JPH0828032A - Moving device for wall moving object - Google Patents

Abstract

(57) [Abstract] [Purpose] It is possible to press a wall surface moving body against a wall surface without impairing the efficient movement of the wall surface moving body such as a wall tile inspection device. [Structure] A wall moving body 30 having a self-propelled device is hung on one end of a rope 23 hung on a hanger device 20 supported horizontally on a rail 10 above a building, and a counterweight 31 hung on the other end. While balancing, while rolling the wheels 33 along the wall surface 2 to move,
The wall moving body 30 is provided with a fan that sucks air from the bottom surface side and blows out air from the back surface side to press the wheels against the wall surface.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving device for moving a wall surface moving body such as a wall tile inspection device along a wall surface of a building.

[0002]

2. Description of the Related Art Generally, when an outer wall surface of a building is automatically inspected by a robot, a device, or the like, the movement of the device is usually controlled by a moving device provided at the top of the building (the roof). However, in this method, the equipment on the upper part of the building becomes large in size, and it is difficult to easily perform the inspection with a small number of people.

[0003] Conventionally, as a device for moving a wall surface moving body along the wall surface of a building, there is one disclosed in JP-A-61-57763. That is, a wall traveling vehicle A having a traveling device is connected to a weight 61 that balances the weight of the wall traveling vehicle A with a connecting rope 62 via a pulley 64 so that the wall traveling vehicle A travels vertically and horizontally. Accordingly, the balancer device B in which the weight 61 is vertically linked
Is hung by a movable winch device C on the building roof and is connected to a wall traveling vehicle A.
This is a balancer type wall surface traveling device in which accessories such as a hose are suspended and held from the frame 63 of the balancer device B.

In this device, since the wall traveling vehicle A and accessories such as hoses are counterbalanced by the balancer device B, it is possible that the wall traveling vehicle A has a low suction holding capacity, and linear traveling can be performed accurately. Has the advantage.
However, when the work of a certain area is completed and the work is moved to another work range, if the suction of the vacuum suction plate is released to change its position up and down, it will be swung by the wind and it will be difficult to re-suck, or There is a drawback that it cannot be adsorbed at the correct position. Further, since the winch device C can be moved along the rooftop of the building, the device on the upper part of the building becomes large-scale.

As a means for compensating the above-mentioned drawbacks, Japanese Patent Laid-Open No. 6-4
There is a wall surface work machine lifting mechanism disclosed in Japanese Patent Publication No. 9980. This is to divide a wall surface working machine into two working machines 76 and 77 having substantially the same weight, and vacuum working boards 78 and 79 are provided to the respective working machines 76 and 77, and one working machine 77 is provided. Winding winch 80 is attached and its wire 8
1 is connected to the other work machine 76 via a wheel 74 provided on the building upper part 72 between the work machines 76 and 77. According to this configuration, since the right working machine 76 and the left working machine 77 have almost the same weight, the suction board 78,
Even if the suction force of 79 is not strong, the position of each work machine is secured, the wall work machine is not shaken by the wind, and the operating force of the winding winch 80 does not need to be strong. Is obtained.

In addition, Japanese Utility Model Application No. 2-41679 (Actual No.
No. 1949), a traveling device for a work gondola is equipped with an endless belt having a large number of suction cups 7 on the front side of the work gondola, and the suction cups of the endless belt are adsorbed to the surface of a building. By doing so, the cleaning work can be performed in a stable state by fixing it to the building, while rotating the endless belt when descending by the lifting device, the gondola descends with the suction cup adsorbed to the building. Let
A device is disclosed which makes the gondola always stable.

[0007]

However, in all of the conventional devices, the means for pressing the traveling device of the wall surface moving body against the wall surface is a suction device such as a suction cup or a vacuum suction disc. For this reason, when the work of a certain area is completed and the work area is moved to another work area, the adsorption part is adsorbed on the wall surface, so there is resistance to the traveling of the wheels, which are the traveling device, and the adsorption release and adsorption operation of the adsorption device. However, there is a drawback that efficient movement cannot be performed because it is necessary to alternately perform and.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to solve the above problems and provide a moving device for a wall surface moving body which can press the wall surface moving body against a wall surface without impairing efficient movement.

[0009]

In order to achieve the above object, a moving device for a wall surface moving body of the present invention is a hanger in which a wall surface moving body having a traveling device capable of self-propelling is supported by a supporting device at an upper part of a building. The rope is hung at one end of the sheave provided at both ends of the device, and is balanced with the counterweight hung at the other end, while air is applied to the wall surface moving body from its bottom side as a means for pressing the traveling device against the wall surface. The fan is configured to be sucked and blown out from the back side (Claim 1).

A moving device for a wall surface moving body according to claim 1, characterized in that a wall surface moving body of the same type as said wall surface moving body is hung in place of a counterweight hung at the other end of said hanger device. 2).

[0011]

According to the first aspect of the present invention, the wall surface moving body is hung on the hanger device to be balanced with the counterweight and is pressed against the wall surface by the wake of the fan. Much less than with a suction cup or a sucker. As a supporting device of the hanger device, for example, when the hanger device is horizontally movable using rails, the hanger device can be moved by following the movement of the wall surface moving body.

According to the second aspect of the present invention, since the same type of wall surface moving body is hung at both ends of the hanger device, it is possible to work at two locations at the same time.

[0013]

The present invention will be described below with reference to the illustrated embodiments.

In FIG. 1, reference numeral 1 denotes a building having a tile wall 2, and a roof 3 which is the uppermost part of the building has a simple rail 10 as a supporting device for suspending a wall surface moving body.
Is installed so as to project to the tile wall 2 side. Figure 5
Shows the details of this state. The simple rail 10
It is fixed to the lower surface of the outer end of the support plate 11 that is placed over the parapet 4 of the building 1, and is fixed to the parapet 4 by a parapet clamp 12 provided at the inner end of the support plate 11. In addition, the parapet clamp 12 sends a tightening screw 13 provided at the inner end of the support plate by turning its handle 14, and clamps the parapet 4 between the tightening screw 13 and the simple rail 10, The simple rail 10 is attached to the roof 3.

As shown in FIG. 5, the simple rail 10 is composed of a lateral C-shaped member having a slit for movement on the lower surface thereof, and on the rail 10 (to be exact, inside the rail), the hanger device 20 is mounted. The central base 21 is movably installed along the slit.

As shown in FIG. 4, fixed pulleys 22 are provided at both ends of the hanger device 20, respectively, and both ends of a wire rope 23 hung on the hanger device 20 through the fixed pulleys 22 and 22. The wall surface moving body 30 and the counterweight 31 are connected as shown in FIG.
The wall surface moving body 30 is equipped with a traveling device capable of self-propelled,
The relative position of the hanger device 20 with respect to the rail 10 changes in accordance with the movement of the wall surface moving body 30 so that the hanger device 20 settles in a balanced position. The counterweight 31 has the same weight as the wall surface moving body 30, and plays a role of receiving the weight of the wall surface moving body 30 and canceling it. Due to the action of the counterweight 31, the wall surface moving body 3
With 0, it becomes possible to freely travel on the tile wall surface with a small amount of wheel driving power.

2 and 3 show the construction of the wall surface moving body 30.

At the bottom of the housing 32, a wheel 33, which is a component of a self-propelled traveling device, is rotatably mounted by a bearing 34, and an axle 35 of both axles is connected to a differential gear unit 37 via a universal joint 36. They are connected and driven by a drive motor 38 via a power transmission gear 39 and a differential gear unit 35. Further, in order to configure the steering device of the traveling device, the ladder servo unit 40 is fixed to the housing 32, and via the pitman arm 41 and the operating rod 42,
It is configured to operate a ladder link mechanism in which knuckle arms 43 of wheels are connected by tie rods 44.
Therefore, this wall surface moving body 30 is driven by the drive motor 38 via the differential gear unit 35 to drive the wheels 3
3 is driven to drive, and its traveling direction is operated by operating the ladder link mechanism by the ladder servo unit 40, so that it freely travels on the tile wall surface.

Further, air is sucked from the bottom surface side of the wall surface moving body 30 and blown from the upper surface (back surface) side above the housing 32 of the wall surface moving body 30 as a means for pressing the wheels 33 of the traveling device against the wall surface. A fan 45 is provided to create the flow. Reference numeral 46 denotes this fan motor, which is attached to a mounting frame 47 fixed to the bottom surface of the housing 32 and is located on the back surface of the housing 32.
It is designed to rotate 8. When the blades 48 of the fan 45 rotate, air is sucked from the bottom surface side of the wall surface moving body 30 and blown out from the back surface side, so that the wall surface moving body 30 is pressed against the tile wall 2 by the wake of the blades, and is blown to the wall surface. A stable holding state is created.

As described above, the wall-shaped moving body 30 which is freely and stably traveled has a wall tile inspection device 50 at the bottom thereof.
Is provided. As the wall tile inspection device 50, an electronic detector using a so-called ultrasonic diagnostic method is used, in which an impact elastic wave is generated, and the propagation speed of the elastic wave and the reflected wave are evaluated to evaluate the condition of the outer wall tile. However, an infrared diagnostic method or a percussion method apparatus can be mounted.

Next, the operation will be described.

As shown in FIG. 1, when the wall surface moving body 30 and the counterweight 31 are in balance, the wall surface moving body 30 is applied to the tile wall 2 of the building 1 by the air flow blown from the back surface of the wall moving body 30 by the fan 45. It is pressed down. The pressing force by this air flow is generated by the wall surface moving body 3
Since 0 and the counterweight 31 are in balance, the counterweight 31 can be smaller than that otherwise, and because it is not stopped on the wall surface by vacuum suction or a suction cup as in the past, its movement is easy. ing. Therefore, by driving the drive motor 38 to drive the wheels 33 and controlling the traveling direction of the wheels 33 by the rubber servo unit 40, the wall surface moving body 30 can be traveled in a desired direction.

When it is desired to move the wall surface moving body 30 from the position of FIG. 1 to the central position of the tile wall 2 for the inspection of the wall tile, the wall surface moving body 30 is moved from the position of FIG. 1 to the lower right direction. . Along with this, the hanger device 20 is pulled by the wire rope 23 and the relative position with respect to the simple rail 10 is displaced to the right. That is, the relative position of the hanger device 20 with respect to the simple rail 10 changes in accordance with the amount of lateral movement of the wall surface moving body 30, and the wall surface moving body 30 easily reaches a desired position. In the case of FIG. 1, when inspecting the right side area of the tile wall 2 where the simple rail 10 does not exist, the parapet clamp 3 is once removed, the attachment position of the simple rail 10 is shifted to the right side, and then the inspection is performed. do it.
Therefore, the wall surface inspection can be performed without installing a large-scale drive device on the top of the building.

In the above embodiment, the counterweight 31 is attached to one end of the wire rope 23. However, if another wall moving body 30 is attached instead of the counterweight as shown in FIG. It is possible to

[0025]

In summary, according to the present invention, the following excellent effects can be obtained.

Since the weight of the wall surface moving body is reduced, it is possible to freely run and inspect on the wall surface without installing a large-scale driving device at the top of the building.

(1) According to the first aspect of the invention, the wall surface moving body is hung on the hanger device to be balanced with the counterweight, and is pressed against the wall surface by the wake of the fan. The resistance is much less than with conventional vacuum suction or suction cups. Therefore, the wall surface moving body can be efficiently moved while being pressed against the wall surface.

(2) According to the second aspect of the present invention, since wall moving bodies of the same type are hung at both ends of the hanger device, work can be performed at two locations at the same time.

[Brief description of drawings]

FIG. 1 is a schematic view showing an embodiment of a moving device for a wall surface moving body according to the present invention.

FIG. 2 is a schematic cross-sectional view showing the configuration of the wall surface moving body of FIG.

FIG. 3 is a schematic view showing the configuration of the traveling device for the wall surface moving body of FIG. 1 from the bottom surface side.

4 is a front view showing the configuration above the hanger device portion of FIG. 1. FIG.

FIG. 5 is an end view showing the configuration above the hanger device portion.

FIG. 6 is a schematic view showing another embodiment of the moving device for the wall surface moving body of the present invention.

FIG. 7 is a diagram showing a conventional balancer type wall surface traveling device.

FIG. 8 is a view showing a conventional wall surface work machine lifting mechanism.

[Explanation of symbols]

1 Building 2 Tile Wall 3 Rooftop 4 Parapet 10 Simple Rail 11 Support Plate 12 Parapet Clamp 13 Tightening Screw 14 Handle 20 Hanger Device 21 Central Base 22 Fixed Pulley 23 Wire Rope 30 Wall Moving Body 31 Counterweight 32 Housing 33 Wheel 34 Bearing 35 Axle 36 Universal joint 37 Differential gear unit 38 Drive motor 39 Power transmission gear 40 Ladder servo unit 41 Pitman arm 42 Operating rod 43 Knuckle arm 44 Tie rod 45 Fan 46 Fan motor 47 Mounting frame 48 Blades 50 Wall tile inspection device 61 Weight 62 Connection Rope 63 Frame 64 Pulley A Wall traveling vehicle B Balancer device C Winch device 72 Upper part of building 74 Wheels 76, 77 Working machine 7 , 79 vacuum suction cups 80 winding winch 81 wires

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yasuo Inoue 4-640 Shimo-Seido, Kiyose-shi, Tokyo Inside Obayashi Technical Research Institute Co., Ltd. In-house

Claims (2)

[Claims] 1. A wall moving body having a self-propellable traveling device is hung at one end of a rope hung on a sheave provided at both ends of a hanger device supported by a supporting device at the top of a building and at another end thereof. While moving the counterweight, the wall moving body is provided with a fan for sucking air from the bottom side and blowing the air from the back side as a means for pressing the traveling device against the wall surface. apparatus. 2. The wall surface moving body moving device according to claim 1, wherein a wall surface moving body of the same type as the wall surface moving body is hung in place of the counterweight hung at the other end of the hanger device.