WO2019039343A3 - 物体表面に吸着し且つそれに沿って走行可能な装置 - Google Patents

物体表面に吸着し且つそれに沿って走行可能な装置 Download PDF

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Publication number
WO2019039343A3
WO2019039343A3 PCT/JP2018/030231 JP2018030231W WO2019039343A3 WO 2019039343 A3 WO2019039343 A3 WO 2019039343A3 JP 2018030231 W JP2018030231 W JP 2018030231W WO 2019039343 A3 WO2019039343 A3 WO 2019039343A3
Authority
WO
WIPO (PCT)
Prior art keywords
object surface
double
leg members
acting leg
suction
Prior art date
Application number
PCT/JP2018/030231
Other languages
English (en)
French (fr)
Other versions
WO2019039343A2 (ja
Inventor
浦上　不可止
Original Assignee
ウラカミ合同会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ウラカミ合同会社 filed Critical ウラカミ合同会社
Priority to JP2019537569A priority Critical patent/JP7192167B2/ja
Priority to EP18848065.1A priority patent/EP3674185A4/en
Priority to CN201880053267.3A priority patent/CN111065574A/zh
Publication of WO2019039343A2 publication Critical patent/WO2019039343A2/ja
Publication of WO2019039343A3 publication Critical patent/WO2019039343A3/ja
Priority to US16/789,542 priority patent/US11022158B2/en

Links

Classifications

    • 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
    • F16B1/00—Devices for securing together, or preventing relative movement between, constructional elements or machine parts
    • 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
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • 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
    • F16B2200/00—Constructional details of connections not covered for in other groups of this subclass
    • F16B2200/83—Use of a magnetic material

Landscapes

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

Abstract

【課題】物体表面に吸着し且つそれに沿って移動可能な装置において、簡略、軽量かつ低コストの装置を提供する。 【解決手段】吸着ユニットと、Ｙ軸往復動ユニットと、Ｚ軸往復動ユニットと、複動脚部材と、第２Ｚ軸往復動ユニットと、第２複動脚部材、により少なくとも構成された装置において；装置を物体表面に沿って走行させる第１の手順として、複動脚部材が物体表面へ強く押し付けられ；第２の手順として、複動脚部材が物体表面へ強く押し付けられたままの状態にて吸着ユニットが装置の走行方向へ移動し；第３の手順として、複動脚部材が物体表面から離反され；第４の手順として、複動脚部材が物体表面から離反したままの状態にて複動脚部材が装置の走行方向へ移動して該第１の手順の直前の状態に戻り；以下、該第１の手順から該第４の手順までの動作を繰り返す。
PCT/JP2018/030231 2017-08-21 2018-08-13 物体表面に吸着し且つそれに沿って走行可能な装置 WO2019039343A2 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2019537569A JP7192167B2 (ja) 2017-08-21 2018-08-13 物体表面に吸着し且つそれに沿って走行可能な装置
EP18848065.1A EP3674185A4 (en) 2017-08-21 2018-08-13 DEVICE THAT CAN ADD TO AND MOVE ALONG AN OBJECT SURFACE BY SUCTION
CN201880053267.3A CN111065574A (zh) 2017-08-21 2018-08-13 吸附在物体表面且可沿物体表面行进的装置
US16/789,542 US11022158B2 (en) 2017-08-21 2020-02-13 Device capable of adhering by suction to object surface and traveling therealong

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017-158682 2017-08-21
JP2017158682 2017-08-21

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US16/789,542 Continuation US11022158B2 (en) 2017-08-21 2020-02-13 Device capable of adhering by suction to object surface and traveling therealong

Publications (2)

Publication Number Publication Date
WO2019039343A2 WO2019039343A2 (ja) 2019-02-28
WO2019039343A3 true WO2019039343A3 (ja) 2019-05-09

Family

ID=65439443

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2018/030231 WO2019039343A2 (ja) 2017-08-21 2018-08-13 物体表面に吸着し且つそれに沿って走行可能な装置

Country Status (5)

Country Link
US (1) US11022158B2 (ja)
EP (1) EP3674185A4 (ja)
JP (1) JP7192167B2 (ja)
CN (1) CN111065574A (ja)
WO (1) WO2019039343A2 (ja)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113815741B (zh) * 2021-10-13 2022-06-07 大连木牛流马机器人科技有限公司 一种仿生机器人

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0369668B2 (ja) * 1982-01-11 1991-11-01
JPH1179019A (ja) * 1997-09-12 1999-03-23 Toshiba Corp 壁面移動式切断装置
JP2015145060A (ja) * 2013-12-30 2015-08-13 ウラカミ合同会社 物体表面に吸着し且つそれに沿って走行可能な装置

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2805614B2 (ja) 1987-04-01 1998-09-30 不可止 浦上 壁面に吸着し且つそれに沿って移動する装置
JP2689127B2 (ja) 1987-04-01 1997-12-10 不可止 浦上 壁面に吸着し且つそれに沿って移動可能な装置
NL9002031A (nl) * 1990-09-14 1992-04-01 Voskuilen Woudenberg Bv Inrichting voor het bewerken van een uitwendig buisoppervlak.
JPH05131382A (ja) * 1991-11-11 1993-05-28 Takeshi Yanagisawa 歩行ロボツト
JP3365802B2 (ja) * 1992-12-01 2003-01-14 健 柳沢 歩行ロボット
JPH06254780A (ja) * 1993-03-04 1994-09-13 Takeshi Yanagisawa 歩行ロボット
JP2796781B2 (ja) * 1995-02-03 1998-09-10 泰俊 大村 ガードレール清掃機
US7155307B2 (en) * 2001-09-09 2006-12-26 Seemann Henry R Surface adhering tool carrying robot
CN202765130U (zh) * 2012-05-31 2013-03-06 王进军 一种吸盘式爬壁机器人
CN104816761B (zh) * 2015-02-15 2017-01-25 南京航空航天大学 爬行机器人的行走机构及行走方法
CN204489001U (zh) * 2015-03-16 2015-07-22 徐州工业职业技术学院 三框架负压吸附式爬壁机器人
CN206107388U (zh) * 2016-09-18 2017-04-19 上海博昂电气有限公司 大型钢架结构用爬行机器人平台装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0369668B2 (ja) * 1982-01-11 1991-11-01
JPH1179019A (ja) * 1997-09-12 1999-03-23 Toshiba Corp 壁面移動式切断装置
JP2015145060A (ja) * 2013-12-30 2015-08-13 ウラカミ合同会社 物体表面に吸着し且つそれに沿って走行可能な装置

Also Published As

Publication number Publication date
JP7192167B2 (ja) 2022-12-20
CN111065574A (zh) 2020-04-24
US20200182273A1 (en) 2020-06-11
EP3674185A2 (en) 2020-07-01
JPWO2019039343A1 (ja) 2021-01-14
EP3674185A4 (en) 2021-05-26
WO2019039343A2 (ja) 2019-02-28
US11022158B2 (en) 2021-06-01

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