WO2023058329A1 - Dispositif et procédé de travail de surface de paroi - Google Patents

Dispositif et procédé de travail de surface de paroi Download PDF

Info

Publication number
WO2023058329A1
WO2023058329A1 PCT/JP2022/030990 JP2022030990W WO2023058329A1 WO 2023058329 A1 WO2023058329 A1 WO 2023058329A1 JP 2022030990 W JP2022030990 W JP 2022030990W WO 2023058329 A1 WO2023058329 A1 WO 2023058329A1
Authority
WO
WIPO (PCT)
Prior art keywords
wall surface
work
wall
support
traveling body
Prior art date
Application number
PCT/JP2022/030990
Other languages
English (en)
Japanese (ja)
Inventor
修 千坂
昌宏 立田
義宣 坂本
太志 ▲柳▼下
浩 山下
綾信 ▲高▼崎
嘉康 安藤
健一 梶谷
泰 宮川
Original Assignee
光洋機械産業株式会社
株式会社アイ・ロボティクス
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 光洋機械産業株式会社, 株式会社アイ・ロボティクス filed Critical 光洋機械産業株式会社
Publication of WO2023058329A1 publication Critical patent/WO2023058329A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F3/00—Ground installations specially adapted for captive aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H49/00—Unwinding or paying-out filamentary material; Supporting, storing or transporting packages from which filamentary material is to be withdrawn or paid-out
    • B65H49/18—Methods or apparatus in which packages rotate
    • B65H49/34—Arrangements for effecting positive rotation of packages
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E04F21/165—Implements for finishing work on buildings for finishing joints, e.g. implements for raking or filling joints, jointers
    • 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
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/14—Conveying or assembling building elements
    • E04G21/16—Tools or apparatus
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions

Definitions

  • the present disclosure relates to an apparatus and method for performing work such as inspection and painting on walls.
  • the present disclosure includes a running body configured to be able to run against a wall surface, and a working device mounted on the running body to perform work on the wall surface, wherein the running bodies are installed on the left and right sides of the running body.
  • a wall surface configured to be supported from the left and right and to be position-operated by support operating cords drawn out from the position of the lifting body in a lifting support device having a support pole and a lifting body that moves up and down along the support pole It depends on the working device.
  • the present disclosure includes a running body configured to be able to run against a wall surface, and a working device mounted on the running body for performing work on the wall surface, wherein the running body is configured to be able to move from at least the left and right sides of the running body.
  • the present invention relates to a wall working device constructed to be supported and positioned by a drawn-out supporting operating rope.
  • the traveling body can be configured with a propeller that generates a pressing force against the wall surface.
  • the propeller can be a variable pitch propeller.
  • an auxiliary cable can be connected to the running body so as to apply tension to the running body from a direction different from that of the support operation cable.
  • the wall working device described above can also include a weight suspended from the traveling body.
  • the traveling body can be configured to include a suction portion that adheres to the wall surface.
  • the wall working apparatus described above includes a lifting support device having support columns installed on the left and right sides of the running body and an elevating body that moves up and down along the supporting poles, and a lifting body that extends from the position of the elevating body and lifts the running body. Support operation cords for supporting from the left and right and operating the position of the traveling body can be further provided.
  • the wall working device described above can be configured so that the position of the running body on the wall surface can be grasped based on the height of the lifting body and the extension length of the support operating rope.
  • the support operation rope may be configured to be fed out from a support operation rope feed-out device loaded on the lifting body.
  • the traveling body is provided with a suction part that sticks to the wall surface, and the lifting body is loaded with suction-related equipment used for the operation of the suction part, and the suction part and the suction part are mounted on the lifting body.
  • Connecting cables can be used to connect related devices.
  • work-related equipment used in relation to work by the work equipment can be loaded on the lifting body, and the work equipment and the work-related equipment can be connected by connecting cables. .
  • the present disclosure uses a running body configured to be able to run against a wall surface, and a work device mounted on the running body for performing work on the wall surface, and uses a support operation rope that is paid out at least from the left and right sides of the running body.
  • This relates to a wall work method for supporting the running body and manipulating the position of the running body.
  • the wall surface working apparatus and method of the present invention it is possible to achieve the excellent effect of simply and suitably performing the work on the wall surface.
  • FIG. 1 is a schematic diagram showing an example (first embodiment) of the overall configuration of a wall working device according to the present disclosure
  • FIG. FIG. 2 is a front view showing an example of a form of a traveling body that constitutes the wall working device
  • FIG. 3 is a side view of the traveling body of FIG. 2
  • FIG. 4 is a conceptual diagram illustrating calculation of a position of a traveling body that constitutes the wall working device
  • FIG. 4 is a schematic diagram showing another example (second embodiment) of the overall configuration of the wall working device according to the present disclosure
  • FIG. 11 is a schematic diagram showing still another example (third embodiment) of the overall configuration of the wall working apparatus according to the present disclosure
  • FIG. 11 is a schematic diagram showing still another example (fourth embodiment) of the overall configuration of the wall working apparatus according to the present disclosure
  • FIG. 11 is a schematic diagram showing still another example (fifth embodiment) of the overall configuration of the wall working device according to the present disclosure
  • FIG. 11 is a schematic diagram showing still another example (f
  • the wall working device 1 of the first embodiment includes a traveling body 2 and a pair of lifting support devices 3. While traveling the traveling body 2 along the wall surface W to be worked, the left and right lifting support devices The running body 2 is supported by a support operation cable 4 extending from the 3, and the position of the running body 2 is operated.
  • wall surface refers to the outer surface of a building or a wall as a partition, a fence that separates an outdoor area, an inner wall of a machine or facility such as a power plant furnace, or a cliff in a natural structure.
  • a "surface oriented along a vertical plane” does not only refer to a plane that is strictly perpendicular to the direction of gravity, but may also be a curved surface or inclined to some extent. Any planar structure that can be sensuously recognized as a wall surface or a surface similar thereto by humans can correspond to the "wall surface" in this specification.
  • the traveling body 2 is provided with wheels 2b as traveling portions at the four corners of a main body 2a formed by combining rod-shaped structural members in a rectangular shape. As shown in FIG. can run.
  • Each wheel 2b is, for example, a ball caster attached to the back side of the running body 2 (here, the side facing the wall surface W with respect to the running body 2 is called the "back side”, and the opposite side is called the "front side”).
  • the traveling body 2 can freely travel in any direction along the wall surface.
  • running as used in this specification does not only refer to running on wheels, but generally means moving along a wall surface.
  • the mechanism for traveling is not limited to wheels as shown here when the traveling body travels along the wall surface. Further, as a specific configuration of the main body 2a and the traveling portion (wheels) 2b, various forms other than those described here can be adopted as long as the work can be performed without hindrance as will be described later.
  • a propeller 2c is provided on the front side of the running body 2 to generate a pressing force that presses the entire running body 2 toward the wall surface W.
  • the propeller 2c is designed to blow air from the running body 2 to the front side by rotation, and the entire running body 2 is pushed to the back side by the reaction, thereby holding the running body 2 against the wall surface W.
  • variable-pitch propeller is a propeller that can freely change the pitch, and can change the magnitude and direction of thrust while keeping the rotation direction and rotation speed constant. That is, when the propeller 2c is a variable pitch propeller, the propeller 2c can change the magnitude of the pressing force against the wall surface W in various ways, and can also set the pressing force to zero while rotating in the same direction. Furthermore, a negative pressing force (a force directed away from the wall surface W) can also be generated.
  • the mounting positions of the two support operation cables 4 on the running body 2 are the upper right and upper left of the main body 2a.
  • the traveling body 2 swings in the horizontal direction toward the wall surface W below the support point of the support operation cable 4 . Therefore, as shown in FIG. 1, if the support operation ropes 4 are connected to two different points and the running body 2 is suspended by the tension from the two points, the movement of the running body 2 is restrained at the two points. , thereby suppressing the occurrence of shaking in the horizontal direction.
  • the traveling body 2 is provided with a suction portion 5 for suctioning the wall surface W.
  • the suction unit 5 for example, the same device as a device sold under the name of "vacuum gripper”, “vacuum suction gripper”, “vacuum suction pad”, or “suction lifter” is used, or a principle common to these devices is used. equipment can be used. That is, the suction unit 5 is configured as an air suction device that sucks air between itself and the wall surface W to generate a negative pressure, whereby the entire traveling body 2 to which the suction unit 5 is attached is held on the wall surface W. do.
  • the adsorption unit 5 may be configured as an electromagnetic adsorption device. That is, the attraction part 5 is provided with an electromagnet, and when the electromagnet is energized, the wall surface W, which is a magnetic material, is attracted by an electromagnetic force.
  • devices based on various mechanisms and principles can be employed as the adsorption unit 5 as long as they can be appropriately adsorbed to the wall surface W, such as a type that adsorbs to the wall surface W by electrostatic force.
  • the adsorption unit 5 is a pneumatic adsorption device, a separate pump or tube is required for sucking air. , depending on the required attraction force, a separate power supply device and power cable for supplying power from the outside are required.
  • devices such as a pump and a power supply device used for the operation of the suction unit 5 can be loaded in the basket 3b as suction-related devices 5a.
  • the suction unit 5 mounted on the traveling body 2 and the suction-related device 5a loaded on the basket 3b can be connected by a tube as a connecting cable 6 or a power cable.
  • the connecting cable 6 is a cable, a hose, a tube, or a bundle thereof that connects the equipment mounted on the traveling body 2 and the equipment loaded on the basket 3b.
  • the traveling body 2 is held against the wall surface W by both the pressing force of the propeller 2c and the adsorption force of the adsorption portion 5.
  • the traveling body may be provided with either the propeller or the suction unit depending on conditions such as the weight of equipment mounted on the traveling body.
  • working equipment 7 for working on the wall surface W is mounted on the traveling body 2 .
  • the specific configuration of the work device 7 varies depending on the content of the work. 1
  • the working equipment 7 is a camera or other measuring equipment for acquiring an image of the wall surface W, and when assembling some parts or devices to the wall surface W, the working equipment 7 is a tool or the like.
  • the work equipment 7 is provided with a power cable for power supply, data acquired by the work equipment 7, and operation signals to be input to the work equipment 7, depending on the configuration of the work equipment 7 and the content of the work.
  • a communication cable, a supply tube for supplying paint, and the like are connected as a connecting cable 6 .
  • the elevating support device 3 includes support columns 3a installed along the wall surface W on the left and right sides of the traveling body 2, and a basket 3b as an elevating body that moves up and down along the support columns 3a.
  • a winder or the like (not shown) is installed at an appropriate position on the support column 3a, and the operation of the winder or the like allows the basket 3b to move up and down along the support column 3a.
  • the basket 3b is exemplified here as the elevating body, the structure of the elevating body is not limited to this.
  • the elevating body may be configured as a platform that elevates along the support column 3a.
  • the mechanism for raising and lowering the elevating body is not limited to the winding machine, and for example, a self-elevating elevating device may be employed.
  • the lifting support device 3 for example, devices similar to various devices sold as devices for scaffold work can be used.
  • the applicant of the present application has developed a "power mast” (trade name) and a “power lift” (trade name) that move a scaffold for wall work up and down along a support column, and support a basket for unloading on the scaffold for wall work.
  • a device called "Power Climber” (trade name) that moves up and down along a pillar, and these devices can be used as they are or partially modified to be used as a lifting support device for wall work equipment.
  • a hoist 8 as a payout device for the support operation ropes 4 that operate the traveling body 2 via the support operation ropes 4 is loaded on the basket 3b.
  • the support operation rope 4 is a wire rope that supports the traveling body 2
  • the hoist 8 is a device that pays out and winds up the support operation rope 4.
  • the tips of a pair of support operation cords 4 drawn out from the positions of the left and right baskets 3b are connected to the running body 2, thereby supporting the running body 2 from the left and right and manipulating its position.
  • a motor (not shown) for powering the hoist 8 is also loaded on the basket 3b.
  • the hoisting machine 8 and the motor (not shown) may be installed at a position other than the basket 3b. It is convenient to load the hoist 8 in the basket 3b.
  • equipment (work-related equipment 7a) used in relation to work by the work equipment 7 mounted on the traveling body 2 is loaded in the basket 3b.
  • the work-related equipment 7a corresponds to the power supply of the work equipment 7, the communication cable when the work equipment 7 is operated by wire, and the paint tank when the work equipment 7 is a nozzle for painting. do.
  • a connection cable 6 connects the work-related equipment 7a loaded in the basket 3b and the work equipment 7. As shown in FIG.
  • the wall working device 1 is provided with a height sensor 13 for measuring the height of the basket 3b provided in the lifting support device 3.
  • the height sensor 13 is, for example, a laser ranging sensor.
  • the height sensor 13 is provided at the height of the ground where the left and right lifting support devices 3 are installed in FIG. By irradiating light and detecting reflected light from the basket 3b, the height of the basket 3b can be grasped.
  • the height sensor 13 may be attached to the side of the basket 3b instead of the height of the ground.
  • At least one of the baskets 3b (in the case of the first embodiment, the basket 3b on the left side as you face it) is provided with a distance sensor 9 for detecting the distance to the other basket 3b.
  • the distance sensor 9 is, for example, a laser-type distance measuring sensor. The distance between the baskets 3b, 3b attached to the lifting support device 3 can be grasped.
  • instruments with other mechanisms for example, an ultrasonic distance measuring sensor, etc. may be used as appropriate. .
  • the control unit 10 is a control device that monitors and controls the operation of each device that constitutes the wall surface working device 1.
  • a control signal is input to such devices to control their on/off and operations. Further, measurement values of the distance sensor 9 and the height sensor 13 are input to the control unit 10 as data signals.
  • An operation unit 11 is connected to the control unit 10.
  • An operator of the wall surface working device 1 inputs an operation signal to the control unit 10 through operation of the operation unit 11, and the control unit 10 responds to the operation signal.
  • Each device is controlled accordingly.
  • a display unit 12 such as a liquid crystal display is connected to the control unit 10 as necessary, and the operation status of each device (height and lifting speed of the basket 3b, position of the traveling body 2, adsorption unit 5 and work equipment 7) is displayed. operation status, the feeding status of the support operating rope 4 from the hoisting machine 8, etc.) may be displayed.
  • the operation unit 11 for example, a product commercially available as a controller for a game machine or the like can be used, or a touch panel type display such as a smart phone or a tablet can be used.
  • the operation unit 11 can also function as the display unit 12 .
  • the support columns 3a are installed on the left and right sides of the wall surface W to be worked.
  • a hoist 8 is loaded on each of the baskets 3b attached to the support pillars 3a, and the running body 2 is attached to a pair of support operation cables 4 drawn out from the hoist 8.
  • the necessary work equipment 7 is mounted on the traveling body 2
  • the work-related equipment 7a and the suction-related equipment 5a are loaded in the basket 3b, and the space between the suction unit 5 and the suction-related equipment 5a and between the work equipment 7 and the work-related equipment is provided.
  • a connection cable 6 connects between the devices 7a.
  • the hoist (not shown) of the lifting support device 3 is operated to raise the left and right baskets 3b along the support columns 3a.
  • the traveling body 2 is suspended by the support operating ropes 4 drawn out from the hoisting machines 8 on the left and right sides, and rises together with the basket 3b.
  • the support operating rope 4 is paid out and wound up from the hoist 8 loaded on the left and right baskets 3b, thereby manipulating the position of the running body 2.
  • the height and position of the running body 2 in the vertical and horizontal directions with respect to the basket 3b are determined by the amount of extension of the support operation ropes 4 from the hoisting machines 8 on the left and right sides. That is, the smaller the extension amount of the support operation cable 4, the closer the running body 2 is to the basket 3b.
  • the running body 2 is positioned rightward between the left and right support columns 3a, 3a. It is positioned leftward between the support columns 3a, 3a.
  • the position of the traveling body 2 on the wall surface W can be easily grasped by, for example, the following calculation.
  • d be the distance between the winders 8 provided in the baskets 3b of the left and right lifting support devices 3 (see FIG. 4).
  • l 1 and l 2 be the distances from the left and right winders 8 to the traveling body 2 .
  • the heights of the left and right winders 8 are h 1 and h 2 respectively, the following equation holds for the coordinates (x, y) of the traveling body 2 on the wall surface W between the left and right lifting support devices 3 .
  • x 2 + (h 1 ⁇ y) 2 l 1 2 (1)
  • (d ⁇ x) 2 +(h 2 ⁇ y) 2 l 2 2 (2)
  • the distances l 1 and l 2 can be grasped through the pay-out length of the support operating rope 4 from each winch 8 , and the pay-out length of the support operating rope 4 is determined by an encoder (not shown) provided in each winch 8 . can be grasped by The heights h 1 and h 2 can be grasped by the measured values of the height sensor 13 (see FIG. 1). Therefore, the coordinates (x, y) of the traveling body 2 can be obtained by solving the above equations (1) and (2) as simultaneous equations.
  • the traveling body 2 and the hoisting machine 8 are indicated by dots for the sake of simplifying the calculation, but since the actual traveling body 2 and the hoisting machine 8 have sizes, they may be used in actual operation. These may be added as appropriate.
  • the distance d between the winders 8 is constant if each support column 3a of the lifting support device 3 is always regarded as a vertical rigid body.
  • the tension of the support operating rope 4 bends, which may cause the distance d to fluctuate.
  • the distance d between the cages 3b can be measured accurately by the distance sensor 9 (see FIG. 1) attached to the cages 3b. , this may be taken into account when calculating the coordinates of the traveling body 2 .
  • the position of the basket 3b with respect to the wall surface W or the installation surface of the support column 3a may be measured and taken into consideration.
  • the functions of the distance sensor 9 and the height sensor 13 may be used, or sensors (not shown) may be provided separately.
  • the position of the origin was set at the root of the support column 3a on the left side in the figure when expressing the coordinates of the traveling body 2, but the position of the origin is not limited to this and may be set as appropriate.
  • the traveling body 2 is held on the wall surface W by the operation of the propeller 2c and the suction unit 5, and its position in the vertical and horizontal directions with respect to the wall surface W is manipulated by the support operation rope 4 as described above. to run. Then, various operations such as inspection and painting are performed on the wall surface W by the work equipment 7 .
  • a series of operations such as adjustment of the height of the basket 3b, adjustment of the position of the traveling body 2 by the support operation rope 4, and various operations by the work equipment 7 can be executed by inputting an operation signal from the operation unit 11.
  • the operating conditions of various devices are displayed on the display unit 12, and in addition to visually observing the traveling body 2 and the lifting support device 3, the detailed operating conditions can also be grasped from the visual information displayed on the display unit 12. be able to.
  • the operation unit 11 may handle only some of the various operations described above.
  • the lifting and lowering of the basket 3b may be performed through another controller provided in the lifting support device 3.
  • the traveling body 2 During operation of the wall working device 1, if the traveling body 2 needs to be moved significantly on the wall surface, the pressing force of the propeller 2c and the adsorption force of the adsorption portion 5 can hinder the movement. In such a case, the operation of the propeller 2c and the adsorption unit 5 is turned off (or the output is reduced), and the height of the cage 3b and the extension length of the support operation rope 4 are adjusted in a state in which the pressing force and the adsorption force are cut (reduced). By doing so, the traveling body 2 can be moved more smoothly and quickly.
  • the propeller 2c is configured as a variable pitch propeller, it is possible to reduce the pressing force while maintaining the rotation without turning off the operation of the propeller 2c.
  • the propeller 2c and the traveling body 2 can be operated well.
  • the propeller 2c is a variable pitch propeller, it is possible to generate a negative pressing force to move the traveling body 2 away from the wall surface W, avoid the obstacle without detouring, and move it quickly.
  • the support required is greater than when a person performs the actual work. Low strength. Therefore, it is possible to reduce the labor and time involved in the work of assembling the scaffolding as described above, and further reduce the cost required for installing the support pillars 3a themselves.
  • the traveling body 2 in the vicinity of the support column 3a.
  • the work may be performed by changing the installation position of the support column 3a.
  • the wall working device 1 of the first embodiment can also perform work that requires supporting a certain amount of weight on the wall W.
  • the weight of work equipment that can be used depends on the carrying capacity of the flight device. It was only a simple work such as acquiring an image of W, and was not suitable for work using heavy equipment.
  • most of the weight of the traveling body 2, the suction portion 5 mounted on the traveling body 2, and the working equipment 7 is due to the flight ability of the traveling body 2 and the wall surface W. Since it is supported by the tension of the support operation ropes 4 attached to the running body 2 rather than by the holding force, it is possible to support a larger weight.
  • the suction-related equipment 5a used for the operation of the suction unit 5 and the work-related equipment 7a used for the work by the work equipment 7 are appropriately loaded in the basket 3b, and are connected by the connecting cable 6.
  • the weight necessary for the operation of the suction part 5 and the work by the work equipment 7 is shared between the traveling body 2 and the basket 3b, and the suction part 5 and the work equipment 7 are operated while the load applied to the traveling body 2 is reduced. can be made In this way, a wide range of work can be carried out with moderately heavy equipment.
  • FIG. 5 shows another form (second embodiment) of the wall working device in the present disclosure.
  • the wall working device 1 of the second embodiment has the same basic configuration as that of the first embodiment shown in FIG.
  • two auxiliary ropes 14 are connected to the running body 2 .
  • Auxiliary ropes 14 are paid out from feeding devices 15 provided at the lower right and lower left positions of wall surface working device 1 (in addition to hoist 8 for feeding supporting operation ropes 4), and the tip ends of main body 2a of traveling body 2. They are connected to the lower right and lower left, respectively.
  • the position of the feeding device 15 for feeding the auxiliary rope 14 is near the base portions of the left and right support columns 3a in FIG.
  • the role of the auxiliary cable 14 in the wall working apparatus 1 of the second embodiment is to apply tension to the running body 2 from a direction different from that of the support operation cable 4, thereby suppressing the movement of the running body 2 and stabilizing its position. It is to let As in the first embodiment (see FIG. 1), when the running body 2 is supported only by the support operation ropes 4 extending from the left and right sides, the running body 2 swings back and forth against the wall surface W like a pendulum. There is a risk that this will cause trouble in the work. Therefore, as in the second embodiment, in addition to the support operation cable 4, if the auxiliary cable 14 is connected to the running body 2 and tension is applied from the auxiliary cable 14 in a direction different from that of the support operation cable 4, the running body 2 can be suppressed.
  • a tensioning device such as the linear body feeding device described in Patent Document 3 can be used.
  • a tensioning device includes a reel for feeding and winding the rope, and a motor for controlling the tension applied to the rope according to changes in the tension applied to the rope. , to constantly apply tension to said rope.
  • Such a mechanism permits movement of a device such as a drone connected to the cable, while suppressing sudden maneuvers of the device.
  • the feeding device 15 as long as it is a device that can apply an appropriate tension to the running body 2 moving on the wall surface via the auxiliary rope 14 and suppress the movement while allowing the running body 2 to run. can be used.
  • the feeding device 15 for example, a general hoisting machine may be used, and the feeding device 8 for feeding the support operating rope 4 and the feeding device 15 for feeding the auxiliary rope 14 may all be configured as a hoisting machine. It is possible. However, at least the feeding device for feeding the support operating rope 4 (in the case of the second embodiment, the feeding device 8 located at the upper right and upper left in FIG. It is necessary to provide a device capable of supporting the weight and freely manipulating the position of the supporting and operating rope 4 by extending and winding the supporting and operating rope 4 .
  • auxiliary rope 14 when the auxiliary rope 14 is attached to the running body 2 in this way, it is possible to tilt the running body 2 to some extent by manipulating the extension length of the support operation cable 4 .
  • a motion to let out the support operating cable 4 slightly from the hoist 8 located on the left side of the figure, a motion to slightly wind the supporting operating cable 4 on the hoist located on the right side, or both are executed.
  • the traveling body 2 moves slightly to the right side in the figure (at that time, depending on the content of the operation, , moves slightly up and down).
  • FIG. 6 shows still another form (third embodiment) of the wall working device in the present disclosure.
  • the basic configuration is the same as that of the second embodiment (see FIG. 5), but the mounting positions of the support operating rope 4 and the auxiliary rope 14 on the running body 2 are different.
  • a pair of support operation ropes 4 drawn out from the left and right winders 8 are attached to one upper portion of the main body 2a of the running body 2
  • a pair of auxiliary ropes 14 drawn out from the left and right feeding devices 15 are attached to the running body. 2 is attached to one lower portion of the main body 2a.
  • the mounting positions of the support operation rope 4 and the auxiliary rope 14 on the running body 2 are not limited to the examples shown in FIGS. 1 and 5, and can be mounted at appropriate positions.
  • FIG. 7 shows still another form (fourth embodiment) of the wall working device according to the present disclosure.
  • the running body 2 is supported by a total of four ropes including two support operation ropes 4 and two auxiliary ropes 14
  • the running body 2 is supported by a total of three ropes, which are two support operation ropes 4 and one auxiliary rope 14 .
  • the auxiliary rope 14 is let out from a payout device 15 provided below, and its tip end is connected to the lower part of the main body 2a of the running body 2.
  • the number of auxiliary ropes 14 is not limited to two as in the second embodiment, but may be one as in the fourth embodiment, or may be three or more.
  • the feeding device 15 for feeding the auxiliary rope 14 is configured to travel left and right along the rail.
  • the auxiliary rope 14 may be let out from a payout device 15 fixed at an appropriate position. It is conceivable that the tension is biased to either the left or the right, making it somewhat difficult to operate the support operating rope 4 .
  • the running body 2 As shown in FIGS. 5 to 7, if the running body 2 is supported at two or more points by the supporting operation ropes 4 and the auxiliary ropes 14, the running body 2 can be suitably supported. The position can be manipulated, and if tension is applied in three or more directions different from each other, shaking of the traveling body 2 can be suitably suppressed.
  • FIG. 8 shows still another form (fifth embodiment) of the wall working device in the present disclosure.
  • the tension is applied from the running body 2.
  • a weight 16 is hung downward, and the traveling body 2 is pulled downward by the weight of the weight 16, thereby suppressing unnecessary movement of the traveling body 2.
  • a movable connection mechanism such as a bearing is provided at an appropriate position of the traveling body 2 (for example, on the frame at the bottom of the main body 2a), a rod-shaped part is attached so as to extend downward from the connection mechanism, and the tip of the rod-shaped part is attached.
  • a weight 16 moves on a circle centered on the connecting mechanism and having a radius equal to the length of the rod-shaped part.
  • a rod-shaped component is fixed so as to extend downward from the main body 2a of the traveling body 2, and a weight 16 is connected to the tip of the rod-shaped component.
  • the weight 16 is fixed at a fixed position with respect to the traveling body 2 .
  • a rope is provided so as to extend downward from the main body 2a of the running body 2, and a weight 16 is hung from the tip of the rope.
  • the weight 16 rotates on the circumference of the base of the cone with the base end of the cord as the apex.
  • the weight 16 may be used together with the auxiliary rope 14 and feeding device 15 as shown in the second to fourth embodiments (see FIGS. 5 to 7).
  • a mechanism such as a pulley appropriately in the middle of the support operation cable 4 or the auxiliary cable 14 .
  • a tensioning device as a payout device is installed obliquely below the running body 2, a pulley or an appropriate part similar to it is provided below the running body 2, and the auxiliary rope paid out from the tensioning device is attached to the pulley (or (similar part), and then the tip of the auxiliary cable may be attached to the lower part of the running body 2 .
  • the wall working device 1 of each of the above-described embodiments includes the traveling body 2 configured to be able to travel on the wall surface W, and the working equipment 7 mounted on the traveling body 2 for performing work on the wall surface W.
  • the traveling body 2 is mounted on a lifting support device 3 having support columns 3a installed on the left and right sides of the traveling body 2, and a lifting body (cage) 3b that moves up and down along the supporting columns 3a from the position of the lifting body 3b. It is configured to be supported from the left and right by the extended support operation cords 4 and to be operated in position.
  • the wall working device 1 of each of the above embodiments includes a traveling body 2 configured to be able to travel on the wall surface W, and a working device 7 mounted on the traveling body 2 for performing work on the wall surface W.
  • the body 2 is supported at least by support operation cords 4 extended from the left and right sides of the running body 2 and is configured to be manipulated in position.
  • the traveling body 2 configured to be able to travel on the wall surface W and the working equipment 7 mounted on the traveling body 2 for performing the work on the wall surface W are used.
  • the running body 2 is supported and the position of the running body 2 is operated by support operation cords 4 extended from the left and right sides of the running body 2 .
  • the traveling body 2 is provided with a propeller 2c that generates a pressing force against the wall surface W. In this way, the traveling body 2 can be held on the wall surface W by the pressing force.
  • the propeller 2c can be a variable pitch propeller. In this way, the pressing force of the propeller 2c can be quickly adjusted, and the propeller 2c and the traveling body 2 can be operated with good responsiveness. Further, the propeller 2c can generate a negative pressing force to move the traveling body 2 away from the wall surface W and move it rapidly.
  • auxiliary cables 14 are connected to the running body 2 so as to apply tension to the running body 2 from a direction different from the direction of the support operation cable 4 . In this way, unnecessary movement of the running body 2 can be suppressed by applying tension from the direction different from the direction of the support operation cable 4 by the auxiliary cable 14 .
  • the wall surface working device 1 of some embodiments includes a weight 16 suspended from the traveling body 2 . In this way, unnecessary movement of the traveling body 2 can be suppressed by the dead weight of the weight 16. - ⁇
  • the traveling body 2 is provided with an adsorption portion 5 that adsorbs the wall surface W. As shown in FIG. In this way, the traveling body 2 can be held on the wall surface W by the adsorption force.
  • the wall surface working apparatus 1 of each embodiment includes a lifting support device 3 having support columns 3a installed on the left and right sides of the traveling body 2 and a lifting body 3b that moves up and down along the supporting columns 3a;
  • a support operation cable 4 extended from a position to support the traveling body 2 from the left and right and to operate the position of the traveling body 2 is further provided. In this manner, most of the weight of the traveling body 2 and the equipment mounted on the traveling body 2 is supported by the tension of the support operation rope 4, so that a large weight can be supported and a wide range of work can be performed without difficulty. can be executed.
  • the wall working apparatus 1 of each embodiment is configured to be able to grasp the position of the traveling body 2 on the wall surface W based on the height of the lifting body 3b and the length of the support operating rope 4 extended. By doing so, the position of the traveling body 2 can be easily grasped when the traveling body 2 is operated.
  • the support operation rope 4 is let out from a payout device (hoist) 8 for the support operation rope 4 loaded on the lifting body 3b.
  • a payout device hoist
  • the position of the traveling body 2 can be manipulated by feeding and winding the support operating rope 4 by the hoisting machine 8 .
  • the traveling body 2 is provided with the suction part 5 that sticks to the wall surface W, and the lifting body 3b is loaded with suction-related equipment 5a used for the operation of the suction part 5.
  • a connection cable 6 connects the adsorption unit 5 and the adsorption-related device 5a.
  • work-related equipment 7a used in relation to work by the work equipment 7 is loaded on the lifting body 3b, and a connecting cable is provided between the work equipment 7 and the work-related equipment 7a. 6 is connected. In this way, the weight required for the work by the work equipment 7 can be shared between the traveling body 2 and the lifting body 3b, and the load applied to the traveling body 2 can be reduced.
  • the work on the wall surface can be performed easily and favorably.

Abstract

L'invention concerne un dispositif de travail de surface de paroi (1) comprenant : un corps mobile (2) qui peut se déplacer par rapport à une surface de paroi W ; un dispositif de support ascendant/descendant (3) qui est pourvu de colonnes de support qui sont installées à gauche et à droite du corps mobile (2) et de corps ascendants/descendants (3b) qui montent et descendent le long des colonnes de support (3a) ; un cordon de support et de manœuvre (4) qui est sorti de la position des corps ascendants/descendants (3b), qui supporte le corps mobile (2) à partir de la gauche et de la droite, et qui manœuvre la position du corps mobile (2) ; et un appareil de travail (7) qui est monté sur le corps mobile (2) et qui effectue un travail par rapport à la surface de paroi W.
PCT/JP2022/030990 2021-06-03 2022-08-16 Dispositif et procédé de travail de surface de paroi WO2023058329A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021093511 2021-06-03
JP2021165204A JP2022186570A (ja) 2021-06-03 2021-10-07 壁面作業装置および方法
JP2021-165204 2021-10-07

Publications (1)

Publication Number Publication Date
WO2023058329A1 true WO2023058329A1 (fr) 2023-04-13

Family

ID=84442335

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2022/030990 WO2023058329A1 (fr) 2021-06-03 2022-08-16 Dispositif et procédé de travail de surface de paroi

Country Status (3)

Country Link
JP (1) JP2022186570A (fr)
TW (1) TW202328544A (fr)
WO (1) WO2023058329A1 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02252859A (ja) * 1989-03-27 1990-10-11 Takenaka Komuten Co Ltd 壁面作業ロボットの移動制御システム
JPH0655976U (ja) * 1993-01-19 1994-08-02 トキコ株式会社 壁面移動ロボット
JP2010052713A (ja) * 2009-03-05 2010-03-11 Technical Research & Development Institute Ministry Of Defence 球形飛行機及びテールシッター機
JP2015117003A (ja) * 2013-01-23 2015-06-25 国立大学法人 名古屋工業大学 陸上（および可能な場合は水上を）走行可能なプロテクトフレーム付き飛行体および自動充電装置
JP2017056924A (ja) * 2015-09-18 2017-03-23 株式会社兼六コンピュータサービス ガイドポール昇降式無人飛行機制御システム
JP2019130975A (ja) * 2018-01-30 2019-08-08 富士通株式会社 飛翔機

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02252859A (ja) * 1989-03-27 1990-10-11 Takenaka Komuten Co Ltd 壁面作業ロボットの移動制御システム
JPH0655976U (ja) * 1993-01-19 1994-08-02 トキコ株式会社 壁面移動ロボット
JP2010052713A (ja) * 2009-03-05 2010-03-11 Technical Research & Development Institute Ministry Of Defence 球形飛行機及びテールシッター機
JP2015117003A (ja) * 2013-01-23 2015-06-25 国立大学法人 名古屋工業大学 陸上（および可能な場合は水上を）走行可能なプロテクトフレーム付き飛行体および自動充電装置
JP2017056924A (ja) * 2015-09-18 2017-03-23 株式会社兼六コンピュータサービス ガイドポール昇降式無人飛行機制御システム
JP2019130975A (ja) * 2018-01-30 2019-08-08 富士通株式会社 飛翔機

Also Published As

Publication number Publication date
TW202328544A (zh) 2023-07-16
JP2022186570A (ja) 2022-12-15

Similar Documents

Publication Publication Date Title
US9464754B1 (en) Automated mobile boom system for crawling robots
US6382437B1 (en) Crane apparatus
US6648102B2 (en) Suspended dry dock platform
US11230032B2 (en) Cable-driven additive manufacturing system
JP4986643B2 (ja) タワークレーンにおける吊荷の位置表示方法及び吊荷位置表示装置を備えたタワークレーン
KR101872923B1 (ko) 드론형 고소작업장치
CN112850487A (zh) 一种重心可调的建筑墙板起吊设备
WO2023058329A1 (fr) Dispositif et procédé de travail de surface de paroi
JP2009270321A (ja) 位置決め制御システム
CN108358072B (zh) 一种爬壁机器人的辅助吊装设备及控制方法
CN205802844U (zh) 一种吊装装置
KR101814117B1 (ko) 건물외벽 작업툴 및 이를 포함하는 곤돌라 유닛
JP4520454B2 (ja) 建築部材用貨物昇降機
JP7189490B2 (ja) 位置調節補助装置及び移動式クレーン
WO2023082951A1 (fr) Procédé de levage/abaissement de construction de bâtiment
CN113950458A (zh) 用于控制悬挂在缆索上的载荷的设备
JP2753203B2 (ja) 長尺材吊上げ装置
CN112873180A (zh) 高空作业悬挂装置及机器人
JP7395151B2 (ja) パラレルワイヤ機構
CN112919351B (zh) 一种卷扬机构和一种起重设备
JP7031299B2 (ja) 位置調整装置、これを備えたクレーン及びウェイト結合方法
CN215190383U (zh) 一种用于数字媒体艺术设计的吊挂装置
KR102286398B1 (ko) 타워 크레인 케이지 승강용 구동 어셈블리
RU196061U1 (ru) Подъемно-крановое устройство
CN218843695U (zh) 一种悬臂现浇用异步挂篮

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22878200

Country of ref document: EP

Kind code of ref document: A1