JPH0443833B2 - - Google Patents
Info
- Publication number
- JPH0443833B2 JPH0443833B2 JP58093949A JP9394983A JPH0443833B2 JP H0443833 B2 JPH0443833 B2 JP H0443833B2 JP 58093949 A JP58093949 A JP 58093949A JP 9394983 A JP9394983 A JP 9394983A JP H0443833 B2 JPH0443833 B2 JP H0443833B2
- Authority
- JP
- Japan
- Prior art keywords
- suction
- exhaust device
- devices
- ejector
- walking machine
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Lifetime
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は移動式点検装置に係り、鉛直の壁面あ
るいは逆勾配の天井などに吸着しながら移動する
に最適な真空吸着歩行機に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a mobile inspection device, and relates to a vacuum suction walking machine that is most suitable for moving while adhering to a vertical wall surface or a reverse sloped ceiling.
従来の装置としては、特開昭55−148666号に記
載のように、脚式歩行装置の脚先端に吸盤を装備
し、壁面に吸着して歩行するものがある。歩行
は、壁面からの吸盤の着脱と、脚送り動作の組み
合わせで実現する。以下文章が煩雑になるのを避
けるため、壁面に対して同時に着脱・脚送りする
脚に装備した吸盤のグループを、「脚送り単位」
と呼ぶことにする。吸盤内を負圧にする排気系統
は脚送り単位ごとに分離していて、１単位ずつ順
次排気を中断し、壁面から持ち上げて、移動方向
へ脚を送る動作を繰り返す。
As a conventional device, as described in Japanese Patent Application Laid-open No. 148666/1983, there is a legged walking device equipped with suction cups at the tips of its legs, which allows the user to walk while adhering to a wall surface. Walking is achieved by a combination of attaching and detaching suction cups from the wall and moving the legs. In order to avoid complication of the following text, groups of suction cups attached to legs that are attached to, detached from, and feed the legs at the same time from the wall are referred to as "leg feeding units."
I will call it. The exhaust system that creates a negative pressure inside the suction cup is separated for each unit of leg feeding, and the operation of stopping the exhaust one unit at a time, lifting it from the wall, and sending the leg in the direction of movement is repeated.
あるいは別の装置としては、特開昭52−109300
号に記載のように、負圧発生装置を車載し、車輪
走行する車体の底面を１個の負圧室にすることに
より、壁面を吸着走行するのがある。 Or as another device, JP-A-52-109300
As described in the above issue, a negative pressure generating device is mounted on a vehicle, and the bottom surface of a vehicle body running on wheels is made into one negative pressure chamber, so that the vehicle runs by suctioning against a wall surface.
特開昭55−148666号においては負圧発生装置に
関する記述はなく、当業者の間では一般的な真空
ポンプを用いていると考えるのが妥当である。こ
の場合、移動機構の許容積載荷重は限られてお
り、重量物である真空ポンプは移動機構から離し
て地上に配置する。負圧発生装置と移動機構の間
に脚送り単位ごとに切換弁を装備し、脚送り単位
ごとに複数個の吸盤の間を通気管で連通させてい
る。このため１個の吸盤に空気漏れが生じて真空
度が悪化した場合に、連通している他の吸盤の真
空度も悪化し、移動機構が壁面から剥離・落下す
る恐れがある。
JP-A-55-148666 does not mention a negative pressure generator, and it is reasonable for those skilled in the art to assume that a general vacuum pump is used. In this case, the permissible load of the moving mechanism is limited, and the heavy vacuum pump is placed on the ground away from the moving mechanism. A switching valve is provided for each leg feeding unit between the negative pressure generator and the moving mechanism, and a ventilation pipe communicates between the plurality of suction cups for each leg feeding unit. For this reason, if air leaks from one suction cup and the degree of vacuum deteriorates, the degree of vacuum of the other suction cups in communication will also deteriorate, and there is a risk that the moving mechanism may separate from the wall surface and fall.
特開昭52−109300号においても同様のことがい
える。すなわち１個の負圧室から成るために、負
圧室の一部分で空気漏れが生じても移動機構は吸
着不能となり、剥離・落下する恐れがある。 The same can be said of JP-A-52-109300. That is, since it consists of one negative pressure chamber, even if air leaks in a part of the negative pressure chamber, the moving mechanism will be unable to attract it, and there is a risk that it will peel off or fall.
本発明の目的は、吸盤など吸着装置の一部分に
空気漏れが生じても、真空度の悪化の伝播を抑制
して、壁面から剥離・落下しない吸着移動機構を
提供することにある。またこの特徴を生かして、
凹凸や異物が存在する不整面上の移動が可能な真
空吸着歩行機を提供することにもある。 An object of the present invention is to provide a suction and movement mechanism that suppresses the propagation of deterioration of the degree of vacuum and does not peel or fall from a wall surface even if air leaks from a part of the suction device such as a suction cup. Also, taking advantage of this feature,
Another object of the present invention is to provide a vacuum suction walking machine capable of moving on an irregular surface where unevenness and foreign matter are present.
このために本発明による真空吸着歩行機は、吸
着装置ごとに独立した排気装置を設け、この排気
装置がエゼクタからなり、該エゼクタそれぞれが
共通の高圧エアにより負圧を発生することを特徴
とする。
For this purpose, the vacuum suction walking machine according to the present invention is characterized in that each suction device is provided with an independent exhaust device, and this exhaust device is composed of an ejector, and each of the ejectors generates negative pressure using common high-pressure air. .
この構成によればある脚のある吸着装置に空気
洩れが発生し、吸着力が低下しても、この脚の他
の吸着装置が独立しているからこの吸着装置の負
圧度は変化しないのでこの脚は確実に壁面に吸着
されつづける。又排気装置がエゼクタからなるの
で構造的に単純であり、従つて複数の吸着装置を
一つの脚に設けることを容易にしている。
According to this configuration, even if an air leak occurs in a suction device with a certain leg and the suction force decreases, the degree of negative pressure of this suction device will not change because the other suction devices on this leg are independent. These legs will continue to be firmly attached to the wall surface. Furthermore, since the exhaust device consists of an ejector, it is structurally simple, making it easy to install a plurality of suction devices on one leg.
本発明の実施例を図面を用いて説明する。基本
的な構成及び動作は、壁面２９とは負圧により吸
着する吸盤１１，２１により歩行機１７を担持
し、吸盤１１と吸盤２１とを交互に壁面２９に対
して吸着させ、または離脱させ、さらに吸盤１１
と吸盤２１を歩進する方向に相対的に移動させる
シリンダ２の伸縮によつて行わしめ、さらに歩進
する方向の変更は吸盤１１と吸盤２１の支持機構
に旋回機能を持つたモータ３により吸盤２１を吸
着固定し、吸盤１１を離脱開放した状態で旋回動
作させることにより、歩進する方向を任意に変更
することを得る。以下、詳細に説明する。
Embodiments of the present invention will be described using the drawings. The basic structure and operation is that the walking machine 17 is supported by the suction cups 11 and 21 which are attracted to the wall surface 29 by negative pressure, and the suction cups 11 and 21 are alternately attracted to the wall surface 29 or released from the wall surface 29. Furthermore, sucker 11
This is done by expanding and contracting the cylinder 2 which relatively moves the suction cup 21 in the stepping direction, and further changing the stepping direction is performed by a motor 3 having a rotation function in the support mechanism of the suction cup 11 and the suction cup 21. 21 is suctioned and fixed, and the suction cup 11 is released and rotated, thereby making it possible to arbitrarily change the walking direction. This will be explained in detail below.
吸盤１１，２１はシリンダ９のピストンロツド
３０の先端にピストンロツド３０の軸心部に設け
た吸入口３８と連通させて取り付けてある。した
がつて、吸入口３８と真空発生器であるエゼクタ
１０の減圧部とチユーブ等で導通し、エゼクタ１
０のエアホース１３より高圧エア２２を導入する
ことにより吸盤１１，１２内は負圧となり、壁面
２９に吸着固定することができる。また高圧エア
を遮断すればエゼクタ１０の噴出口からエアが逆
流し、吸盤１１，２１内は大気圧となり吸着力を
喪失する。この時シリンダ９のエア導入口３９に
高圧エアを供給するれば、ピストン３３とピスト
ンロツド３０と吸盤１１，２１は上方に押し上げ
られ、壁面２９から完全に開放される。シリンダ
９はピストンロツド４，５の先端と保持体１４を
介して固定され、シリンダ２はエア導入口１２ａ
あるいは１２ｂから高圧エアを導入すれば、相対
的にピストンロツド４あるいはピストンロツド５
の側に移動する。シリンダ２はベース１と支持体
８で固定されている。また、ベース１には固定軸
受１９が具備されており、エアモータ３の固定軸
１８が固定してある。エアモータ３は回転ベース
７に固定してあり、回転ベース７はベース１とこ
ろがり軸受２０により旋回が自由な構造となつて
いる。さらに、回転ベース７の円周上には吸盤２
１が分散配置されるようシリンダ９が固定してあ
る。いまエア導入口１２ａに高圧エア１７を導入
すると、シリンダ２はピストンロツド５側に位置
する。この状態から吸盤１１を吸着固定し、吸盤
２１を開放離脱させて、高圧エアをエア導入口１
２ｃから導入すると、シリンダ２はベース１およ
びエアモータ３とともにピストンロツド４側に移
動する。ついで吸盤２１を吸着固定し、吸盤１１
を離脱開放させ、高圧エア１７をエア導入口１２
ｃからエア導入口１２ａに切り替えて導入すれ
ば、ピストロツド４，５に設けた吸盤１１はさら
にピストンロツド４側に移動し、これを繰り返す
ことにより壁面に吸着しながら歩行することがで
きる。また吸盤２１が吸着し、吸盤１１が解放さ
れた状態でエアモータ３を任意の角度だけ回転運
動させればシリンダ２はその角度に向き、前記動
作を行わせることにより任意の方向に移動するこ
とを得る。この歩行動作中、もし吸盤１１または
２１の１個あるいは数個に壁面２９の傷などによ
り空気漏れが発生したとしても、独立した排気系
統としての全ての吸盤ごとにエゼクタ１０が備え
てあるため、空気漏れのない吸盤内の圧力には影
響しない。 The suction cups 11 and 21 are attached to the tip of the piston rod 30 of the cylinder 9 so as to communicate with a suction port 38 provided at the axial center of the piston rod 30. Therefore, the suction port 38 and the pressure reducing part of the ejector 10, which is a vacuum generator, are electrically connected through a tube or the like, and the ejector 1
By introducing high-pressure air 22 from the air hose 13 of 0, negative pressure is created in the suction cups 11 and 12, and the suction cups 11 and 12 can be fixed to the wall surface 29 by suction. Furthermore, if the high-pressure air is shut off, the air flows backward from the ejector of the ejector 10, and the insides of the suction cups 11 and 21 reach atmospheric pressure, and the suction force is lost. At this time, if high pressure air is supplied to the air inlet 39 of the cylinder 9, the piston 33, piston rod 30, and suction cups 11, 21 are pushed upward and completely released from the wall surface 29. The cylinder 9 is fixed to the tips of the piston rods 4 and 5 via the holder 14, and the cylinder 2 is connected to the air inlet 12a.
Alternatively, if high pressure air is introduced from 12b, piston rod 4 or piston rod 5 will be
move to the side. The cylinder 2 is fixed by a base 1 and a support 8. Further, the base 1 is equipped with a fixed bearing 19, and a fixed shaft 18 of the air motor 3 is fixed thereto. The air motor 3 is fixed to a rotating base 7, and the rotating base 7 has a structure in which the rotating base 7 can freely rotate by means of a rolling bearing 20 on the base 1. Furthermore, a suction cup 2 is placed on the circumference of the rotating base 7.
A cylinder 9 is fixed so that the cylinders 1 and 1 are arranged in a dispersed manner. If high pressure air 17 is now introduced into the air inlet 12a, the cylinder 2 will be located on the piston rod 5 side. From this state, the suction cup 11 is fixed by suction, the suction cup 21 is opened and removed, and high pressure air is supplied to the air inlet port 1.
When introduced from 2c, the cylinder 2 moves toward the piston rod 4 together with the base 1 and the air motor 3. Next, the suction cup 21 is fixed by suction, and the suction cup 11 is
to release and open the high pressure air 17 to the air inlet 12.
If the air is introduced by switching to the air inlet 12a from c to the air inlet 12a, the suction cups 11 provided on the piston rods 4 and 5 move further toward the piston rod 4, and by repeating this, the user can walk while adhering to the wall surface. Furthermore, if the air motor 3 is rotated by an arbitrary angle while the suction cup 21 is attracted and the suction cup 11 is released, the cylinder 2 will be oriented at that angle, and by performing the above operation, the cylinder 2 can be moved in any direction. obtain. During this walking movement, even if air leaks from one or several of the suction cups 11 or 21 due to scratches on the wall surface 29, the ejector 10 is provided for each suction cup as an independent exhaust system. It does not affect the pressure inside the suction cup without air leakage.
なお、本実施例に示した移動用のエアシリンダ
２は、通常よく知られているラツクとピニオンを
用いて電気モータで駆動させてもよく、またエア
モータ３も電気モータに置き換えても差し支えな
い。 The moving air cylinder 2 shown in this embodiment may be driven by an electric motor using a commonly known rack and pinion, and the air motor 3 may also be replaced with an electric motor.
本実施例によれば、１個あるいは数個の吸盤に
空気漏れが生じでも歩行機は吸着力を失うことが
なく、したがつて歩行機は剥離・落下することな
く壁面上を任意の方向に移動できる。 According to this embodiment, even if air leaks from one or several suction cups, the walking machine does not lose its suction force, and therefore the walking machine can move in any direction on the wall without peeling off or falling. Can be moved.
本発明によれば、吸着移動機構の吸盤など吸着
装置の一部分に空気漏れが生じても、他の吸着装
置への真空度の悪化の伝播を抑制して、壁面から
の剥離や落下を防止できる。また本発明によれば
必ずしもすべての吸盤が付着していなくても壁面
上を吸着移動できるので、この特徴を生かして凹
凸や異物が存在する不整面上を吸着移動できる。
又排気装置をエゼクタから形成しているので、各
脚に多数の吸着装置を設けることを可能とし、更
に又壁面からの脱落防止の安全性を高めている。
According to the present invention, even if air leaks from a part of the suction device, such as the suction cup of the suction moving mechanism, it is possible to suppress the propagation of deterioration of the degree of vacuum to other suction devices and prevent it from peeling off from the wall surface or falling. . Furthermore, according to the present invention, it is possible to suction move on a wall surface even if not all the suction cups are attached, so by taking advantage of this feature, it is possible to suction move on an irregular surface where unevenness or foreign matter is present.
Furthermore, since the exhaust device is formed from an ejector, it is possible to provide a large number of suction devices on each leg, and furthermore, the safety of preventing the device from falling off the wall surface is improved.
一般の構造物では、凹凸や異物などの存在しな
い理想的な壁面は稀であり、多かれ少なかれ不整
面となつている。したがつて実際の産業応用を考
えた場合、本発明の機能は不可欠であり、大きな
効果がある。 In general structures, it is rare to find an ideal wall surface without unevenness or foreign matter, and the wall surface is more or less irregular. Therefore, when considering actual industrial applications, the functions of the present invention are essential and have great effects.
第１図は全体構成の概念図、第２図は本発明の
正面図、第３図は第２図を壁面から見た平面図、
第４図は第２図の側面図、第５図は吸着パツドの
部分の断面図である。
１……ベース、２……シリンダ、３……エア・
モータ、９……シリンダ、１０……エゼクタ、１
１……吸盤、１７……歩行機、２１……吸盤、２
９……壁面、３３……ピストン。
FIG. 1 is a conceptual diagram of the overall configuration, FIG. 2 is a front view of the present invention, and FIG. 3 is a plan view of FIG. 2 viewed from the wall.
FIG. 4 is a side view of FIG. 2, and FIG. 5 is a sectional view of the suction pad. 1...Base, 2...Cylinder, 3...Air
Motor, 9...Cylinder, 10...Ejector, 1
1...Sucker, 17...Walker, 21...Sucker, 2
9...Wall surface, 33...Piston.
Claims (1)
に沿つて移動する手段を有する移動体と、該移動
体の各脚に装備され、内部圧力の調整によつて前
記面に対する吸着力が可変の複数の吸着装置と、 吸着装置内の圧力を減圧する排気装置と、吸着
装置と排気装置との間にあつて、吸着装置内の圧
力を調整する制御要素とから成る真空吸着歩行機
において、 吸着装置ごとに独立した排気装置を設け、該排
気装置がエゼクタからなり、該エゼクタが共通の
高圧エアにより負圧を発生することを特徴とする
真空吸着歩行機。 ２ アクチユエータを有して遠隔で操作可能な駆
動機構と、 駆動機構を介して相互に接続された複数の脚
と、吸着面と面する各脚ごとに装備され、内部圧
力の調整によつて吸着力が可変の複数の吸着装置
と、 吸着装置内部を排気する排気装置と、 吸着装置と排気装置との間にあつて、吸着装置
内の圧力を調整する制御要素とから成る真空吸着
歩行機において、 吸着装置ごとに独立した排気装置を設け、該排
気装置がエゼクタからなり、該エゼクタが共通の
高圧エアにより負荷を発生することを特徴とする
真空吸着歩行機。 ３ 特許請求の範囲第２項において、吸着面への
押し付け機構を介して脚に吸着装置を取付けたこ
とを特徴とする真空吸着歩行機。 ４ 特許請求の範囲第３項において、吸着面への
押し付け機構内部を中空として、排気経路として
使用することを特徴とする真空吸着歩行機。[Scope of Claims] 1. A movable body consisting of a plurality of legs connected to each other and having means for moving along a surface; Consisting of a plurality of adsorption devices with variable adsorption force against a surface, an exhaust device that reduces the pressure within the adsorption devices, and a control element located between the adsorption devices and the exhaust device that adjusts the pressure within the adsorption devices. A vacuum suction walking machine, characterized in that each suction device is provided with an independent exhaust device, the exhaust device is composed of an ejector, and the ejector generates negative pressure using common high-pressure air. 2. A drive mechanism that has an actuator and can be operated remotely, a plurality of legs that are interconnected via the drive mechanism, and each leg that faces the suction surface is equipped with a drive mechanism that can be operated by remote control. A vacuum suction walking machine comprising a plurality of suction devices with variable force, an exhaust device that exhausts the inside of the suction devices, and a control element that is located between the suction devices and the exhaust device and adjusts the pressure inside the suction devices. A vacuum suction walking machine characterized in that each suction device is provided with an independent exhaust device, the exhaust device is composed of an ejector, and the ejector generates a load using common high-pressure air. 3. A vacuum suction walking machine according to claim 2, characterized in that a suction device is attached to the leg via a pressing mechanism against the suction surface. 4. The vacuum suction walking machine according to claim 3, characterized in that the inside of the mechanism for pressing against the suction surface is hollow and used as an exhaust path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58093949A JPS59220468A (en) | 1983-05-30 | 1983-05-30 | Vacuum adsorption walking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58093949A JPS59220468A (en) | 1983-05-30 | 1983-05-30 | Vacuum adsorption walking machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59220468A JPS59220468A (en) | 1984-12-11 |
| JPH0443833B2 true JPH0443833B2 (en) | 1992-07-17 |
Family
ID=14096683
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58093949A Granted JPS59220468A (en) | 1983-05-30 | 1983-05-30 | Vacuum adsorption walking machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59220468A (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07110620B2 (en) * | 1985-12-18 | 1995-11-29 | 大成建設株式会社 | Adsorption device for wall surface moving work machine |
| DE19958890C1 (en) | 1999-12-07 | 2001-02-15 | Bsh Bosch Siemens Hausgeraete | Mobile surface treatment device has safety device detecting release from surface for operation of retention device preventing it from falling from surface |
| CN102826138A (en) * | 2012-08-24 | 2012-12-19 | 华南理工大学 | Negative-pressure adsorption module with automatic altitude detection capacity and self-adaptive capacity to adsorbed surface |
| CN104590416A (en) * | 2014-12-12 | 2015-05-06 | 华南理工大学 | Vacuum negative pressure adsorption system and method for multi-legged wall climbing robot |
| CN106181646B (en) * | 2016-07-11 | 2018-04-10 | 中国电子科技集团公司第二十八研究所 | One kind climbs wall sanding and polishing machine people |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5125188A (en) * | 1974-08-27 | 1976-03-01 | Toray Industries | SANPURING UHOSHIKI |
-
1983
- 1983-05-30 JP JP58093949A patent/JPS59220468A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS59220468A (en) | 1984-12-11 |
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