TW202328544A - Wall surface working device and method - Google Patents

Abstract

Provided is a wall surface work device 1 comprising: a travelling body 2 which can travel with respect to a wall surface W; an ascending/descending support device 3 which is provided with support columns 3a that are installed to the left and right of the travelling body 2 and ascending/descending bodies 3b that ascend and descend along the support columns 3a; a support and manipulation cord 4 which is let out from the position of the ascending/descending bodies 3b, which supports the travelling body 2 from the left and right, and which manipulates the position of the travelling body 2; and a work apparatus 7 which is mounted on the travelling body 2 and which performs work with respect to the wall surface W.

Description

Wall working device and method

This disclosure relates to an apparatus and method for inspection or painting of a wall surface.

In the past, in the case of performing various operations (painting or mechanical assembly, inspection, etc.) on the walls of buildings or other structures, natural objects, etc., generally speaking, a scaffold that people can come and go is assembled along the above-mentioned wall, and used Personnel climb the scaffold to carry out the aforementioned operations. However, in order to assemble a scaffold with sufficient strength to enable personnel to perform operations safely, corresponding labor and expense must be spent, and the aforementioned operations performed by manpower itself also consume labor and expense.

Therefore, it is proposed to use a small-sized flying device to perform such an operation instead, and it is gradually put into practical use (for example, refer to the following patent documents 1 and 2). [Prior Art Literature] [Patent Document]

[Patent Document 1] Japanese Patent Laid-Open No. 2020-203564 [Patent Document 2] Specification of Japanese Utility Model Registration No. 3225084 [Patent Document 3] Japanese Patent Laid-Open No. 2017-169395

[Problem to be solved by the invention]

Such flying devices, generally called drones, are widely used in various fields because of their small size, high flight stability, flexibility, and easy operation. On the other hand, the weight that can be loaded is naturally limited. For example, in the case of performing various operations on the wall surface, it is not a problem if it is only a simple inspection operation such as obtaining an image of the object. The operation of the heavy object. Therefore, it is not yet possible to apply the same technology to situations such as wall surface painting or wall surface assembly machinery to achieve simplification of operations.

Therefore, in this disclosure, a wall surface working device is described, which can easily and appropriately perform work on a wall surface. [Technical means to solve the problem]

This disclosure relates to a wall working device, which includes: a walking body configured to be able to walk on a wall; And the support operation cable supports the walking body from left and right, and operates the position of the walking body; the support column is arranged on the left and right sides of the aforementioned walking body; The position of the aforementioned lifting body of the lifting support device is sent out.

The present disclosure relates to a wall working device, which includes: a walking body configured to be able to walk on a wall; The supporting and operating cables sent out from the left and right of the aforementioned walking body support the walking body and operate the position of the walking body.

The above-mentioned wall surface working device may be configured as follows: the above-mentioned walking body is provided with a propeller that generates a pressing force against the wall surface.

The aforementioned wall working device may be: the aforementioned propeller is a variable-pitch propeller.

The aforementioned wall working device may be: the aforementioned walking body is connected with an auxiliary cable for applying tension to the aforementioned walking body from a direction different from that of the aforementioned supporting operation cable.

The aforementioned wall working device may be equipped with a counterweight suspended from the aforementioned walking body.

The above-mentioned wall surface working device may be configured as follows: the above-mentioned running body is provided with an adsorption part for adsorption to the wall surface.

The above-mentioned wall surface working device may be further equipped with: a lifting support device, which is equipped with support columns arranged on the left and right sides of the aforementioned walking body, and a lifting body that is lifted and lowered along the support columns; and a supporting operation cable that is lifted from the aforementioned The position of the body is sent out, the above-mentioned walking body is supported from the left and right, and the position of the above-mentioned walking body is operated.

The above-mentioned wall working device can be: the position of the aforementioned walking body on the wall can be grasped according to the height of the aforementioned lifting body and the sending length of the aforementioned supporting operation cable.

The above-mentioned wall surface working device may be configured such that the above-mentioned support operation cable is sent out from the delivery device of the above-mentioned support operation cable mounted on the above-mentioned lifting body.

The above-mentioned wall surface working device may be: the above-mentioned walking body is equipped with an adsorption part for wall surface adsorption, and the above-mentioned lifting body is equipped with an adsorption-related device for the operation of the above-mentioned adsorption part, and the above-mentioned adsorption part and The aforementioned adsorption-related machines are connected by connecting cables.

The above-mentioned wall working device can be: the above-mentioned lifting body is loaded with work-related machines used in conjunction with the work performed by the above-mentioned work machines, and the above-mentioned work machines and the above-mentioned work-related machines are connected by connecting cables .

Moreover, the present disclosure is a method of working on a wall, which uses a walking body and a working machine; the walking body is configured to be able to walk on the wall; the working machine is mounted on the walking body, and works on the wall, at least by The support and operation cables sent out from the left and right of the aforementioned walking body support the aforementioned walking body and operate the position of the aforementioned walking body. [Effect of Invention]

According to the wall surface working device and method of the present invention, it is possible to obtain the excellent effect that the work on the wall surface can be easily and appropriately performed.

Hereinafter, embodiments of embodiments of the present disclosure will be described with reference to the attached drawings.

1 to 3 show an example (first embodiment) of the form of the wall surface working device of the present disclosure. The wall working device 1 of the first embodiment is provided with a traveling body 2 and a pair of elevating support devices 3, so that the traveling body 2 travels along the wall W as the work object, and by extending from the left and right elevating supporting devices 3 The supporting operation rope 4 supports the walking body 2, and operates the position of the walking body 2.

In addition, the so-called "wall surface" in this specification refers to the outer surface of a building or a wall used as a partition, a wall that divides an outdoor area, or the inner wall of machinery or equipment such as a furnace in a power plant, or a natural structure. The cliff face of a thing, or other various faces that have a direction along a vertical plane. The so-called "surface having a direction along the 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 may be inclined to a certain extent. If a person can perceive a surface structure as a wall or a similar surface, it is equivalent to the "wall" in this specification.

The running body 2 is equipped with wheels 2b as running parts at four corners of a body 2a formed by combining rod-shaped structural members into a square shape, and as shown in FIG. Walk on the wall W. Each wheel 2b is, for example, configured to be attached to the back side of the running body 2 (also, here, the side of the running body 2 facing the wall W is called the "back side", and the opposite side is called the "front side") The ball caster, by the rotation of the wheel 2b, the walking body 2 can walk freely along the wall in any direction. Also, the so-called "walking" in this specification does not only refer to the walking performed by the wheels, but generally refers to the action of moving along the wall. That is, when implementing the wall surface working device, when the traveling body is made to travel along the wall surface, the mechanism for traveling is not limited to the wheels shown here. Moreover, as a concrete structure of the main body 2a or the running part (wheel) 2b, as long as it can operate freely as demonstrated below, various forms other than what was demonstrated here can also be employ|adopted.

In addition, on the front side of the walking body 2, a propeller 2c is provided to generate a pressing force for pressing the whole walking body 2 to the wall W. The propeller 2c blows air from the walking body 2 to the front side by rotation, and presses the whole walking body 2 inward by its reaction force, thereby holding the walking body 2 on the wall W.

Here, from the viewpoint of improving the responsiveness related to the operation of the running body 2, it is particularly suitable to employ a so-called variable-pitch propeller as the propeller 2c. A variable pitch propeller is a propeller configured so that the pitch can be changed freely, and the magnitude or direction of the thrust can be changed while keeping the direction of rotation or the number of revolutions constant. That is, in the case where the propeller 2c is a variable-pitch propeller, the propeller 2c can not only make various changes in the magnitude of the pressing force on the wall W, but also can make the pressing force zero while maintaining the rotation in the same direction. What's more, it is also possible to generate a pressing force in a negative direction (a force in a direction away from the wall W).

The installation positions of the two supporting operation cables 4 of the walking body 2, in the case of the first embodiment, are the upper right and upper left of the main body 2a. For example, although it is also possible to connect two support operation cables 4 to suspend and support the walking body 2 at a point on the top of the main body 2a, if this is the case, the walking body 2 will move along the wall W, and the walking body 2 will be caused to fall. The lower part of the support point formed by supporting the operation cable 4 is the possibility of moving toward the wall W to swing in the left and right directions. Therefore, as shown in FIG. 1, the supporting operation cables 4 are respectively connected to two different points, and the running body 2 is suspended by the tension from the two points, so that the movement of the running body 2 can be restricted at the two points. In this way, the generation of shaking in the left and right directions can be suppressed.

In addition, in the case of the present first embodiment, the walking body 2 is provided with the adsorption part 5 for adsorbing the wall surface W. As shown in FIG. As the suction part 5, it is possible to use, for example, a "vacuum sling (vacuum grippa)" or a "vacuum suction sling (vacuum suction grippa)", a "vacuum suction pad (vacuum suction pad)" or a "suction lifter (サクションリフタ)" is a device that is the same as the device sold under the name, or a device that uses the same principle as these devices. That is, the adsorption unit 5 is configured as an air-type adsorption device that sucks air between the wall W and generates a negative pressure, thereby holding the walking body 2 on which the adsorption unit 5 is mounted on the wall W as a whole. Alternatively, assuming that the wall surface W to be worked is a structure formed of a magnetic material such as iron (for example, a furnace wall of a thermal power plant), the adsorption unit 5 may be constituted as an electromagnetic adsorption device. That is, an electromagnet is provided in the adsorption|suction part 5, and it attracts to the wall surface W which is a magnetic body by electromagnetic force by passing electricity to this electromagnet. In addition, as long as it can be properly adsorbed to the wall W, various mechanisms or principles can be used as the adsorption unit 5 , such as a type that is adsorbed to the wall W by electrostatic force.

Also, in the case where the adsorption unit 5 is an air-type adsorption device, it is necessary to additionally provide a pump and a tube for attracting air. In the case where the adsorption unit 5 is an electromagnetic or electrostatic adsorption device, it depends on the situation. It depends on the required adsorption force, but it must also have a power supply unit and a power cable for supplying power from the outside. In the wall working device 1 of the first embodiment, devices such as a pump and a power supply used for the operation of the suction unit 5 can be mounted on the cage 3b as suction-related devices 5a. In addition, the suction part 5 mounted on the running body 2 and the suction-related equipment 5a mounted on the cage 3b can be connected by a tube serving as a connecting cable 6 or a power cable. The connecting cable 6 is a cable, a hose, a pipe or a combination thereof connecting the machine mounted on the traveling body 2 and the machine mounted on the cage 3b.

Thus, in the first embodiment, the running body 2 is held on the wall surface W by both the pressing force by the propeller 2c and the adsorption force by the adsorption part 5 . In addition, when implementing the wall surface working device, depending on conditions such as load weight of machines on the traveling body, the traveling body may be provided with only either the propeller or the suction unit.

In addition, the working machine 7 for performing work on the wall surface W is mounted on the traveling body 2 . The specific composition of the working machine 7 is different depending on the content of the work. For example, in the case of painting the wall W, the working machine 7 is a nozzle for spraying paint, etc., and in the case of inspecting the wall W, the working machine 7 is used to A camera or other measurement equipment that acquires images of the wall surface W is a case where various members or devices are attached to the wall surface W, and the working machine 7 is a tool or the like. Depending on the composition and operation content of the operating machine 7, the connecting cable 6 is connected to the operating machine 7 as a power supply cable for supplying power, for sending and receiving data obtained by the operating machine 7, and for operating the operating machine 7 input. Communication cables for signals, etc., supply pipes for supplying paint, etc.

The elevating support device 3 includes supporting columns 3a provided on the left and right sides of the traveling body 2 along the wall W, and a cage 3b as an elevating body that moves up and down along the supporting columns 3a. An unshown winch or the like is installed at an appropriate position of the support column 3a, and the cage 3b can be moved up and down along the support column 3a by the operation of the winch or the like. Moreover, although the cage 3b is illustrated here as an elevating body, the structure of an elevating body is not limited to this. For example, the elevating body may be constituted as a stand that elevates along the support column 3a. In addition, the mechanism for raising and lowering the lifting body is not limited to a winch, for example, a jack-up type lifting device may be used.

In addition, as the elevating support device 3, for example, the same device as various devices sold as a device for scaffolding work can be used. For example, the applicant of this case sells "PowerMAST" (trade name) or "PowerLiFT" (trade name) which are useful for making the scaffolding used for wall surface work go up and down along the support column, and make the cage for unloading goods be used for wall surface work. The "PowerClimber (パワークライマー)" (trade name) and other devices that the scaffolding goes up and down along the support column can directly or partially transform these devices and transfer them to the lifting support device of the wall surface operation device.

The cage 3b is equipped with a winch 8 as a delivery device for the support operation cable 4 to operate the running body 2 through the support operation cable 4 . The supporting operation cable 4 is a steel cable supporting the walking body 2, and the winch 8 is a coiling device for sending out the supporting operating cable 4. The front end of a pair of supporting operation cables 4 sent out from the position of the left and right cages 3b is connected to the walking body 2, thereby supporting the walking body 2 from the left and right, and operating the position of the walking body 2. A motor (not shown) serving as power for the winch 8 is also mounted on the cage 3b. Also, the location where the winch 8 or motor is not shown is not required to be the cage 3b. However, if the cage 3b is to be lifted up and down as described later to operate the running body 2 by supporting the operation cable 4, it is more convenient to load the winch 8 into the cage 3b. easy.

In addition, machines (work-related machines 7 a ) used in conjunction with work performed by the work machine 7 mounted on the traveling body 2 are mounted on the cage 3 b. For example, the power supply device of the working machine 7, or the communication cable in the case of the working machine 7 being a wired operation, and the paint tank in the case of the working machine 7 being a nozzle for painting, etc., are equivalent to the work-related machine 7a . The work-related machine 7 a loaded in the cage 3 b and the work machine 7 are connected by a connecting cable 6 .

Furthermore, the height sensor 13 for measuring the height of the cage 3b included in the elevating support device 3 is provided in the wall surface working device 1 . The height sensor 13 is, for example, a laser-type ranging sensor. In the case of this first embodiment, the height sensor 13 is set at the height of the ground where the left and right lifting support devices 3 of FIG. By detecting the reflected light from the cage 3b, the height of the cage 3b can be grasped. Also, the height sensor 13 may not be installed at the height of the ground, but may be installed on the side of the cage 3b.

And, at least one of the cages 3b (in the case of the first embodiment, facing the cage 3b on the left side of the drawing) is provided with a distance sensor for detecting the distance between the cage 3b and the other cage 3b. 9. The distance sensor 9, such as a laser-type distance measuring sensor, horizontally irradiates the light from one cage 3b to the other cage 3b, and detects the reflected light from the other cage 3b. Grasp the distance between the cages 3b and 3b installed on the left and right elevating support devices 3 . Also, as long as the height sensor 13 or the distance sensor 9 can properly grasp the height or distance, other measuring instruments (for example, ultrasonic distance measuring sensors, etc.) can also be used arbitrarily.

The above-mentioned devices constituting the wall working device 1 are controlled by the control unit 10 . The control unit 10 is a control device that monitors and controls the actions of each machine that constitutes the wall surface working device 1, and sends out the support operation cable 4 to the motor (not shown) of the winch that moves the cage 3b of the lifting support device 3 up and down. , the motor (not shown) of the winch 8 that is taken up, the propeller 2c or the adsorption part 5 mounted on the walking body 2, the operating machine 7, the adsorption-related machine 5a or the operation-related machine 7a, etc. input control signals, and control Such switches and actions. Furthermore, the measured values of the distance sensor 9 and the height sensor 13 are input as data signals to the control unit 10 .

In addition, an operation part 11 is connected to the control part 10, and the operator of the wall surface working device 1 inputs an operation signal to the control part 10 through the operation of the operation part 11, and the control part 10 controls each machine according to the operation signal. Moreover, the display unit 12 such as a liquid crystal display may also be connected to the control unit 10 as necessary to display the operating conditions of each machine (the height or lifting speed of the cage 3b, the position of the walking body 2, the action of the adsorption unit 5 or the operating machine 7). condition, the condition of sending out the support operation cable 4 from the winch 8, etc.). In addition, as the operation unit 11, for example, a product commercially available as a controller of a game machine or the like can be used, and a touch panel display such as a smart phone or a tablet can also be used. When the operation unit 11 is configured as a touch panel display, the operation unit 11 can also function as the display unit 12 .

Next, the operation of the aforementioned first embodiment will be described.

When the wall surface working device 1 is used, first, support columns 3 a are provided on the left and right sides of the wall surface W to be worked. The winches 8 are mounted on the cages 3b attached to the support columns 3a, and the traveling body 2 is attached to a pair of support operation ropes 4 sent out from the winches 8 . The walking body 2 is loaded with the necessary working machine 7, and on the other hand, the cage 3b is loaded with the work-related machine 7a and the suction-related machine 5a, between the suction part 5 and the suction-related machine 5a, and between the work machine 7 and the work-related machine 7a are connected by connecting cables 6 .

In this state, the winches (not shown) of the elevating support device 3 are operated to raise the left and right cages 3b along the support columns 3a. The running body 2 is suspended by the support operation rope 4 sent out from the left and right winches 8, and rises together with the cage 3b.

After the walking body 2 is hoisted to an appropriate height, the position of the running body 2 is controlled by feeding and rewinding the supporting operation rope 4 from the winches 8 mounted on the left and right cages 3b. The height and position of the walking body 2 with respect to the cage 3b in the up, down, left, and right directions are determined by the sending amount of the supporting operation rope 4 from the left and right winches 8. That is, the smaller the sending amount of the support operation cable 4 is, the lower the running body 2 is supported at the height of the cage 3b, and the larger the sending amount of the support operation cable 4 is, the running body 2 is suspended below the cage 3b. And, in the state of supporting the winch 8 by the tension force of the left and right support operation cables 4, if the amount of sending out of the support operation cable 4 from the left winch 8 is larger than that of the right winch 8, the traveling body 2 is located between the left and right support columns 3a, 3a on the right side, if the delivery amount of the winch 8 from the left is smaller than that of the winch 8 from the right, then the walking body 2 is attached to the left and right support columns Between 3a and 3a is located on the left.

When such an operation is performed, the position of the running body 2 on the wall surface W can be easily grasped by, for example, the following calculation.

The distance between the winches 8 of the cages 3b of the left and right elevating support devices 3 is d (see FIG. 4 ). The distances from the left and right winches 8 to the running body 2 are l ₁ and l ₂ respectively. If the heights of the left and right winches 8 are h ₁ and h ₂ respectively, then the coordinates (x, y) of the walking body 2 on the wall W of the left and right elevating support devices 3 will establish the following equations.

The distances _l1 and _l2 can be grasped by the sending length of the supporting operation cable 4 from each winch 8, and the sending length of the supporting operating cable 4 can be grasped by the encoder (not shown) provided by each winch 8 . The heights h ₁ and h ₂ can be grasped from the measured values of the height sensor 13 (see FIG. 1 ). Thereby, if the aforementioned equations (1) (2) are solved as simultaneous equations, the coordinates (x, y) of the walking body 2 can be grasped. In addition, in FIG. 4 , although the running body 2 and the winch 8 are shown as dots to simplify the calculation, the running body 2 and the winch 8 actually have sizes, so they may be appropriately weighted in practice.

And, if the support columns 3a of the lifting support device 3 are imagined as a constant vertical rigid body, the distance d between the winches 8 is constant, but in fact, due to the suspension of the walking body 2, the left and right support columns 3a are operated due to support. The tension of the cable 4 deflects, whereby the distance d varies. When it is necessary to grasp the precise position of the walking body 2, etc. and want to consider the variation of the distance d, the correct distance d between the cages 3b is measured by the distance sensor 9 (referring to Fig. 1) installed on the cage 3b, and the This can be weighted when calculating the coordinates of the walking body 2 . In addition, at this time, the position of the cage 3b with respect to the wall surface W or the installation surface of the support column 3a, etc. may be measured and weighted. When measuring the position of the cage 3b with respect to the wall W or the installation surface of the support column 3a, the function of the distance sensor 9 or the height sensor 13 may be used, and other sensors not shown may be provided.

In addition, in the calculation steps above, in order to represent the coordinates of the walking body 2, the position of the origin is set to the root of the support column 3a on the left in the figure, but the position of the origin is not limited to this, and can be set appropriately.

Here, when operating the walking body 2, there may be a certain degree of height difference between the left and right winches 8 and the walking body 2, but if the difference is too large, the tension level of the supporting operation cables 4 supporting the walking body 2 on the left and right will be adjusted. The weight becomes small, and it may be difficult to operate the left and right positions of the running body 2 by supporting the operation cable 4 . And, because the length of connecting rope 6 is also limited, so the height difference between winch 8 and running body 2 of left and right is too big then very undesirable. On the other hand, if the height difference between the winch 8 and the running body 2 is too small, the tension of the supporting operation cable 4 necessary to support the weight of the running body 2 will become larger, and therefore there is a possibility that the support column 3a will be greatly deflected. situation. Therefore, when operating the running body 2, the height difference between the cage 3b and the running body 2 must be within an appropriate range.

The walking body 2 is held on the wall surface W by the action of its own propeller 2c and the adsorption part 5, while operating the position in the up, down, left, and right directions of the wall surface W by the support operation cable 4 as described above, and moves along the wall surface. W walk. Furthermore, various operations such as inspection and painting are performed on the wall surface W by the work machine 7 .

A series of operations such as adjustment of the height of the cage 3b, adjustment of the position of the traveling body 2 supported by the operating cable 4, and various operations performed by the working machine 7 can be performed by inputting an operation signal from the operation part 11. Moreover, during the operation, the operating conditions of various machines are displayed on the display unit 12, so in addition to visually viewing the walking body 2 or the lifting support device 3, the detailed operating conditions can also be grasped through the visual information displayed on the display unit 12. . In addition, among the above-mentioned various operations, the operation unit 11 may be responsible for only a part. For example, the raising and lowering of the cage 3b may be performed by other controllers included in the raising and lowering support device 3 .

During the operation of the wall surface working device 1, when the walking body 2 is intended to move largely on the wall surface, the pressing force caused by the propeller 2c or the adsorption force caused by the adsorption part 5 may hinder the movement. In this case, the operation of the propeller 2c or the suction part 5 is stopped (or the output is reduced), and the height of the operation cage 3b or the sending length of the supporting operation cable 4 is determined in a state where the pressing force or the suction force disappears (decreases). Then, the running body 2 can be moved more smoothly and quickly. Here, if the propeller 2c is configured as a variable-pitch propeller, it is not necessary to stop the operation of the propeller 2c, but the pressing force is reduced or becomes zero while the propeller 2c is continuously rotating, so it can be executed with better responsiveness. Operation of propeller 2c and walking body 2.

In addition, there may already be obstacles on the wall surface W that hinder the running of the traveling body 2 , such as beam-like protrusions. At this time, if the propeller 2c is a variable-pitch propeller, the pressing force in the negative direction can be generated to keep the walking body 2 away from the wall W, thereby avoiding obstacles and moving quickly without detour.

When using such a wall surface working device 1 to perform various operations on the wall surface W, it is not necessary to assemble a scaffold along the wall surface W that personnel can come and go. Compared with the case where the operation is performed manually, the labor and time spent on setting up the scaffold can be greatly saved. In addition, when performing actual work such as inspection or painting on the wall surface W, personnel do not need to use a lifting platform or a scaffold to move up and down, left and right, so the workload can be reduced and the construction period can be shortened. Moreover, the person who actually works on the wall W is not the person but the walking body 2, so the support strength required to support the walking body 2 on the wall W is lower than that of a person performing the actual work. Therefore, in addition to saving the work and hours spent on assembling the scaffolding as described above, the cost spent on setting up the support column 3a itself can be further reduced.

Also, as for the wall working device 1 of the first embodiment, it is difficult to operate by the walking body 2 in the vicinity of the support column 3a, so for the wall W near the support column 3a, it is also possible, for example, for a person to ride on it. The cage 3b can also be operated by personnel, and the setting position of the support column 3a can also be changed and operated.

Furthermore, the wall surface working device 1 of the first embodiment can also perform work that must support a certain amount of heavy objects on the wall surface W. For example, with regard to the technologies using the flying devices described in the aforementioned Patent Documents 1 and 2, since the weight of the working machines that can be used depends on the carrying capacity of the flying device, what can actually be carried out is limited to, for example, obtaining the wall W It is not suitable for the operation of using heavy machines. As far as the wall working device 1 of the present first embodiment is concerned, most of the weight of the walking body 2, the adsorption portion 5 mounted on the walking body 2, and the working machine 7 is not due to the flying ability of the walking body 2 or for the The retaining force support of the wall surface W is supported by the tension support of the support operation rope 4 installed on the walking body 2, so it can support a larger weight. In addition, if the suction-related equipment 5a used for the operation of the suction unit 5 or the work-related equipment 7a used for the work performed by the working machine 7 is properly loaded in the cage 3b, they are connected by a connecting cable 6 , then it is possible to distribute the necessary weight of the action of the suction part 5 and the work performed by the working machine 7 to the running body 2 and the cage 3b, and it is possible to reduce the load on the running body 2 while making the suction part 5 and the working machine 7 action. Thereby, large-scale work using a machine having a certain degree of weight can be easily performed.

Fig. 5 shows another form (second embodiment) of the wall surface working device of the present disclosure. The wall working device 1 of this second embodiment basically has the same structure as that of the aforementioned first embodiment shown in FIG. In addition, two auxiliary cables 14 are still connected to the running body 2 . The auxiliary cable 14 is sent out from the sending device 15 located at the lower right and lower left positions of the wall working device 1 (different from the winch 8 that sends out the supporting operation cable 4), and the front ends are respectively connected to the right side of the main body 2a of the walking body 2. down and down left. Also, the position of the sending device 15 for sending out the auxiliary cable 14 is near the base of the left and right supporting columns 3a in FIG.

The function of the auxiliary cable 14 of the wall working device 1 of the second embodiment is to apply tension to the walking body 2 from a direction different from that of the supporting operation cable 4, thereby suppressing the movement of the walking body 2 and stabilizing its position. In the aforementioned first embodiment (refer to FIG. 1 ), when the walking body 2 is only supported by the supporting operation cable 4 extending from the left and right, the walking body 2 will move forward and backward with respect to the wall W like a swing of a pendulum. However, there is a risk of hindering the work. Therefore, as in the second embodiment, in addition to supporting the operation cable 4, the auxiliary cable 14 is connected to the running body 2, and by applying tension from the auxiliary cable 14 from a direction different from that of the supporting operation cable 4, the running body 2 can be restrained. unnecessary movement.

As the feeding device 15 for feeding the auxiliary cable 14, for example, a tension device such as the linear body feeding device described in the aforementioned Patent Document 3 can be used. Such a tension device is equipped with: a wire reel, which sends out and takes up the cable; and a motor, which controls the tension of the cable according to the change of the tension applied to the cable; while automatically sending out and rewinding the aforementioned cable, While continuing to apply tension to the aforementioned cables. With such a mechanism, it is possible to allow movement of devices such as drones connected to the cables, and to suppress sudden maneuvers of the devices. In addition, as the sending device 15, any device can be used as long as it can apply appropriate tension to the traveling body 2 moving on the wall surface through the auxiliary rope 14, and can restrain the movement while allowing the traveling body 2 to travel.

As the sending device 15, for example, a general winch can be used, and the whole of the sending device 8 sending out the supporting operation cable 4 and the sending device 15 sending out the auxiliary cable 14 can also be constituted as a winch. Yet, with regard to at least sending out the sending device of supporting operation cable 4 (in the situation of this second embodiment, be positioned at the sending device 8 of upper right and upper left among Fig. 5), be able to winch etc. by supporting operating cable 4 A device that supports the weight of the walking body 2 and freely operates the position of the support operation cable 4 by sending out and rewinding the support operation cable 4.

Also, when the auxiliary cable 14 is attached to the running body 2 in this way, the running body 2 can be tilted to a certain degree by operating the feeding length of the supporting operation cable 4 . For example, if it is considered to carry out the action of sending out some support operation cables 4 from the winch 8 located on the left side of the figure, or make the winch located on the right side wind up the actions of some support operation cables 4, or perform both of the above, then in the aforementioned first Embodiment (referring to Fig. 1) generally does not have the situation that auxiliary rope 14 is installed, and walking body 2 moves a little to the right side in the figure (at this moment, depending on the content of operation, also moves a little up and down). However, in the situation of this second embodiment seen in Fig. 5, the movement of the lower part of the walking body 2 is restricted by the auxiliary cables 14 sent out by the delivery device 15, so if the above-mentioned operation is carried out at the winch 8, the walking body 2 can be made to walk. The body 2 inclines clockwise toward the wall W while maintaining its position. Depending on the content of the operation carried out by using the walking body 2, there are also situations where such an operation has an effect.

Fig. 6 shows still another form (third embodiment) of the wall surface working device of the present disclosure. In the case of the present third embodiment, the constitution is basically the same as that of the aforementioned second embodiment (referring to FIG. 5 ), but the installation positions of the running bodies 2 supporting the operating cables 4 and the auxiliary cables 14 are different. A pair of supporting operation cables 4 sent out from the left and right winches 8 is installed on a part of the upper part of the body 2a of the traveling body 2, and a pair of auxiliary cables 14 sent out from the left and right sending devices 15 is installed on the traveling body 2 A lower portion of the main body 2a. In this way, the installation position of the supporting operation cable 4 or the auxiliary cable 14 of the walking body 2 is not limited to the example shown in FIG. 1 or FIG. 5 , but can be installed at an appropriate position.

Fig. 7 shows yet another form (fourth embodiment) of the wall surface working device of the present disclosure. In the foregoing second and third embodiments (with reference to Fig. 5 and Fig. 6), it is explained that 4 cables supporting the walking body 2 are supported by 2 support operation cables 4 plus 2 auxiliary cables 14, but in this No. In the case of the wall working device 1 of the fourth embodiment, the running body 2 is supported by three cables comprising two supporting operation cables 4 plus one auxiliary cable 14 . The auxiliary cable 14 is sent out from the sending device 15 arranged below, and the front end is connected to the lower part of the main body 2a of the walking body 2 . Thus, the number of auxiliary cables 14 is not limited to 2 as in the aforementioned second embodiment, but may be 1 as in the fourth embodiment, or may have 3 or more.

In addition, in the case of the fourth embodiment, as shown by the solid line in FIG. 7, the sending device 15 for sending out the auxiliary cable 14 is configured to run left and right along the rail. In this way, by adjusting the feeding position of the auxiliary cables 14 according to the position of the walking body 2, it can be operated so that the direction of the tension applied to the walking body 2 by the auxiliary cables 14 is always almost directly downward. For example, as shown by broken lines in Fig. 7, it is also possible to send out the auxiliary cable 14 from the sending device 15 fixed at an appropriate position. On the one hand, the possibility of increasing the degree of difficulty by supporting the operation cable 4 to a certain degree. Here, if the sending position of the auxiliary cable 14 or the direction of the auxiliary cable 14 with respect to the walking body 2 is adjusted in accordance with the position of the walking body 2 as shown in the solid line, it is possible to adjust the walking through the supporting operation cable 4. The operation of body 2 obtains good operability.

Also, for the walking body 2, as shown in FIGS. The position of the walking body 2, and if tension is applied in three or more directions different from each other, the shaking of the walking body 2 can be appropriately suppressed.

Fig. 8 shows yet another form (fifth embodiment) of the wall surface working device of the present disclosure. In this fifth embodiment, tension is not applied to the walking body 2 by means of the auxiliary cable 14 or the delivery device 15 as shown in the aforementioned second to fourth embodiments (see FIGS. 5 to 7 ), but from the walking body 2. Suspend the counterweight 16 downward, and pull the walking body 2 downward by the weight of the counterweight 16, thereby restraining unnecessary movement of the walking body 2.

Moreover, when attaching the counterweight 16 to the running body 2, for example, the following forms can be considered, but the method of attaching the counterweight to the running body is not limited to these examples.

1) A movable connection mechanism such as a bearing is provided at an appropriate position of the walking body 2 (for example, on the frame at the lower part of the body 2a), and a rod-shaped part is installed in a manner extending downward from the above-mentioned connection mechanism, and the rod-shaped part is The front end is connected with counterweight 16. The counterweight 16 moves on the circumference with the length of the aforementioned rod-shaped part as the radius, taking the above-mentioned connecting mechanism as the center.

2) Fix the rod-shaped part in such a way that it extends downward from the main body 2a of the walking body 2, and connect the counterweight 16 to the front end of the rod-shaped part. Counterweight 16 is fixed at a certain position relative to walking body 2 .

3) Cables are installed so as to extend downward from the main body 2a of the walking body 2, and a counterweight 16 is suspended from the front end of the cables. The counterweight 16 moves so as to rotate on the circumference of the bottom surface of the cone with the base end of the cable as the apex.

Also, it is also possible to use the counterweight 16 together with the auxiliary cable 14 and the delivery device 15 as shown in the aforementioned second to fourth embodiments (see FIGS. 5 to 7 ). Alternatively, a mechanism such as a pulley may be appropriately provided in the way of supporting the operation cable 4 or the auxiliary cable 14 to adjust the direction of tension applied to the running body 2 . For example, it is also possible to set a tension device as a sending device obliquely below the walking body 2, and to set a pulley or similar parts under the walking body 2, and to temporarily wind the auxiliary rope sent out from the tension device on the pulley ( or similar parts), the front end of the aforementioned auxiliary cable is installed on the lower part of the walking body 2.

As above, the wall working device 1 of each of the above-mentioned embodiments is equipped with: a walking body 2 configured to be able to walk on the wall W; 2. It is configured to support the walking body 2 from the left and right by the supporting column 3a and the supporting operation cable 4, and operate the position of the walking body 2; the supporting column 3a is arranged on the left and right sides of the walking body 2; 4. It is sent out from the position of the lifting body 3b of the lifting support device 3 provided with the lifting body (cage) 3b lifting along the support column 3a.

In addition, the wall working device 1 of each of the above-mentioned embodiments is provided with: a running body 2 configured to be able to walk on the wall W; It is configured to support the walking body 2 at least by the support operation cables 4 sent out from the left and right sides of the walking body 2, and to operate the position of the walking body 2.

Moreover, the wall surface working method of each of the aforementioned embodiments uses: the walking body 2 configured to be able to walk on the wall W; and the working machine 7 is loaded on the walking body 2 to perform operations on the wall W; The support operation cable 4 sent out from the left and right of the body 2 supports the walking body 2 and operates the position of the walking body 2 .

In this way, when working on the wall W, it is not necessary to assemble a scaffold along the wall W that personnel can come and go, so labor and time can be greatly saved. In addition, when actual work such as inspection or painting is performed on the wall surface W, the amount of work can be reduced.

In addition, in the wall surface working device 1 of each embodiment, the running body 2 is provided with a propeller 2c that generates a pressing force against the wall surface W. As shown in FIG. In this way, the running body 2 can be held on the wall surface W by pressing force.

Furthermore, in the wall surface working device 1 of each embodiment, the propeller 2c is a variable-pitch propeller. In this way, the pressing force by the propeller 2c can be quickly adjusted, and the operation of the propeller 2c and the running body 2 can be performed with good responsiveness. In addition, the propeller 2c can generate a pressing force in a negative direction so that the running body 2 can move away from the wall W so that it can move quickly.

In addition, in the wall working device 1 of some embodiments, the running body 2 is connected with an auxiliary cable 14 that applies tension to the running body 2 from a direction different from that of the supporting operation cable 4 . In this way, by applying tension from the auxiliary cable 14 in a direction different from that of the supporting operation cable 4, unnecessary movement of the running body 2 can be suppressed.

Furthermore, the wall surface working device 1 of some embodiments includes a counterweight 16 suspended from the running body 2 . In this way, unnecessary movement of the running body 2 can be suppressed by the weight of the counterweight 16 itself.

Furthermore, in the wall surface working device 1 of each embodiment, the traveling body 2 is provided with the adsorption part 5 which adsorbs to the wall surface W. As shown in FIG. In this way, the running body 2 can be held on the wall surface W by the suction force.

And, the wall working device 1 of each embodiment is further equipped with: a lifting support device 3, which is equipped with a supporting column 3a arranged on the left and right sides of the walking body 2, and a lifting body 3b that is lifted and lowered along the supporting column 3a; and a supporting operation The cable 4 is sent out from the position of the elevating body 3b, supports the traveling body 2 from left and right, and operates the position of the traveling body 2. In this way, by supporting the tension of the operating cable 4, most of the weight of the traveling body 2 and the machine loaded on the traveling body 2 is supported, thereby supporting a larger weight and easily performing a large-scale operation.

Furthermore, the wall surface working device 1 of each embodiment is configured to be able to grasp the position of the walking body 2 on the wall surface W according to the height of the lifting body 3b and the sending length of the supporting operation cable 4 . In this way, the position of the running body 2 can be easily grasped when the running body 2 is operated.

In addition, in the wall surface working device 1 of each embodiment, the support operation cable 4 is sent out from the delivery device (winch) 8 of the support operation cable 4 mounted on the lifting body 3b. In this way, the position of the running body 2 can be manipulated by sending out and winding the support operation rope 4 by the winch 8 .

In addition, in the wall surface working device 1 of each embodiment, the traveling body 2 is provided with the adsorption unit 5 for adsorption to the wall surface W, and the lifting body 3b is equipped with the adsorption-related equipment 5a used for the operation of the adsorption unit 5, And the adsorption part 5 is connected with the adsorption-related equipment 5a by a connecting cable 6 . In this way, the weight necessary for the operation of the adsorption unit 5 can be distributed to the running body 2 and the elevating body 3b, and the load on the running body 2 can be reduced.

Moreover, in the wall surface working device 1 of each embodiment, the lifting body 3b is loaded with the work-related machine 7a used in conjunction with the work performed by the work machine 7, and the work-related machine 7 and the work-related machine 7a are borrowed. Connected by contact cable 6. In this way, the weight necessary for the operation of the working machine 7 can be distributed to the traveling body 2 and the elevating body 3b, and the load on the traveling body 2 can be reduced.

Therefore, according to the foregoing embodiments, the work on the wall surface can be performed easily and appropriately.

In addition, the wall surface working device and method described in this disclosure are not limited to the above-mentioned embodiments, and of course various changes can be added within the scope without departing from the gist.

1: Wall working device 2: walking body 2a: Ontology 2b: Wheel 2c: Propeller 3: Lifting support device 3a: Support column 3b: lifting body (cage) 4: Support operation cable 5: Adsorption part 5a: Adsorption related machines 6: Contact cable 7: Working machine 7a: Job related machines 8: Delivery device (winch) 9: Distance sensor 10: Control Department 11: Operation Department 12: Display part 13:Height sensor 14: Auxiliary cable 15: Sending device (tension maintaining device) 16: counterweight W: wall

[FIG. 1] It is a schematic diagram which shows an example (first embodiment) of the whole structure of the wall surface working apparatus of this disclosure. [Fig. 2] It is a front view showing an example of the form of the walking body constituting the wall surface working device. [Fig. 3] is a side view of the walking body of Fig. 2. [Fig. 4] is a conceptual diagram for explaining the calculation of the position of the traveling body constituting the wall working device. [ Fig. 5 ] is a schematic diagram showing another example (second embodiment) of the overall structure of the wall surface working device of the present disclosure. [FIG. 6] It is a schematic diagram which shows still another example (third embodiment) of the whole structure of the wall surface working apparatus of this disclosure. [FIG. 7] It is a schematic diagram which shows still another example (fourth embodiment) of the whole structure of the wall surface working apparatus of this disclosure. [FIG. 8] It is a schematic diagram which shows still another example (fifth embodiment) of the whole structure of the wall surface working apparatus of this disclosure.

1: Wall working device

2: walking body

2a: Ontology

2b: Wheel

2c: Propeller

3: Lifting support device

3a: Support column

3b: lifting body (cage)

4: Support operation cable

5: Adsorption part

5a: Adsorption related machines

6: Contact cable

7: Working machine

7a: Job related machines

8: Delivery device (winch)

9: Distance sensor

10: Control Department

11: Operation Department

12: Display part

13:Height sensor

W: wall

Claims (13)

A wall working device is provided with: a walking body configured to walk against a wall; and The working machine is loaded on the aforementioned walking body, and works on the wall surface, The above-mentioned walking body is configured to support the walking body from left and right by the supporting column and the supporting operation cable, and to operate the position of the walking body; the supporting column is arranged on the left and right sides of the aforementioned walking body; The position of the above-mentioned lifting body of the lifting support device equipped with the lifting body lifting along the support column is sent out. A wall working device is provided with: a walking body configured to walk against a wall; and The working machine is loaded on the aforementioned walking body, and works on the wall surface, The walking body is configured to support the walking body at least by the support and operation cables sent from the left and right sides of the walking body, and to control the position of the walking body. The wall working device according to claim 1 or 2, wherein, The above-mentioned walking body is equipped with a propeller that generates a pressing force against the wall surface. The wall working device as described in Claim 3, wherein, The aforementioned propeller is a variable pitch propeller. The wall working device according to any one of Claims 1 to 4, wherein, The walking body is connected with an auxiliary cable for applying tension to the walking body from a direction different from that of the supporting operation cable. The wall working device according to any one of Claims 1 to 5, wherein, Equipped with a counterweight suspended from the aforementioned walking body. The wall working device according to any one of Claims 1 to 6, wherein, The above-mentioned running body is equipped with an adsorption part for adsorption to the wall surface. The wall working device as described in any one of Claims 1 to 6, further comprising: The lifting support device is equipped with support columns arranged on the left and right sides of the aforementioned walking body, and a lifting body that moves up and down along the support columns; and The supporting operation cable is sent out from the position of the aforementioned lifting body, supports the aforementioned walking body from left and right, and operates the position of the aforementioned walking body. The wall working device as described in Claim 8, wherein, It is constituted as follows: the position of the aforementioned walking body on the wall surface can be grasped according to the height of the aforementioned lifting body and the sending length of the aforementioned supporting operation cable. The wall working device as described in Claim 8 or 9, wherein, The above-mentioned support operation cable is sent out from the delivery device of the above-mentioned support operation cable loaded on the above-mentioned lifting body. The wall working device according to any one of Claims 8 to 10, wherein, The above-mentioned walking body is equipped with an adsorption part for adsorption on the wall surface, and, The lifting body is equipped with adsorption-related equipment used for the operation of the aforementioned adsorption unit, and the aforementioned adsorption unit and the aforementioned adsorption-related equipment are connected by connecting cables. The wall working device according to any one of Claims 8 to 11, wherein, The above-mentioned lifting body is loaded with work-related machines used in conjunction with the work performed by the above-mentioned work machines, and the above-mentioned work machines and the above-mentioned work-related machines are connected by connecting cables. A method of working on a wall, using: a walking body configured to walk against a wall; and The working machine is loaded on the aforementioned walking body and works on the wall; At least the walking body is supported by the support operation cables sent from the left and right sides of the walking body, and the position of the walking body is operated.

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