JPS62131887A - Adsorption force stabilizer of wall surface adsorptive shift apparatus - Google Patents

Abstract

PURPOSE:To stabilize the adsorptive shift of the apparatus by installing a pressing member for the wall surface onto the lower part side from the middle point between the upper and lower adsorption points of the apparatus and providing the action for offsetting the exfoliation moment, in order to prevent the reduction of the adsorption force due to the weight of the apparatus and the action of exfoliation moment in the case when the apparatus rises and descends the wall surface. CONSTITUTION:The pressing member 11 such as cylinder for applying a pressing force onto a wall surface H is installed onto the lower part side form the middle point position between the upper adsorption point Q1 and the lower adsorption point Q2 of the apparatus. Therefore, when the apparatus rises and descends the wall surface H, the moment in the counterclockwise direction for offsetting the action of the exfoliation moment in the clockwise direction which is caused by the weight of the apparatus and the separation from the wall surface of the position of the center of gravity can be applied by pressing the wall surface by a prescribed pressure through the pressing member 11. Therefore, the adsorption force as the whole apparatus can be equilibrated, different from the conventional apparatus, and the adsorptive shift of the apparatus can be stabilized.

Description

[Detailed Description of the Invention] [Industrial Field of Application] The present invention provides a method for cleaning and painting the outer wall surfaces of high-rise T1 buildings, shipbuildings, etc. by vacuum adsorbing or magnetic adsorbing on the wall surface and walking or running along the wall surface. Q) relates to a wall suction moving device for carrying out dangerous work such as inspecting the wall surface of a large storage tank, and in particular to a suction force stabilizing device for the wall surface when the device moves up and down the wall surface.

[Conventional technology]

As shown in FIG. 3, such a conventional wall moving device has a plurality of suction cups 2. on the lower surface of the traveling body 1.sigma. ．． 3. Two pairs of inner and outer leg portions 2.3 having a tip end thereof are provided so as to be movable up and down via a cylinder 4, as well as slidable.
HIC on the wall by moving I & clothes? Ei is something that walks,
Alternatively, the wall surface HK can be adsorbed by vacuum suction or magnetic suction 'eL landing plate provided on the traveling main body, and the wall surface HK can be attached using IIm etc.
There is a vehicle (not shown) that travels overnight.

[Problem that the invention seeks to solve]

However, in the above-mentioned conventional wall suction/movement device, when the wall surface is raised and lowered, the suction force of the device against the wall surface decreases due to the action of the peeling moment based on the weight t of the device and the distance between the center of gravity of the device and the wall surface. However, there is a problem in that the suction force is not stable. That is, as shown in the illustration of the spear 3, the suction cup 2m of one leg 2 is suctioned to the wall H, and the suction cup 3i of the other leg 1!113 is separated from the wall H by releasing the suction force, and the other leg 3 is attached. And when you move the traveling body 1 upwards and try to rise on the wall surface HK, this device's - sword leg! Figure 4 (a) K
As shown, the adsorption force F1 on each wall surface H acts equally. However, the center of gravity position 01 of this device and the wall surface H
As shown in Figure 3 (since the distance is arranged and the gravity based on the weight of the device is applied to the vertical lower blade from the center of gravity rjl G t , let the weight of this device be W), A clockwise peeling moment of HM, = W, ・L acts on this device. Therefore, if the peeling force due to this clockwise peeling moment M is fl, then the suction at the -10,000 leg s2 of this device The upper suction point Q and the lower suction point Q of the first board are as shown in Fig. 4(b)K (
The peeling force f acts in the opposite direction. That is,
At the upper suction point QI, the σ peeling force f peels off the device from the wall H in the direction K, and at the lower suction point Q.

On the contrary, it acts in the direction of pressing the device against the wall surface HK.
). The determination is based on the actual suction force acting on the upper suction point Q and the lower suction point Qt of this device.
? As shown in Fig. 4 (c), Fig. 4 (a) and (→ are combined to form F * s P” 3, and the upper adsorption point Q,
Adsorption force F, σ base adsorption point Q.

As a result, the adsorption force F and the ratio E become too small.

Therefore, in the conventional wall suction moving device W, when the wall surface is raised and lowered, due to the action of the clockwise peeling moment M caused by the weight of the device and the distance between the center of gravity of the device and the wall surface, There is a problem that the suction force becomes unbalanced between the lower part and the suction force, and as a result, the stability of suction movement of the device against the wall surface cannot be expected.

SUMMARY OF THE INVENTION Therefore, it is an object of the present invention to solve the problems of the conventional wall suction and movement device and to improve the stability of suction movement of the device to a wall surface.

[Steam means to solve problems]

In order to solve the above-mentioned problems, the present invention includes two sets of legs having a plurality of vacuum suction or σ magnetic suction cups at the tips of the traveling main body, and alternately suction of the two sets of legs is carried out. A wall suction moving device that walks along the wall, and a companion vacuum suction or σ magnetic suction for the traveling body! In a wall suction moving device that adsorbs to the wall surface from lK and travels with a ring, etc., the adsorption force of the device to the wall surface due to the action of the peeling moment based on the device Q) weight and the distance between the center of gravity of the device and the wall surface when the wall surface is raised and lowered. We should try to prevent the decline (.

The device is characterized in that a suppressing member such as a cylinder is attached to the device ytK to apply a pressing force to the wall surface of the 7i section ll1lK below the midpoint between the upper suction point and the lower suction point of the device.

It should be noted that it is possible to attach the suppressing member σ device to either the traveling body or the two sets of legs, but when it is attached to the traveling body [0, a pressure member having a roller on the first is used. .

[Function] When a wall suction moving device moves up and down the wall, a clockwise peeling moment acts on the device due to the weight of the device and the distance between the center of gravity of the device and the wall. The suction force of the soil part is too small compared to the suction force of the lower part, resulting in an imbalance in the suction force of the entire device. As a result, a counterclockwise peeling moment (in the opposite direction to the case of 0) acts on the device fl due to the reaction force from the wall surface, and as a result, the peeling force due to both peeling moments is almost balanced ζ
By doing so, the suction force of the entire device is balanced, and therefore the suction movement against the wall surface of the device is stabilized.

In addition, if you attach the pressing member to the traveling body and just in case, while pressing the Ki suppression member against the wall surface, press the wall surface 1c along with the traveling body. T.I.
However, in this case, since a roller is attached to the tip of the suppressing member, the suppressing member can be moved smoothly.

〔Example〕

An example of implementing the present invention will be described with reference to Figures 1 and 22 of the attached drawings (the same symbols as in Figure 23 indicate the same members).

Figure 1 shows vacuum suction or a wall suction moving device.
An example of carrying out the present invention uses a device in which the traveling main body is equipped with two sets of legs having a plurality of suction cups for air suction at the tips thereof, and the two sets of legs walk along a wall surface by alternate suction. FIG. 3 is a side view of the device.

Similar to Figure 3, - the first suction cup of the sword leg s2 is suctioned to the wall surface H, the suction cup 31 of the other leg part 3 is released from the suction force, and is separated from the wall surface H, and the other leg part 3 and the traveling main body are attached. 1 upward K
This figure shows a state in which the wall surface 1 (K) is about to rise by moving s.

10rt The lower blade (in Figure 1) of the traveling body L is a mounting arm formed to protrude to an appropriate length, and a pressing member 11 made of a σ cylinder is attached to this mounting arm 10 facing the wall iHK, which suppresses this. A roller 12 is attached to the rod tip The of the member 11.

Therefore, in Figure 1, the wall surface H is
When is suppressed with a predetermined pressure, a reaction force W! from the wall H! Therefore, the distance between the press member 11 and the middle point #C between the upper suction point Q and the lower suction point 92 of the device is reduced to 2. Then, for the device, M, = W, ・
A peeling moment in the counterclockwise direction is applied. Therefore, this peeling moment M! Let f be the peeling force caused by the suction cup 2 on one leg 2 of this device. As shown in FIG. 22(a), a peeling force f acts on the upper suction point Q and the lower suction point Q in opposite directions. That is, at the upper suction point Q, a peeling force f acts in the direction of pressing the device against the wall surface T (K), and at the lower suction point Q, σ acts in the opposite direction to peel the device from the wall surface H ( In,M,=f,
・−13t ” w t ・!). In this way, the peeling moment M imparted to the device by the suppressing member 11, and the peeling moment due to the weight of the device and the distance between the center of gravity of the device and the wall surface. The directions of action of M1 and ri are opposite, and the pressing force W by the suppressing member 11, and the distance between the midpoint #C between the upper suction point Q1 and the lower suction AQt of the device and the suppressing member 11! (W
, ·), W, ·L), the peeling forces f1 and f due to both peeling moments Ml and M are almost balanced in thickness.

Therefore, in Figure 1, the actual adsorption force acting on the device IK becomes the state shown in Fig. 2 (1)), which is a combination of Fig. 3 (c) and Fig. 22 (,), and the upper adsorption point QIK of the device Adsorption force F4 that acts and adsorption force F that acts on lower adsorption point QtK
, are almost balanced, the suction force of the entire device is balanced, and the suction movement of the device Q) is stabilized. Note that since the suppressing member 11 is rubbed against the traveling body 1, it moves together with the traveling body 1 while pressing the wall surface H, but since a roller 12 is attached to the tip of the pressing member 11, The smoothness of movement of the suppressing member 11 is not impaired.

In the above embodiment, the reverse peeling moment imparting means was applied to the device that walks along the wall surface (along the wall surface) by alternate adsorption of two sets of legs, but the present invention is not limited to this. Vacuum adsorption may also be applied to a device that is adsorbed to a wall surface using a magnetic suction cup and runs on a single wheel or the like.Furthermore, a suppressing member 11 that applies a reverse peeling moment to the attachment may be applied to the running body. 1 is shown, but the upper suction point ξ of the device is attached to the two sets of legs 2.3.
Below the midpoint between the lower suction points (keep busy when going up and down)
In this case, unlike when the pressing member 11 is attached to the traveling main body 1, the pressing member 11 does not stick to the wall surface and move together with the leg (if attached to the other leg). (When the suction force is released from the suppressing member, the cylinder 4 separates the suppressing member along with the other leg.) Therefore, it is not necessary to attach the roller 12 to the tip of the suppressing member. Furthermore, although the pressing member 11 is preferably a cylinder, it is not limited to this, and it is also possible to use a spring, a solenoid, or the like to apply a pressing force to the wall surface. Sara K.

The leading portion σ of the suppressing member may be either one that is always in contact with the wall surface or one that is always separated from the wall surface and comes into contact with the wall surface during suction.

〔Effect of the invention〕

As described in the present invention, in contrast to the conventional wall suction moving device, a portion 1 ll below the midpoint between the upper suction point and the lower suction point of the device (when the device is raised and lowered) is attached to the wall surface. Since a suppressing member such as a cylinder that applies a pressing force is attached, the wall surface is pressed with a predetermined pressure via this suppressing member.

Counterclockwise (reverse direction) counterclockwise (reverse) counterclockwise (reverse direction) counterclockwise (σ) peeling moment (Q) A peeling moment can be applied to the mounting plate, and as a result, unlike conventional devices, it is possible to balance the adsorption force of the device as a whole, thereby stabilizing the suction movement of the device. Therefore, high-rise buildings,
It is extremely useful for equipment used in hazardous work such as cleaning, painting, and inspecting the walls of large storage tanks.

[Brief explanation of drawings]

Figure 1 shows a side view of a device according to an example of the present invention when the wall surface is being raised and lowered, and Figure 2 (a) shows the opposite direction of the force applied to the device by the pressing member in the device shown in Figure 71 ( Counterclockwise) Action explanatory diagram of peeling moment, Figure 2 (b) rs, Actual action of the peeling moment applied to the device l in Figure 1 f) 01 Action explanatory diagram, Figure 73a, Conventional device An example of this is a side view when going up and down the wall, 74
Figure (a) is an explanatory diagram of the effect of the adsorption force applied to the device tK in Fig. 1 by the vacuum or RTA air adsorption means.
Figure (b) shows an explanation of the effect of the clockwise peeling moment that occurs in the device in Figure 3 due to the amount of the device σ]'M and the distance between the center of gravity of the device and the wall surface, Figure 24 (c) Id FIG. 3 is an explanatory diagram of the action of the adsorption force actually applied to the device shown in FIG. l... Traveling body, 2.3... Legs. 2, ,3. ...Suction cup, 4.0 cylinder. in, - additional arm, 11φ...pressing member. 12φ...Roller, H...Wall Patent applicant: Mikawa Daiichi Co., Ltd. Figure 2 (a)
(b) Figure 3 Figure 4

Claims (1)

[Scope of Claims] 1. A wall surface where the traveling main body is provided with two sets of legs having a plurality of suction cups for vacuum suction or magnetic suction at the tips thereof, and the two sets of legs are alternately suctioned to walk along the wall surface. In a wall suction moving device or a wall suction moving device that adsorbs to a wall using a vacuum suction or magnetic suction cup provided on the traveling main body and travels on wheels, etc., the weight of the device when moving up and down the wall, and the distance between the center of gravity of the device and the wall. In order to prevent the adsorption force of the device against the wall surface from decreasing due to the action of peeling moment based on the distance, the device is pressed against the wall surface downward from the midpoint between the upper and lower adsorption points of the device. What is claimed is: 1. A suction force stabilizing device for a wall surface suction moving device, characterized in that a pressing member such as a cylinder that imparts a pressure is attached. 2. The suction force stabilizing device in the wall suction moving device according to claim 1, wherein a pressing member having a roller at the tip that contacts the wall surface is used as the pressing member, and the pressing member is mounted on the traveling main body. 3. The suction force stabilizing device in the wall suction moving device according to claim 1, wherein the pressing member is attached to two sets of legs.