1a can travel on the wall surface W stably. In addition, it is possible to clean the wall surface in a place that is dangerous for human work or in a place where human hands cannot reach with the brush 14b.
  • the brush 14b is preferably one that rotates and cleans according to the travel of the travel device 1b, but is not limited to this, and may be one that does not rotate.
  • a non-rotating brush 14b is used, the cleaning ability is improved by using the brush 14b having a high flocking density, and dirt can be efficiently swept away.
  • the cleaning device 14 may include a cloth or the like instead of the brush 14b. For example, when the cloth is provided, the wall surface can be wiped and cleaned.
  • FIG. 8 is a perspective view of the traveling device 1c according to the present embodiment.
  • the traveling device 1 c includes a cargo handling device (transport unit) 15.
  • the traveling device 1c of FIG. 8 has a configuration including a cargo handling device 15 instead of the cleaning device 14 of the traveling device 1b shown in FIGS.
  • the cargo handling and conveying device 15 includes a conveying case 15a and a cover 15b.
  • the transport case 15a is connected to the housing 3 and moves in conjunction with the travel of the travel device 1c.
  • the traveling device 1c can travel with the load placed on the transport case 15a.
  • the transport case 15a can travel with a functional member or the like in addition to the luggage.
  • a wall surface can be painted or inspected by running with a coating device or an inspection device. This makes it possible to perform various operations even on a wall that is in a place that is dangerous for people to work or that is out of reach of people.
  • the adsorption mechanism 2 is an adsorption mechanism 2 that adsorbs to a surface to be adsorbed (wall surface W), and includes a negative pressure generating unit (negative pressure generating device 8) that generates negative pressure, and the negative pressure.
  • a flexible member suction cup 11
  • a contact member sliding material 10) that is provided independently of the flexible member and contacts the surface to be attracted.
  • a suction space (negative pressure chamber 12) is formed by the flexible member, the contact member, and the suction surface.
  • the suction space formed by the flexible member, the contact member, and the surface to be sucked is in a negative pressure state.
  • the suction space is in a negative pressure state
  • the flexible member is deformed to the attracted surface side, and the volume of the suction space is reduced.
  • the adsorption mechanism is adsorbed on the surface to be adsorbed.
  • two forces of the force applied by the negative pressure generating portion and the restoring force of the deformed flexible member returning to the original shape act on the adsorption space, and the negative pressure state of the adsorption space is Maintained.
  • the restoring force of the flexible member acts, so that the negative pressure state of the adsorption space is not abruptly destroyed. Furthermore, even when the negative pressure generating portion stops, the restoring force of the flexible member acts, so that the negative pressure state of the adsorption space can be maintained. Therefore, it is possible to suppress the adsorption mechanism from sliding off the surface to be adsorbed.
  • the flexible member since the flexible member does not contact the surface to be attracted, even if the attracting mechanism is repeatedly used, the flexible member does not deteriorate due to cracks or the like.
  • the entire flexible member is deformed according to the negative pressure state of the suction space.
  • the traveling devices 1, 1a, 1b, and 1c according to the aspect 3 of the present invention are the traveling devices 1, 1a, 1b, and 1c that travel while being attracted to the attracted surface (the wall surface W). It is characterized by including the adsorption mechanism 2 described in the above.
  • the suction mechanism 2 of the first aspect or the second aspect since the suction mechanism 2 of the first aspect or the second aspect is provided, it is possible to provide a traveling device that is less likely to deteriorate even when repeatedly used while suppressing sliding off from the surface to be attracted.
  • the travel devices 1a and 1b according to aspect 4 of the present invention may be configured to include the cleaning unit (squeegee 13 and cleaning device 14) for cleaning the suction surface in aspect 3 described above.
  • the cleaning unit squeegee 13 and cleaning device 14
  • the cleaning unit (cleaning device 14) may be the brush 14b.
  • the cleaning unit squeegee 13 and cleaning device 14
  • the unevenness of the wall surface is reduced, the dust sucked into the negative pressure generating part is reduced, and the function deterioration of the negative pressure generating part can be prevented.
  • the unevenness on the wall surface can prevent the contact member in contact with the wall surface from being deteriorated due to a crack or the like. Therefore, the traveling devices 1a and 1b can travel on the wall surface stably.
  • the traveling device 1c may include a transporting part (load handling and transporting device 15) for transporting a load in the above-described modes 3 to 6.
  • the present invention can be used as a traveling device that travels by attracting a surface to be attracted such as a wall surface and an adsorption mechanism used in the traveling device.

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Abstract

Provided is an adsorption mechanism that does not slide off even when a negative pressure generator is stopped and does not easily deteriorate even when used repeatedly. The adsorption mechanism (2) comprises: the negative pressure generator (8) which generates negative pressure; a suction pad (11) connected to the negative pressure generator (8) and which does not come in contact with a surface to be adhered to such as a wall surface; and a slip material (10) provided independently from the suction pad (11) and which comes in contact with the surface to be adhered to. A negative pressure chamber for adhering to the surface to be adhered to, by using negative pressure, is formed by the suction pad (11), the slip material (10), and the surface to be adhered to.

Description

吸着機構および走行装置Adsorption mechanism and traveling device
　本発明は、壁面等の被吸着面に吸着して走行する走行装置および当該走行装置に用いられる吸着機構に関する。 The present invention relates to a traveling device that travels by being attracted to a surface to be attracted such as a wall surface, and an adsorption mechanism used in the traveling device.
　従来、垂直な壁面を昇降移動する壁面移動装置が知られている。上記壁面移動装置は、壁面に沿って移動する移動体と、当該移動体に設けられた吸盤とを備え、吸盤内の流体を吸引して吸盤内に負圧を発生させることにより、壁面に吸着する。上記壁面移動装置を利用することで、作業員が高所に上がって作業する必要が無くなり、安全に作業をすることが可能となる。また、上記壁面移動装置の移動経路をプログラミングすることにより、上記壁面移動装置が自動的に壁面を走行し、壁面の清掃、塗装および検査等を行うことができる。 Conventionally, a wall surface moving device that moves up and down a vertical wall surface is known. The wall surface moving device includes a moving body that moves along the wall surface and a suction cup provided on the moving body, and sucks the fluid in the suction cup to generate a negative pressure in the suction cup, thereby adsorbing to the wall surface. To do. By using the wall surface moving device, it is not necessary for the worker to go up to work and work safely. Moreover, by programming the movement path of the wall surface moving device, the wall surface moving device can automatically travel on the wall surface, and the wall surface can be cleaned, painted, inspected, and the like.
　特許文献１には、壁面に吸着しながら移動する真空吸着装置が記載されている。上記真空吸着装置は、真空吸着機構と、真空吸着機構で発生する真空吸着力を安定して受け止める走行可能な複数の車輪とが、機枠に設けられている。上記真空吸着機構は、吸着面側に開口し、真空発生手段に接続される円形凹部が形成された真空箱と、円形凹部の周囲に設けられた環状凹部に嵌挿された弾力性のあるシール材と、シール材の吸着面側に貼着された摩擦係数の小さい滑り材とからなっている。これにより、真空吸着装置は、吸着面を滑らせても、円形凹部内の真空を維持しながら移動可能となる。 Patent Document 1 describes a vacuum suction device that moves while adsorbing on a wall surface. The vacuum suction device is provided with a vacuum suction mechanism and a plurality of wheels capable of traveling to stably receive the vacuum suction force generated by the vacuum suction mechanism. The vacuum suction mechanism includes a vacuum box that is open on the suction surface side and formed with a circular recess that is connected to a vacuum generating means, and an elastic seal that is fitted into an annular recess provided around the circular recess. And a sliding material having a small coefficient of friction attached to the suction surface side of the sealing material. Thereby, even if the suction surface slides, the vacuum suction device can move while maintaining the vacuum in the circular recess.
　特許文献２には、吸盤の内部を負圧にして壁面に吸着させながら、当該壁面に押接された車輪により走行移動する壁面吸着走行装置が記載されている。上記壁面吸着走行装置は、吸盤が柔軟な弾性体からなり、吸盤の吸着面の摩擦係数小さくし、車輪の摩擦係数を大きくすることによって、壁面走行が可能となっている。 Patent Document 2 describes a wall surface adsorption traveling device that travels and moves by wheels pressed against the wall surface while the suction cup is negatively adsorbed on the wall surface. In the wall surface adsorption traveling device, the suction cup is made of a flexible elastic body, and the wall surface traveling is possible by reducing the friction coefficient of the suction surface of the suction cup and increasing the friction coefficient of the wheel.
日本国公開特許公報「特開平９－９９８７７号公報（１９９７年４月１５日公開）」Japanese Patent Publication “Japanese Patent Laid-Open No. 9-99877 (published on April 15, 1997)” 日本国公開実用新案公報「実開昭６０－５００８８号公報（１９８５年４月８日公開）」Japanese public utility model publication “Japanese Utility Model Publication No. 60-50088 (published April 8, 1985)”
　上記特許文献１に記載の装置では、シール材がスポンジゴム製であり、シール材の吸着面側に貼着された滑り材がテフロン（登録商標）等から形成される。これにより、スポンジゴムが壁面の凹凸に対し弾力的に対応するため、円形凹部と壁面とシール材とで囲まれる真空室内の気密性を維持できるとしている。 In the apparatus described in Patent Document 1, the sealing material is made of sponge rubber, and the sliding material adhered to the suction surface side of the sealing material is formed of Teflon (registered trademark) or the like. Thereby, since the sponge rubber responds elastically to the irregularities on the wall surface, it is said that the airtightness in the vacuum chamber surrounded by the circular recess, the wall surface, and the sealing material can be maintained.
　しかし、滑り材が吸着面の凹凸を乗り越える際には、壁面と滑り材との間に一時的に必ず隙間が形成される。このため、隙間が形成されたときに、真空室内の真空（負圧）状態が急激に破壊されてしまい、装置が壁面から滑落するという問題がある。また、真空発生手段が停止した場合も、真空室内の真空状態を維持できなくなるため、装置が壁面から滑落するという問題がある。 However, when the sliding material gets over the unevenness of the adsorption surface, a gap is always formed temporarily between the wall surface and the sliding material. For this reason, when a gap is formed, the vacuum (negative pressure) state in the vacuum chamber is abruptly broken, and there is a problem that the apparatus slides down from the wall surface. In addition, even when the vacuum generating means is stopped, the vacuum state in the vacuum chamber cannot be maintained, and there is a problem that the apparatus slides off from the wall surface.
　また、特許文献２に記載の装置は、柔軟な弾性体から形成された吸盤が壁面に吸着しながら壁面を走行する。このため、装置を繰り返し使用すると、吸盤の吸着面は壁面上の凹凸を何度も乗り越えることとなる。その結果、吸着面に繰り返し負荷が加わり亀裂等が生じ、吸盤が劣化しやすいという問題がある。 Further, the apparatus described in Patent Document 2 travels on the wall surface while a suction cup formed of a flexible elastic body is adsorbed on the wall surface. For this reason, if the apparatus is used repeatedly, the suction surface of the suction cup will get over the unevenness on the wall surface many times. As a result, there is a problem that a load is repeatedly applied to the suction surface to cause cracks and the like, and the suction cup is likely to deteriorate.
　本発明は上記の問題に鑑みてなされたものであり、その目的は、被吸着面からの滑落を抑制しつつ、繰り返し使用しても劣化しにくい吸着機構および走行装置を提供することにある。 The present invention has been made in view of the above problems, and an object of the present invention is to provide an adsorption mechanism and a traveling apparatus that are less likely to deteriorate even when used repeatedly while suppressing sliding off from the surface to be adsorbed.
　上記の課題を解決するために、本発明の一態様に係る吸着機構は、被吸着面に吸着する吸着機構であって、負圧を発生させる負圧発生部と、上記負圧発生部に接続され、被吸着面に接触しない可撓性部材と、上記可撓性部材と独立して設けられ、被吸着面に接触する接触部材とを備え、上記可撓性部材、接触部材、および被吸着面によって、吸着空間が形成されることを特徴としている。 In order to solve the above problems, an adsorption mechanism according to one aspect of the present invention is an adsorption mechanism that adsorbs to a surface to be adsorbed, and is connected to a negative pressure generation unit that generates negative pressure and the negative pressure generation unit A flexible member that does not contact the attracted surface; and a contact member that is provided independently of the flexible member and that contacts the attracted surface, the flexible member, the contact member, and the attracted member. An adsorption space is formed by the surface.
　上記の課題を解決するために、本発明の一態様に係る走行装置は、上記本発明の一態様に係る吸着機構を備えることを特徴としている。 In order to solve the above-described problem, a traveling device according to one aspect of the present invention includes the suction mechanism according to one aspect of the present invention.
　本発明の一態様によれば、被吸着面からの滑落を抑制しつつ、繰り返し使用しても劣化しにくい吸着機構および走行装置を提供することができるという効果を奏する。 According to one aspect of the present invention, there is an effect that it is possible to provide an adsorption mechanism and a traveling device that are less likely to deteriorate even when used repeatedly while suppressing sliding off from the surface to be adsorbed.
本発明の実施形態１に係る吸着機構を有する走行装置の斜視図である。It is a perspective view of the traveling apparatus which has a suction mechanism concerning Embodiment 1 of the present invention. 本発明の実施形態１に係る吸着機構を有する走行装置の斜視図である。It is a perspective view of the traveling apparatus which has a suction mechanism concerning Embodiment 1 of the present invention. 本発明の実施形態１に係る走行装置の吸着走行時の断面図である。It is sectional drawing at the time of adsorption | suction driving | running | working of the traveling apparatus which concerns on Embodiment 1 of this invention. 本発明の実施形態１に係る走行装置における吸盤の変形状態を示す断面図であり、（ａ）は壁面への非吸着時、（ｂ）は壁面への吸着時の状態を示す図である。It is sectional drawing which shows the deformation | transformation state of the suction cup in the traveling apparatus which concerns on Embodiment 1 of this invention, (a) is the time of the non-adsorption to a wall surface, (b) is a figure which shows the state at the time of adsorption | suction to a wall surface. 本発明の実施形態２に係る吸着機構を有する走行装置の斜視図である。It is a perspective view of the traveling apparatus which has a suction mechanism concerning Embodiment 2 of the present invention. 本発明の実施形態３に係る吸着機構を有する走行装置の斜視図である。It is a perspective view of the traveling apparatus which has a suction mechanism concerning Embodiment 3 of the present invention. 本発明の実施形態３に係る吸着機構を有する走行装置の斜視図である。It is a perspective view of the traveling apparatus which has a suction mechanism concerning Embodiment 3 of the present invention. 本発明の実施形態４に係る吸着機構を有する走行装置の斜視図である。It is a perspective view of the traveling apparatus which has a suction mechanism concerning Embodiment 4 of the present invention.
　〔実施形態１〕
　以下、本発明の実施の形態について、詳細に説明する。なお、以下の説明では、本発明の一実施形態として、壁面上を吸着走行する走行装置について説明する。ただし、走行装置が走行する被吸着面は、壁面に限定されるものではなく、水平面であっても、傾斜面であってもよい。また、以下の説明では、便宜上、壁面に対して垂直方向を上下方向とし、壁面から離れる側を上方、壁面側に近づく側を下方とする。 Embodiment 1
Hereinafter, embodiments of the present invention will be described in detail. In the following description, a traveling device that performs suction traveling on a wall surface will be described as an embodiment of the present invention. However, the attracted surface on which the traveling device travels is not limited to a wall surface, and may be a horizontal surface or an inclined surface. In the following description, for the sake of convenience, the direction perpendicular to the wall surface is defined as the vertical direction, the side away from the wall surface is defined as the upper side, and the side approaching the wall surface side is defined as the lower side.
　（１．走行装置１の構成概略）
　図１および図２は本発明の一実施形態に係る吸着機構２を有する走行装置１の斜視図であり、図１は上方から、図２は下方から見た場合の斜視図である。 (1. Outline of configuration of traveling device 1)
1 and 2 are perspective views of a traveling device 1 having a suction mechanism 2 according to an embodiment of the present invention. FIG. 1 is a perspective view when viewed from above and FIG. 2 is viewed from below.
　図１および図２に示したように、本発明の一実施形態に係る走行装置１は、吸着機構２と筐体３とタイヤ４とモーター５とクローラー６とカバー７とを有している。吸着機構２は、負圧発生装置（負圧発生部）８と排出口９と滑り材（接触部材）１０と吸盤（可撓性部材）１１とを有している。 As shown in FIGS. 1 and 2, the traveling device 1 according to an embodiment of the present invention includes a suction mechanism 2, a housing 3, a tire 4, a motor 5, a crawler 6, and a cover 7. The suction mechanism 2 includes a negative pressure generator (negative pressure generator) 8, a discharge port 9, a sliding material (contact member) 10, and a suction cup (flexible member) 11.
　筐体３は、上面が開放された略直方体の中空の部材であって、内部にモーター５と負圧発生装置８とが搭載されている。また壁面と対向する筐体３の底面には、図示しない略円形の開口部（図示せず）が形成されている。 The housing 3 is a hollow member having a substantially rectangular parallelepiped shape whose upper surface is open, and a motor 5 and a negative pressure generator 8 are mounted therein. A substantially circular opening (not shown) (not shown) is formed on the bottom surface of the housing 3 facing the wall surface.
　タイヤ４は、筐体３の左右にそれぞれ２個ずつ備えられている。筐体３の内部には２つのモーター５が設けられており、一方のモーター５が前輪のタイヤ４を、他方のモーター５が後輪のタイヤ４を、それぞれ車軸（図示せず）を介して回転させる。モーター５を正転、逆転することで、走行装置１は、前方、後方へと走行可能である。また、それぞれのモーター５を独立して制御することで、走行装置１を旋回させることも可能である。 Two tires 4 are provided on each side of the housing 3. Two motors 5 are provided inside the housing 3, one motor 5 for the front wheel tire 4 and the other motor 5 for the rear wheel tire 4 via axles (not shown). Rotate. The traveling device 1 can travel forward and backward by rotating the motor 5 forward and backward. Further, the traveling device 1 can be turned by controlling each motor 5 independently.
　クローラー６は、円環状の部材であって、左右それぞれの前後のタイヤ４に巻きつき、各タイヤ４の回転面に外接している。クローラー６は、モーター５が配置されたタイヤ４の回転運動をもう一方のタイヤ４へと伝えるための部材である。クローラー６は、走行装置１が走行する壁面、走行装置１の重量および負圧発生装置８の出力等に応じて適切な材料が選ばれるが、走行装置１は、クローラー６を備えてなくてもよい。 The crawler 6 is an annular member, and is wound around the front and rear tires 4 and circumscribes the rotation surface of each tire 4. The crawler 6 is a member for transmitting the rotational movement of the tire 4 on which the motor 5 is disposed to the other tire 4. For the crawler 6, an appropriate material is selected according to the wall surface on which the traveling device 1 travels, the weight of the traveling device 1, the output of the negative pressure generator 8, and the like, but the traveling device 1 may not include the crawler 6. Good.
　カバー７は、下端が開放された略直方体の中空の部材である。カバー７の下面は筐体３の上面と対応した形状を有しており、筐体３の上面を覆うように配置される。また、カバー７は、上面に開口部７ａを有している。 The cover 7 is a substantially rectangular parallelepiped hollow member whose lower end is opened. The lower surface of the cover 7 has a shape corresponding to the upper surface of the housing 3 and is disposed so as to cover the upper surface of the housing 3. The cover 7 has an opening 7a on the upper surface.
　負圧発生装置８は、走行装置１を壁面に吸着させるための負圧を発生させるための装置であって、一端が吸盤１１に、他端が排出口９に接続されている。負圧発生装置８は、負圧を発生させるものであればよく、例えば、真空ポンプ、エジェクタ、プロペラ、真空ファン等が用いられる。また、本実施形態において、負圧発生装置８は筐体３の内部に配置されているが、これに限ったものではない。例えば、長尺配管等を通じて負圧発生装置８を吸盤１１に接続し、負圧発生装置８を筐体３から離れた位置に設けてもよい。 The negative pressure generating device 8 is a device for generating a negative pressure for adsorbing the traveling device 1 to the wall surface, and one end is connected to the suction cup 11 and the other end is connected to the discharge port 9. The negative pressure generator 8 may be any device that generates a negative pressure. For example, a vacuum pump, an ejector, a propeller, a vacuum fan, or the like is used. In the present embodiment, the negative pressure generator 8 is disposed inside the housing 3, but is not limited thereto. For example, the negative pressure generator 8 may be connected to the suction cup 11 through a long pipe or the like, and the negative pressure generator 8 may be provided at a position away from the housing 3.
　排出口９は、円筒形の中空の部材であって、一端は負圧発生装置８に接続され、他端は開放端となっている。なお、本実施形態においては、排出口９が設けられた走行装置１を示したが、走行装置１が空気中を走行する場合は、排出口９を設けていなくてもよく、負圧発生装置８から直接流体が大気中へと排出される構造であってもよい。 The discharge port 9 is a cylindrical hollow member having one end connected to the negative pressure generator 8 and the other end being an open end. In the present embodiment, the traveling device 1 provided with the discharge port 9 is shown. However, when the traveling device 1 travels in the air, the discharge port 9 may not be provided, and the negative pressure generating device may be provided. The structure in which the fluid is directly discharged from the atmosphere 8 may be used.
　滑り材１０は、筐体３の底部に形成された開口部に嵌め込まれるように配置された略円筒状の部材である。滑り材１０は壁面に接触する部材であり、滑り材１０の下面が壁面に密着するようになっている。滑り材１０は、走行装置１の走行時にも、壁面Ｗと密着した状態を維持しながら滑る。走行装置１は、駆動手段としてタイヤ４およびモーター５を備えるため、滑り材１０を形成する材料は特に限定されるものではない。しかし、滑り材１０は、例えば、ＰＴＦＥ（ポリテトラフルオロメチレン）、ＰＯＭ（ポリオキシメチレン）、ＰＥ（ポリエチレン）等から形成され、壁面との摩擦係数が低くなっていることが好ましい。これにより、走行装置１が壁面に沿って円滑に走行することができる。 The sliding material 10 is a substantially cylindrical member disposed so as to be fitted into an opening formed at the bottom of the housing 3. The sliding material 10 is a member that contacts the wall surface, and the lower surface of the sliding material 10 is in close contact with the wall surface. The sliding material 10 slides while maintaining a state of being in close contact with the wall surface W even when the traveling device 1 is traveling. Since the traveling device 1 includes the tire 4 and the motor 5 as drive means, the material forming the sliding material 10 is not particularly limited. However, the sliding material 10 is preferably made of, for example, PTFE (polytetrafluoromethylene), POM (polyoxymethylene), PE (polyethylene), and the like, and preferably has a low coefficient of friction with the wall surface. Thereby, the traveling device 1 can smoothly travel along the wall surface.
　吸盤１１は、滑り材１０とは独立して設けられ、壁面には接触しない可撓性部材である。走行装置１では、吸盤１１は、滑り材１０の内側に嵌め込まれるように配置された、略円錐台形の筒状部材である。また、吸盤１１の上面は負圧発生装置８に接続されている。吸盤１１は、可撓性を有する材料から形成されていればよく、例えば、ニトリルゴム、フッ素系ゴム、シリコンゴム等から形成することができる。 The suction cup 11 is a flexible member that is provided independently of the sliding material 10 and does not contact the wall surface. In the traveling device 1, the suction cup 11 is a substantially truncated cone-shaped cylindrical member arranged so as to be fitted inside the sliding material 10. The upper surface of the suction cup 11 is connected to the negative pressure generator 8. The suction cup 11 only needs to be formed of a flexible material, and can be formed of, for example, nitrile rubber, fluorine-based rubber, silicon rubber, or the like.
　（２．吸着走行時における走行装置１の動作）
　次に、吸着走行時における走行装置１の動作を説明する。図３は、吸着走行時における走行装置１の走行方向に対して垂直方向（上下方向）の断面図である。 (2. Operation of traveling device 1 during adsorption traveling)
Next, the operation of the traveling device 1 during adsorption traveling will be described. FIG. 3 is a cross-sectional view in the vertical direction (up and down direction) with respect to the traveling direction of the traveling device 1 during suction traveling.
　走行装置１の吸着走行時には、滑り材１０、吸盤１１、および壁面（図示せず）により、負圧室（吸着空間）が形成される。すなわち、負圧発生装置８により吸盤１１内部の流体が吸引され、排出口９を通じ排出されることで、壁面と滑り材１０と吸盤１１とによって囲まれる負圧室１２が形成される。吸盤１１は、負圧室１２を構成する隔壁部ともいえる。負圧室１２内に負圧が加えられると、走行装置１が壁面に吸着する。吸盤１１は、可撓性を有するため、内部の流体が吸引されると変形することができる。負圧室１２から吸引された流体は、排出口９を通じて走行装置１の走行に影響を及ぼさない位置まで運ばれ、排出される。そして、モーター５によりタイヤ４およびクローラー６が回転し、走行装置１が壁面を吸着走行する。走行装置１は、吸着走行時においても、滑り材１０が壁面との密着状態を維持して走行する。このため、吸着走行時も負圧室１２の気密性が維持され、走行装置１が壁面から滑落するのを抑制することができる。 During the adsorption traveling of the traveling device 1, a negative pressure chamber (adsorption space) is formed by the sliding material 10, the suction cup 11, and the wall surface (not shown). That is, the negative pressure generator 8 sucks the fluid inside the suction cup 11 and discharges it through the discharge port 9, thereby forming the negative pressure chamber 12 surrounded by the wall surface, the sliding material 10 and the suction cup 11. The suction cup 11 can also be said to be a partition wall constituting the negative pressure chamber 12. When a negative pressure is applied in the negative pressure chamber 12, the traveling device 1 is adsorbed on the wall surface. Since the suction cup 11 has flexibility, it can be deformed when the fluid inside is sucked. The fluid sucked from the negative pressure chamber 12 is transported through the discharge port 9 to a position that does not affect the traveling of the traveling device 1 and is discharged. Then, the tire 4 and the crawler 6 are rotated by the motor 5, and the traveling device 1 travels by suction on the wall surface. The traveling device 1 travels while the sliding material 10 is kept in close contact with the wall surface even during adsorption traveling. For this reason, the airtightness of the negative pressure chamber 12 is maintained also at the time of adsorption | suction driving | running | working, and it can suppress that the traveling apparatus 1 slips off from a wall surface.
　図４は、走行装置１における吸盤１１の変形状態を示す断面図であり、図４の（ａ）は壁面Ｗへの非吸着時、図４の（ｂ）は壁面Ｗへの吸着時の状態を示す図である。 4A and 4B are cross-sectional views showing a deformation state of the suction cup 11 in the traveling device 1, in which FIG. 4A is a non-adsorption state on the wall surface W, and FIG. FIG.
　図４の（ａ）に示すように、走行装置１では、壁面Ｗへの非吸着時の吸盤１１の形状は、ドーム状になっている。このため、走行装置１を壁面Ｗに設置した時点（負圧発生装置８の動作前）の負圧室１２の形状も同様にドーム状となる。その後、負圧発生装置８は、走行装置１が壁面Ｗに吸着できる程度にまで、負圧室１２の内部の流体を吸引する。その結果、図４の（ｂ）に示すように、可撓性を有する吸盤１１が、壁面Ｗ側に引っ張られるように凹み、図４の（ａ）よりも負圧室１２の体積が減少するように変形する。このため、図４の（ｂ）の状態では、負圧室１２に、負圧発生装置８により加えられる力と、吸盤１１が元の形状（図４の（ａ）の形状）に戻ろうとする復元力との二つの力が作用し、負圧室１２内の負圧状態が維持される。このため、負圧発生装置８が停止した場合においても、吸盤１１の復元力が作用するため、負圧室１２の負圧状態を維持することができる。したがって、負圧発生装置８の停止時に、走行装置１が壁面Ｗから滑落するのを抑制することができる。また、走行装置１は、逆止弁８ａを備えているため、吸盤１１の復元力により負圧室１２の負圧が維持され、走行装置１の壁面Ｗからの滑落をより確実に防止することができる。 As shown in FIG. 4A, in the traveling device 1, the shape of the suction cup 11 when not attracted to the wall surface W is a dome shape. For this reason, the shape of the negative pressure chamber 12 at the time of installing the traveling device 1 on the wall surface W (before the operation of the negative pressure generating device 8) is similarly dome-shaped. Thereafter, the negative pressure generating device 8 sucks the fluid inside the negative pressure chamber 12 to such an extent that the traveling device 1 can be adsorbed to the wall surface W. As a result, as shown in FIG. 4B, the flexible suction cup 11 is recessed so as to be pulled toward the wall surface W, and the volume of the negative pressure chamber 12 is reduced as compared with FIG. It deforms as follows. For this reason, in the state of FIG. 4B, the force applied to the negative pressure chamber 12 by the negative pressure generator 8 and the suction cup 11 try to return to the original shape (the shape of FIG. 4A). Two forces, the restoring force, act, and the negative pressure state in the negative pressure chamber 12 is maintained. For this reason, even when the negative pressure generating device 8 stops, the restoring force of the suction cup 11 acts, so that the negative pressure state of the negative pressure chamber 12 can be maintained. Therefore, the traveling device 1 can be prevented from sliding off the wall surface W when the negative pressure generating device 8 is stopped. Moreover, since the traveling device 1 includes the check valve 8a, the negative pressure in the negative pressure chamber 12 is maintained by the restoring force of the suction cup 11, and the sliding from the wall surface W of the traveling device 1 can be more reliably prevented. Can do.
　また、図４の（ａ）および（ｂ）に示すように、走行装置１では、滑り材１０が、筐体３の底面を貫通し、筐体３の内部に達するような筒状部材となっている。そして、吸盤１１における滑り材１０との接触部１１ａが滑り材１０の内側面に内接する構成となっている。これにより、図４の（ａ）の壁面Ｗへの非吸着時と、図４の（ｂ）の壁面Ｗへの吸着時との吸盤１１の変形範囲が大きくなり、吸盤１１の変形に伴う負圧室１２の体積変化も大きくなる。このため、負圧室１２の体積を非吸着時の体積に戻そうとする吸盤１１の復元力もより強い力となり、負圧室１２内の負圧を維持する力も強くなる。したがって、走行装置１が壁面Ｗから滑落するのをより確実に防止することができる。 Further, as shown in FIGS. 4A and 4B, in the traveling device 1, the sliding member 10 is a cylindrical member that penetrates the bottom surface of the housing 3 and reaches the inside of the housing 3. ing. And the contact part 11a with the sliding material 10 in the suction cup 11 becomes a structure inscribed in the inner surface of the sliding material 10. FIG. This increases the range of deformation of the suction cup 11 when it is not attracted to the wall surface W in FIG. 4A and when attracted to the wall surface W in FIG. The volume change of the pressure chamber 12 also increases. For this reason, the restoring force of the suction cup 11 which tries to return the volume of the negative pressure chamber 12 to the volume at the time of non-adsorption is also a stronger force, and the force for maintaining the negative pressure in the negative pressure chamber 12 is also increased. Therefore, the traveling device 1 can be more reliably prevented from sliding off the wall surface W.
　このような効果が得られるのは、図４に示すように、走行装置１では、吸盤１１の端部の接触部１１ａが、注射器（シリンジ）のように、滑り材１０の内側面に沿って摺動可能な構成となっているためである。この構成により、可撓性部材からなる吸盤１１の復元力と、負圧室１２の体積変動の力とが、負圧室１２内に加わるため、走行装置１の壁面Ｗからの滑落を防止することができる。なお、吸盤１１は、接触部１１ａとそれ以外の部分とが一体となった構成であっても、別々の部材が連結された構成であってもよい。 As shown in FIG. 4, such an effect can be obtained in the traveling device 1 in which the contact portion 11 a at the end of the suction cup 11 extends along the inner surface of the sliding material 10 like a syringe. This is because the structure is slidable. With this configuration, since the restoring force of the suction cup 11 made of a flexible member and the force of volume fluctuation of the negative pressure chamber 12 are applied to the negative pressure chamber 12, sliding from the wall surface W of the traveling device 1 is prevented. be able to. The suction cup 11 may have a configuration in which the contact portion 11a and other portions are integrated, or a configuration in which separate members are connected.
　さらに、走行装置１は、滑り材１０の内側面と吸盤１１の外面等によって、負圧室１２とは別に、密閉空間１２Ａが形成された構成となっている。図４の（ａ）の壁面Ｗへの非吸着時には、この密閉空間１２Ａ内は、負圧室１２と同様の圧力（通常、大気圧）となる。 Furthermore, the traveling device 1 has a configuration in which a sealed space 12 </ b> A is formed separately from the negative pressure chamber 12 by the inner surface of the sliding material 10 and the outer surface of the suction cup 11. At the time of non-adsorption to the wall surface W of FIG. 4A, the pressure in the sealed space 12A is the same as that of the negative pressure chamber 12 (usually atmospheric pressure).
　一方、図４の（ｂ）の壁面Ｗへの吸着時には、吸盤１１の変形および摺動によって、密閉空間１２Ａの体積は、図４の（ａ）の壁面Ｗへの非吸着時よりも大きくなり、密閉空間１２Ａは、温度一定の条件下では、（圧力）×（体積）＝一定となる。このため、密閉空間１２Ａ内の圧力は、大気圧状態（図４の（ａ）の状態）よりも、負圧となる。これにより、負圧室１２に接続される負圧発生装置８が停止した場合においても、負圧室１２には、吸盤１１の復元力に加えて、密閉空間１２Ａの圧力差による力が加わる。その結果、負圧室１２にはより強い力が作用するため、負圧室１２内の負圧状態を確実に維持することができる。したがって、負圧発生装置８の停止時に、走行装置１が壁面Ｗから滑落するのを確実に抑制することができる。 On the other hand, at the time of adsorption to the wall surface W in FIG. 4B, the volume of the sealed space 12A becomes larger than that at the time of non-adsorption to the wall surface W in FIG. In the sealed space 12A, (pressure) × (volume) = constant under a constant temperature condition. For this reason, the pressure in the sealed space 12A is a negative pressure rather than the atmospheric pressure state (the state of FIG. 4A). Thereby, even when the negative pressure generator 8 connected to the negative pressure chamber 12 is stopped, in addition to the restoring force of the suction cup 11, a force due to the pressure difference of the sealed space 12A is applied to the negative pressure chamber 12. As a result, since a stronger force acts on the negative pressure chamber 12, the negative pressure state in the negative pressure chamber 12 can be reliably maintained. Therefore, it is possible to reliably suppress the traveling device 1 from sliding off the wall surface W when the negative pressure generating device 8 is stopped.
　また、走行装置１において、負圧室１２の体積を減少させるためには、吸盤１１の少なくとも一部が変形すればよい。しかし、吸盤１１の全体が、負圧室１２の負圧状態に応じて変形するようになっていることが好ましい。このような構成でも、吸盤１１の復元力が大きくなる。したがって、走行装置１が壁面Ｗから滑落するのをより確実に防止することができる。 In the traveling device 1, in order to reduce the volume of the negative pressure chamber 12, at least a part of the suction cup 11 may be deformed. However, it is preferable that the entire suction cup 11 is deformed according to the negative pressure state of the negative pressure chamber 12. Even with such a configuration, the restoring force of the suction cup 11 is increased. Therefore, the traveling device 1 can be more reliably prevented from sliding off the wall surface W.
　なお、図４の（ａ）（ｂ）のいずれの状態においても、吸盤１１は壁面Ｗに接触しない。このため、走行装置１を繰り返し使用しても、吸盤１１に亀裂等による劣化は生じない。 In addition, the suction cup 11 does not contact the wall surface W in any state of (a) and (b) in FIG. For this reason, even if the traveling device 1 is repeatedly used, the suction cup 11 does not deteriorate due to a crack or the like.
　（３．吸着走行時に凹凸を乗り越える場合における走行装置１の動作）
　次に、図４に基づいて、吸着走行時に壁面Ｗの凹凸を乗り越える場合における走行装置１の動作について説明する。 (3. Operation of traveling device 1 when overcoming unevenness during adsorption traveling)
Next, based on FIG. 4, the operation of the traveling device 1 when overcoming the unevenness of the wall surface W during adsorption traveling will be described.
　走行装置１が走行する壁面Ｗに凹凸が存在すると、走行装置１が凹凸を乗り越える際に滑り材１０と壁面Ｗとの間に瞬間的に隙間ができてしまう場合が有る。〔発明が解決しようとする課題〕に記載されている通り、特許文献１に記載の真空吸着装置においては、壁面と滑り材との間に隙間ができた場合、負圧室１２に相当する真空室の真空（負圧）状態が急激に破壊されてしまい、装置が壁面から滑落するという問題がある。 When unevenness exists on the wall surface W on which the traveling device 1 travels, there may be a momentary gap between the sliding material 10 and the wall surface W when the traveling device 1 gets over the unevenness. As described in [Problems to be Solved by the Invention], in the vacuum suction device described in Patent Document 1, when a gap is formed between the wall surface and the sliding material, a vacuum corresponding to the negative pressure chamber 12 is obtained. There is a problem that the vacuum (negative pressure) state of the chamber is suddenly destroyed, and the apparatus slides down from the wall surface.
　これに対し、本実施形態に係る走行装置１においては、吸盤１１が可撓性部材であり、走行装置１の吸着時と非吸着時において、吸盤１１の形状（負圧室１２の体積）が変化する。これにより、特許文献１に記載の装置では滑落してしまう凹凸を有する壁面であっても、本実施形態に係る走行装置１では、吸盤１１の復元力が走行装置１を壁面Ｗへと押しつける力として作用するため、負圧室１２の負圧が急激に失われることが無くなる。したがって、走行装置１は、壁面Ｗから滑落せず走行することが可能となる。 On the other hand, in the traveling device 1 according to the present embodiment, the suction cup 11 is a flexible member, and the shape of the suction cup 11 (volume of the negative pressure chamber 12) is when the traveling device 1 is attracted and not attracted. Change. Thereby, even if it is the wall surface which has the unevenness | corrugation which slides down in the apparatus of patent document 1, in the traveling apparatus 1 which concerns on this embodiment, the restoring force of the suction cup 11 presses the traveling apparatus 1 against the wall surface W. Therefore, the negative pressure in the negative pressure chamber 12 is not suddenly lost. Therefore, the traveling device 1 can travel without sliding off the wall surface W.
　以上のように、走行装置１によれば、負圧室１２が、滑り材１０、可撓性を有する吸盤１１、および壁面Ｗによって形成され、滑り材１０と吸盤１１とが別体として構成されている。したがって、走行装置１の壁面Ｗからの滑落を抑制しつつ、繰り返し使用しても吸盤１１が劣化しにくい吸着機構２および走行装置１を提供することができる。 As described above, according to the traveling device 1, the negative pressure chamber 12 is formed by the sliding material 10, the flexible suction cup 11, and the wall surface W, and the sliding material 10 and the suction cup 11 are configured separately. ing. Therefore, it is possible to provide the suction mechanism 2 and the traveling device 1 in which the suction cup 11 is not easily deteriorated even when used repeatedly while suppressing the sliding from the wall surface W of the traveling device 1.
　〔実施形態２〕
　本発明の他の実施形態について説明する。なお、説明の便宜上、上記実施形態にて説明した部材と同じ機能を有する部材については、同じ符号を付記し、その説明を省略する。 [Embodiment 2]
Another embodiment of the present invention will be described. For convenience of explanation, members having the same functions as those described in the above embodiment are denoted by the same reference numerals and description thereof is omitted.
　上述したように、実施形態１の走行装置１は、壁面Ｗに凹凸が有る場合においても、壁面から滑落せずに走行可能である。しかし、走行装置１が安定して走行するためには、壁面Ｗの凹凸は少ない方が好ましい。また、通常、壁面Ｗは、外気にさらされ、非常に多くの汚れ（ゴミ等の異物）が付着している場合が多い。汚れは、微細な粒子の集合体であることが多く、微細な凹凸を形成し、走行装置１の安定な走行を阻害する。さらに、走行装置１が汚れの上を走行し、ゴミが負圧発生装置８の内部に吸い込まれてしまうと、負圧発生装置８の機能低下の原因ともなる。また、走行装置１を繰り返し使用すると、壁面Ｗ上の凹凸によって、壁面Ｗに接触する滑り材１０が亀裂等により劣化する可能性がある。 As described above, the traveling device 1 according to the first embodiment can travel without sliding off the wall surface even when the wall surface W has irregularities. However, in order for the traveling device 1 to travel stably, it is preferable that the unevenness of the wall surface W is small. In general, the wall surface W is exposed to the outside air, and a lot of dirt (foreign matter such as dust) is often attached. The dirt is often an aggregate of fine particles, forms fine irregularities, and hinders stable running of the traveling device 1. Furthermore, if the traveling device 1 travels over dirt and dust is sucked into the negative pressure generator 8, the negative pressure generator 8 may have a reduced function. Further, when the traveling device 1 is repeatedly used, the sliding material 10 that contacts the wall surface W may be deteriorated due to cracks or the like due to the unevenness on the wall surface W.
　そこで、本実施形態では、図５に基づいて、壁面を清掃する清掃部を備えた走行装置について説明する。図５は、本実施形態に係る走行装置１ａを下側（壁面側）から見た斜視図である。 Therefore, in this embodiment, a traveling device including a cleaning unit that cleans the wall surface will be described with reference to FIG. FIG. 5 is a perspective view of the traveling device 1a according to the present embodiment as viewed from the lower side (wall surface side).
　図５に示すように、走行装置１ａは、筐体３の底部に２つのスキージ（清掃部）１３を備え、２つのスキージ１３・１３の間に、滑り材１０が配置されている。走行装置１ａは、タイヤ４を駆動することにより、前方および後方に走行することができる。このため、２つのスキージ１３・１３の間に、滑り材１０が配置されていれば、走行装置１ａが前方および後方のいずれに走行しても、一方のスキージ１３が、滑り材１０よりも、走行装置１ａの走行方向の前方に配置されることになる。スキージ１３は、例えば硬質樹脂等から形成することができる。 As shown in FIG. 5, the traveling device 1 a includes two squeegees (cleaning units) 13 at the bottom of the housing 3, and the sliding material 10 is disposed between the two squeegees 13. The traveling device 1 a can travel forward and backward by driving the tire 4. For this reason, if the sliding material 10 is arrange | positioned between the two squeegees 13 and 13, even if the traveling device 1a travels forward or backward, one squeegee 13 is more than the sliding material 10. It will be arranged in front of the traveling direction of the traveling device 1a. The squeegee 13 can be formed from, for example, a hard resin.
　このようなスキージ１３を設けることで、壁面に形成される凹凸の原因となるゴミ等を走行時に掃き取ることが可能となる。これにより、壁面の凹凸が減少するとともに、負圧発生装置８に吸い込まれるゴミが減り、負圧発生装置８の機能低下を防止することができる。さらに、壁面上の凹凸によって、壁面に接触する滑り材１０が亀裂等により劣化するのを防止することもできる。したがって、走行装置１ａは、安定して壁面Ｗを走行することが可能となる。また、人が作業するには危険な場所や、人の手が届かないような場所にある壁面もスキージ１３によって清掃することが可能となる。 By providing such a squeegee 13, it is possible to sweep away dust or the like that causes unevenness formed on the wall surface during traveling. Thereby, the unevenness of the wall surface is reduced, the dust sucked into the negative pressure generating device 8 is reduced, and the function deterioration of the negative pressure generating device 8 can be prevented. Furthermore, the unevenness on the wall surface can prevent the sliding material 10 that contacts the wall surface from being deteriorated by cracks or the like. Therefore, the traveling device 1a can travel on the wall surface W stably. Further, the squeegee 13 can also clean a wall surface in a place that is dangerous for a person to work or a place that cannot be reached by a person.
　なお、スキージ１３は、走行装置１ａの走行を阻害する摩擦源とならないように、スキージ１３と壁面Ｗとの間に少し隙間を有するように備えられていることが好ましい。また、スキージ１３は図５に示したような配置に限ったものではなく、例えば、滑り材１０の外周に沿って円形状に設けられていてもよい。これにより、走行装置１ａがいずれの方向に走行しても、壁面に形成される凹凸の原因となるゴミ等を走行時に掃き取ることが可能となる。 In addition, it is preferable that the squeegee 13 is provided with a small gap between the squeegee 13 and the wall surface W so as not to become a friction source that hinders the traveling of the traveling device 1a. Further, the squeegee 13 is not limited to the arrangement as shown in FIG. 5, and may be provided in a circular shape along the outer periphery of the sliding material 10, for example. As a result, it is possible to sweep away dust or the like that causes unevenness formed on the wall surface during traveling, regardless of which direction the traveling device 1a travels.
　〔実施形態３〕
　本発明のさらに他の実施形態について説明する。なお、説明の便宜上、上記実施形態にて説明した部材と同じ機能を有する部材については、同じ符号を付記し、その説明を省略する。 [Embodiment 3]
Still another embodiment of the present invention will be described. For convenience of explanation, members having the same functions as those described in the above embodiment are denoted by the same reference numerals and description thereof is omitted.
　本実施形態では、図６および図７に基づいて、壁面を清掃する清掃部を備えた別の走行装置について説明する。図６および図７は、本実施形態に係る走行装置１ｂの斜視図であり、図６は走行装置１ｂを上方からみた斜視図であり、図７は走行装置１ｂを下方（壁面側）からみた斜視図である。 In this embodiment, another traveling device including a cleaning unit that cleans the wall surface will be described based on FIGS. 6 and 7. 6 and 7 are perspective views of the traveling device 1b according to the present embodiment. FIG. 6 is a perspective view of the traveling device 1b as viewed from above. FIG. 7 is a perspective view of the traveling device 1b as viewed from below (wall surface side). It is a perspective view.
　図６および図７に示すように、走行装置１ｂは、壁面を清掃する清掃装置（清掃部）１４を備えている。走行装置１ｂでは、清掃装置１４が、走行装置１ｂの走行方向の前方または後方の一方に設けられている。清掃装置１４は、走行装置１ｂの走行方向における両端部に設けられていてもよい。清掃装置１４は、清掃ケース１４ａとブラシ１４ｂとを有している。清掃ケース１４ａは、筐体３に接続されており、走行装置１ｂの走行に連動して移動する。ブラシ１４ｂは、清掃ケース１４ａの底面（壁面と対向する面）に設けられている。ブラシ１４ｂは、走行装置１ｂの走行に応じて、壁面に当接し、壁面を清掃する。 6 and 7, the traveling device 1b includes a cleaning device (cleaning unit) 14 that cleans the wall surface. In the traveling device 1b, the cleaning device 14 is provided either on the front side or the rear side in the traveling direction of the traveling device 1b. The cleaning device 14 may be provided at both ends of the traveling device 1b in the traveling direction. The cleaning device 14 has a cleaning case 14a and a brush 14b. The cleaning case 14a is connected to the housing 3 and moves in conjunction with the traveling of the traveling device 1b. The brush 14b is provided on the bottom surface (surface facing the wall surface) of the cleaning case 14a. The brush 14b contacts the wall surface and cleans the wall surface according to the traveling of the traveling device 1b.
　このような構成により、走行装置１ｂも走行装置１ａと同様の効果を奏する。すなわち、壁面の凹凸が減少するとともに、負圧発生装置８に吸い込まれるゴミが減り、負圧発生装置８の機能低下を防止することができる。さらに、壁面上の凹凸によって、壁面に接触する滑り材１０が亀裂等により劣化するのを防止することもできる。したがって、走行装置１ａは、安定して壁面Ｗを走行することが可能となる。また、人が作業するには危険な場所や、人の手が届かないような場所にある壁面もブラシ１４ｂによって清掃することが可能となる。 With this configuration, the traveling device 1b has the same effect as the traveling device 1a. That is, the unevenness of the wall surface is reduced, and dust sucked into the negative pressure generating device 8 is reduced, thereby preventing the function of the negative pressure generating device 8 from being lowered. Furthermore, the unevenness on the wall surface can prevent the sliding material 10 that contacts the wall surface from being deteriorated by cracks or the like. Therefore, the traveling device 1a can travel on the wall surface W stably. In addition, it is possible to clean the wall surface in a place that is dangerous for human work or in a place where human hands cannot reach with the brush 14b.
　なお、ブラシ１４ｂは、走行装置１ｂの走行に応じて回転して清掃するものが好ましいが、これに限ったものでは無く、回転しないものであってもよい。ブラシ１４ｂに回転しないものを使用する場合は、植毛密度の高いブラシ１４ｂを用いることで清掃能力が向上し、効率的に汚れを掃き取ることが可能となる。また、清掃装置１４は、ブラシ１４ｂの代わりに布等を備えていてもよく、例えば布を備えていた場合は、壁面をふき取り清掃することが可能となる。 The brush 14b is preferably one that rotates and cleans according to the travel of the travel device 1b, but is not limited to this, and may be one that does not rotate. When a non-rotating brush 14b is used, the cleaning ability is improved by using the brush 14b having a high flocking density, and dirt can be efficiently swept away. The cleaning device 14 may include a cloth or the like instead of the brush 14b. For example, when the cloth is provided, the wall surface can be wiped and cleaned.
　〔実施形態４〕
　本発明のさらに他の実施形態について説明する。なお、説明の便宜上、上記実施形態にて説明した部材と同じ機能を有する部材については、同じ符号を付記し、その説明を省略する。 [Embodiment 4]
Still another embodiment of the present invention will be described. For convenience of explanation, members having the same functions as those described in the above embodiment are denoted by the same reference numerals and description thereof is omitted.
　本実施形態では、図８に基づいて、荷物を運搬する荷役運搬装置を備えた走行装置について説明する。図８は、本実施形態に係る走行装置１ｃの斜視図である。 In the present embodiment, a traveling device including a cargo handling device for transporting a load will be described based on FIG. FIG. 8 is a perspective view of the traveling device 1c according to the present embodiment.
　図８に示すように、走行装置１ｃは、荷役運搬装置（運搬部）１５を備えている。図８の走行装置１ｃは、図６および図７に示した走行装置１ｂの清掃装置１４の代わりに、荷役運搬装置１５を備えた構成である。荷役運搬装置１５は、運搬ケース１５ａとカバー１５ｂとを有している。運搬ケース１５ａは、筐体３に接続されており、走行装置１ｃの走行に連動して移動する。これにより、走行装置１ｃは、運搬ケース１５ａに荷物を載せて走行することが可能である。 As shown in FIG. 8, the traveling device 1 c includes a cargo handling device (transport unit) 15. The traveling device 1c of FIG. 8 has a configuration including a cargo handling device 15 instead of the cleaning device 14 of the traveling device 1b shown in FIGS. The cargo handling and conveying device 15 includes a conveying case 15a and a cover 15b. The transport case 15a is connected to the housing 3 and moves in conjunction with the travel of the travel device 1c. Thus, the traveling device 1c can travel with the load placed on the transport case 15a.
　また、運搬ケース１５ａは、荷物以外にも機能部材等を載せて走行することも可能である。例えば塗装装置や検査装置を載せて走行することで、壁面を塗装したり、検査したりすることも可能である。これにより、人が作業するには危険な場所や、人の手が届かないような場所にある壁面であっても様々な作業を行うことが可能となる。 Also, the transport case 15a can travel with a functional member or the like in addition to the luggage. For example, a wall surface can be painted or inspected by running with a coating device or an inspection device. This makes it possible to perform various operations even on a wall that is in a place that is dangerous for people to work or that is out of reach of people.
　〔まとめ〕
　本発明の態様１に係る吸着機構２は、被吸着面（壁面Ｗ）に吸着する吸着機構２であって、負圧を発生させる負圧発生部（負圧発生装置８）と、上記負圧発生部に接続され、被吸着面に接触しない可撓性部材（吸盤１１）と、上記可撓性部材と独立して設けられ、被吸着面に接触する接触部材（滑り材１０）とを備え、上記可撓性部材、接触部材、および被吸着面によって、吸着空間（負圧室１２）が形成されることを特徴としている。 [Summary]
The adsorption mechanism 2 according to the first aspect of the present invention is an adsorption mechanism 2 that adsorbs to a surface to be adsorbed (wall surface W), and includes a negative pressure generating unit (negative pressure generating device 8) that generates negative pressure, and the negative pressure. A flexible member (suction cup 11) that is connected to the generator and does not contact the surface to be attracted, and a contact member (sliding material 10) that is provided independently of the flexible member and contacts the surface to be attracted. A suction space (negative pressure chamber 12) is formed by the flexible member, the contact member, and the suction surface.
　上記の構成によれば、負圧発生部によって負圧が発生されると、可撓性部材、接触部材、および被吸着面によって形成される吸着空間が負圧状態となる。吸着空間が負圧状態になると、可撓性部材が被吸着面側に変形し、吸着空間の体積が減少していく。これにより、吸着機構が被吸着面に吸着する。その結果、吸着空間には、負圧発生部によって加えられる力と、変形した可撓性部材が元の形状に戻ろうとする復元力との２つの力が作用し、吸着空間の負圧状態が維持される。このため、接触部材と被吸着面との間に隙間が形成されたとしても、可撓性部材の復元力が作用するため、吸着空間の負圧状態が急激に破壊されることはない。さらに、負圧発生部が停止した場合においても、可撓性部材の復元力が作用するため、吸着空間の負圧状態を維持することができる。したがって、吸着機構が被吸着面から滑落するのを抑制することができる。 According to the above configuration, when a negative pressure is generated by the negative pressure generator, the suction space formed by the flexible member, the contact member, and the surface to be sucked is in a negative pressure state. When the suction space is in a negative pressure state, the flexible member is deformed to the attracted surface side, and the volume of the suction space is reduced. As a result, the adsorption mechanism is adsorbed on the surface to be adsorbed. As a result, two forces of the force applied by the negative pressure generating portion and the restoring force of the deformed flexible member returning to the original shape act on the adsorption space, and the negative pressure state of the adsorption space is Maintained. For this reason, even if a gap is formed between the contact member and the surface to be attracted, the restoring force of the flexible member acts, so that the negative pressure state of the adsorption space is not abruptly destroyed. Furthermore, even when the negative pressure generating portion stops, the restoring force of the flexible member acts, so that the negative pressure state of the adsorption space can be maintained. Therefore, it is possible to suppress the adsorption mechanism from sliding off the surface to be adsorbed.
　また、上記の構成によれば、可撓性部材は被吸着面に接触しないため、吸着機構を繰り返し使用しても、可撓性部材に亀裂等による劣化は生じない。 Further, according to the above configuration, since the flexible member does not contact the surface to be attracted, even if the attracting mechanism is repeatedly used, the flexible member does not deteriorate due to cracks or the like.
　したがって、被吸着面からの滑落を抑制しつつ、繰り返し使用しても劣化しにくい吸着機構を提供することができる。 Therefore, it is possible to provide an adsorption mechanism that is less likely to deteriorate even after repeated use while suppressing sliding off from the surface to be adsorbed.
　本発明の態様２に係る吸着機構２は、上記態様１において、上記可撓性部材の全体が、上記吸着空間の負圧状態に応じて変形するようになっていることが好ましい。 In the suction mechanism 2 according to the second aspect of the present invention, in the first aspect, it is preferable that the entire flexible member is deformed according to the negative pressure state of the suction space.
　上記の構成によれば、可撓性部材の全体が負圧室内の負圧状態に応じて変形するため、可撓性部材の復元力が大きくなる。したがって、被吸着面からの滑落をより確実に防止することができる。 According to the above configuration, since the entire flexible member is deformed according to the negative pressure state in the negative pressure chamber, the restoring force of the flexible member is increased. Therefore, it is possible to prevent the sliding from the attracted surface more reliably.
　本発明の態様３に係る走行装置１、１ａ、１ｂ、１ｃは、被吸着面（壁面Ｗ）に吸着しながら走行する走行装置１、１ａ、１ｂ、１ｃであって、上記態様１または態様２に記載の吸着機構２を備えることを特徴としている。 The traveling devices 1, 1a, 1b, and 1c according to the aspect 3 of the present invention are the traveling devices 1, 1a, 1b, and 1c that travel while being attracted to the attracted surface (the wall surface W). It is characterized by including the adsorption mechanism 2 described in the above.
　上記の構成によれば、上記態様１または態様２の吸着機構２を備えるため、被吸着面からの滑落を抑制しつつ、繰り返し使用しても劣化しにくい走行装置を提供することができる。 According to the above configuration, since the suction mechanism 2 of the first aspect or the second aspect is provided, it is possible to provide a traveling device that is less likely to deteriorate even when repeatedly used while suppressing sliding off from the surface to be attracted.
　本発明の態様４に係る走行装置１ａ、１ｂは、上記態様３において、上記被吸着面を清掃する清掃部（スキージ１３、清掃装置１４）を備える構成であってもよい。例えば、本発明の態様５に係る走行装置１ａは、上記態様４において、上記清掃部は、上記接触部材（滑り材１０）よりも、上記走行装置１ａの走行方向の前方に設けられたスキージ１３であってもよい。また、例えば、本発明の態様６に係る走行装置１ｂは、上記態様４または態様５において、上記清掃部（清掃装置１４）は、ブラシ１４ｂであってもよい。 The travel devices 1a and 1b according to aspect 4 of the present invention may be configured to include the cleaning unit (squeegee 13 and cleaning device 14) for cleaning the suction surface in aspect 3 described above. For example, in the traveling device 1a according to the aspect 5 of the present invention, in the aspect 4, the squeegee 13 in which the cleaning unit is provided in front of the traveling device 1a in the traveling direction with respect to the contact member (sliding material 10). It may be. Further, for example, in the traveling device 1b according to the sixth aspect of the present invention, in the fourth or fifth aspect, the cleaning unit (cleaning device 14) may be the brush 14b.
　上記各構成によれば、清掃部（スキージ１３、清掃装置１４）を設けることで、壁面に形成される凹凸の原因となるゴミ等を走行時に掃き取ることが可能となる。これにより、壁面の凹凸が減少するとともに、負圧発生部に吸い込まれるゴミが減り、負圧発生部の機能低下を防止することができる。さらに、壁面上の凹凸によって、壁面に接触する接触部材が亀裂等により劣化するのを防止することもできる。したがって、上記走行装置１ａ、１ｂは、安定して壁面を走行することが可能となる。また、人が作業するには危険な場所や、人の手が届かないような場所にある壁面も清掃部（スキージ１３、清掃装置１４）によって清掃することが可能となる。 According to each configuration described above, by providing the cleaning unit (squeegee 13 and cleaning device 14), it is possible to sweep away dust or the like that causes unevenness formed on the wall surface during traveling. Thereby, the unevenness of the wall surface is reduced, the dust sucked into the negative pressure generating part is reduced, and the function deterioration of the negative pressure generating part can be prevented. Furthermore, the unevenness on the wall surface can prevent the contact member in contact with the wall surface from being deteriorated due to a crack or the like. Therefore, the traveling devices 1a and 1b can travel on the wall surface stably. Moreover, it becomes possible to clean the wall surface in the place where it is dangerous for a person to work or the place where a person cannot reach by the cleaning unit (squeegee 13 and cleaning device 14).
　本発明の態様７に係る走行装置１ｃは、上記態様３～６において、荷物を運搬する運搬部（荷役運搬装置１５）を備えていてもよい。 The traveling device 1c according to aspect 7 of the present invention may include a transporting part (load handling and transporting device 15) for transporting a load in the above-described modes 3 to 6.
　上記の構成によれば、運搬部に荷物を載せて走行することが可能である。また、人が作業するには危険な場所や、人の手が届かないような場所にある壁面であっても荷物を運搬するなど、様々な作業を行うことが可能となる。 According to the above configuration, it is possible to travel with a load on the transport section. In addition, it is possible to perform various operations such as transporting luggage even on a wall surface in a place that is dangerous for human work or in a place where human hands cannot reach.
　本発明は上述した各実施形態に限定されるものではなく、請求項に示した範囲で種々の変更が可能であり、異なる実施形態にそれぞれ開示された技術的手段を適宜組み合わせて得られる実施形態についても本発明の技術的範囲に含まれる。さらに、各実施形態にそれぞれ開示された技術的手段を組み合わせることにより、新しい技術的特徴を形成することができる。 The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope shown in the claims, and embodiments obtained by appropriately combining technical means disclosed in different embodiments. Is also included in the technical scope of the present invention. Furthermore, a new technical feature can be formed by combining the technical means disclosed in each embodiment.
　本発明は、壁面等の被吸着面を吸着して走行する走行装置および当該走行装置に用いられる吸着機構として利用することができる。 The present invention can be used as a traveling device that travels by attracting a surface to be attracted such as a wall surface and an adsorption mechanism used in the traveling device.
　１，１ａ，１ｂ，１ｃ　走行装置
　２　吸着機構
　８　負圧発生装置（負圧発生部）
　１０　滑り材（接触部材）
　１１　吸盤（可撓性部材）
　１２　負圧室（吸着空間）
　１３　スキージ（清掃部）
　１４　清掃装置（清掃部）
　１５　荷役運搬装置（運搬部）
　Ｗ　壁面（被吸着面） 1, 1a, 1b, 1c Traveling device 2 Adsorption mechanism 8 Negative pressure generator (negative pressure generator)
10 Sliding material (contact member)
11 Suction cup (flexible member)
12 Negative pressure chamber (adsorption space)
13 Squeegee (cleaning part)
14 Cleaning device (cleaning part)
15 Cargo handling device (transport unit)
W Wall surface (Suction surface)

Claims (5)

  1. 　被吸着面に吸着する吸着機構であって、
    　負圧を発生させる負圧発生部と、
    　上記負圧発生部に接続され、被吸着面に接触しない可撓性部材と、
    　上記可撓性部材と独立して設けられ、被吸着面に接触する接触部材とを備え、
    　上記可撓性部材、接触部材、および被吸着面によって、吸着空間が形成されることを特徴とする吸着機構。     An adsorption mechanism that adsorbs to a surface to be adsorbed,
    A negative pressure generating section for generating negative pressure;
    A flexible member that is connected to the negative pressure generator and does not contact the attracted surface;
    A contact member provided independently of the flexible member and in contact with the attracted surface;
    An adsorption mechanism, wherein an adsorption space is formed by the flexible member, the contact member, and the surface to be adsorbed.
  2. 　上記可撓性部材の全体が、上記吸着空間の負圧状態に応じて変形するようになっていることを特徴とする請求項１に記載の吸着機構。 The suction mechanism according to claim 1, wherein the entire flexible member is deformed according to a negative pressure state of the suction space.
  3. 　被吸着面に吸着しながら走行する走行装置であって、
    　請求項１または２に記載の吸着機構を備えることを特徴とする走行装置。     A traveling device that travels while adsorbing to the attracted surface,
    A travel device comprising the suction mechanism according to claim 1.
  4. 　上記被吸着面を清掃する清掃部を備えることを特徴とする請求項３に記載の走行装置。 The traveling device according to claim 3, further comprising a cleaning unit that cleans the surface to be attracted.
  5. 　荷物を運搬する運搬部を備えることを特徴とする請求項３または４に記載の走行装置。 The travel device according to claim 3 or 4, further comprising a transport unit for transporting the load.
PCT/JP2014/078217 2014-03-26 2014-10-23 Adsorption mechanism and travel device WO2015145846A1 (en)

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CN105620571A (en) * 2016-02-23 2016-06-01 广西大学 Climbing robot mechanism
CN108979183A (en) * 2018-07-20 2018-12-11 深圳聚纵科技有限公司 Robot is used in a kind of cleaning of Multifunctional curtain-wall
CN109572848A (en) * 2019-01-15 2019-04-05 北京史河科技有限公司 Climbing robot
CN109823430A (en) * 2017-11-23 2019-05-31 王成 Climbing robot self-absorption type vacuum chuck
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CN105620571A (en) * 2016-02-23 2016-06-01 广西大学 Climbing robot mechanism
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CN109823430A (en) * 2017-11-23 2019-05-31 王成 Climbing robot self-absorption type vacuum chuck
CN108979183A (en) * 2018-07-20 2018-12-11 深圳聚纵科技有限公司 Robot is used in a kind of cleaning of Multifunctional curtain-wall
CN109572848A (en) * 2019-01-15 2019-04-05 北京史河科技有限公司 Climbing robot
WO2021037461A1 (en) * 2019-08-29 2021-03-04 Hermes Fassadenreinigung GmbH Adhesion strip for facades

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