JP6792871B2 - Wall suction device and wall movement device - Google Patents

Description

The present invention relates to a wall surface suction device and a wall surface moving device.

A wall surface adsorption device that can adsorb to a wall surface such as a vertical wall, a sloping wall, a ceiling or a floor is known. The wall surface suction device may include a partition wall that partitions the recessed space facing the wall surface and a suction portion that can continuously suck air in the recessed space (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2013-159243

In the conventional wall surface suction device as described in Patent Document 1, it may be difficult to obtain the suction force when the wall surface is not flat, for example, curved.

The present invention has been made in view of such a point, and an object of the present invention is to provide a wall surface adsorption device capable of easily obtaining a stable adsorption force on an uneven wall surface. Another object of the present invention is to provide a wall surface moving device capable of stably moving on an uneven wall surface by such a wall surface suction device.

The wall surface adsorption device according to the present invention
It is a wall surface adsorption device that can be adsorbed on the wall surface.
A partition wall that partitions the recessed space facing the wall surface,
A suction unit capable of continuously sucking air in the recessed space,
A skirt that is continuously or intermittently arranged on the partition wall at the peripheral edge of the recessed space and extends toward the outside of the peripheral edge of the recessed space and has flexibility. It is characterized by that.

Further, it is preferable that the wall surface suction device according to the present invention further includes brushes that are continuously or intermittently arranged on the partition wall or the skirt at the peripheral edge of the recessed space over the entire circumference.

Further, it is preferable that the wall surface suction device according to the present invention further includes a friction adjusting member which is continuously or intermittently arranged on the partition wall or the skirt over the entire circumference.

Further, in the wall surface suction device according to the present invention, it is preferable that the friction adjusting member includes at least one of a rubber member, a sponge rubber member and a ball bearing.

Further, in the wall surface suction device according to the present invention,
A brush and a brush, which are continuously or intermittently arranged on the partition wall at the peripheral edge of the recessed space over the entire circumference.
The partition wall is further provided with a friction adjusting member which is continuously or intermittently arranged over the entire circumference.
It is preferable that the brush and / or the friction adjusting member is movable in the direction of approaching and separating from the wall surface.

Further, the wall surface adsorption device according to the present invention is
Further provided with a detecting means for detecting the internal pressure of the recessed space or the uneven portion or the stepped portion of the wall surface.
It is preferable that the suction force on the wall surface can be changed according to the detection result of the detection means.

Further, in the wall surface suction device according to the present invention, it is preferable that the detection means is continuously or intermittently arranged on the portion of the skirt facing the wall surface over the entire circumference.

The wall surface moving device according to the present invention is characterized by including the wall surface suction device according to the present invention.

Further, it is preferable that the wall surface moving device according to the present invention further includes a traveling means provided in the wall surface suction device.

According to the present invention, it is possible to provide a wall surface adsorption device that can easily obtain a stable adsorption force on an uneven wall surface. Further, according to the present invention, it is possible to provide a wall surface moving device capable of stably moving on an uneven wall surface by such a wall surface suction device.

It is a top view which shows typically the wall surface suction device and the wall surface moving device which concerns on one Embodiment of this invention. It is a bottom view of the wall surface suction device and the wall surface moving device shown in FIG. It is a partial cross-sectional side view along AA of FIG. FIG. 3 is a partial cross-sectional side view showing a state in which the wall surface suction device and the wall surface moving device shown in FIG. 1 are sucked onto a convexly curved wall surface according to FIG. FIG. 3 is a partial cross-sectional side view showing a state in which the wall surface suction device and the wall surface moving device shown in FIG. 1 are attracted to a concavely curved wall surface according to FIG.

Hereinafter, the wall surface suction device and the wall surface moving device according to the embodiment of the present invention will be described in detail with reference to the drawings. In the present specification, the "wall surface" is not limited to the wall of a building but may be a surface of an arbitrary object (surface to be adsorbed), and the inclination angle as a whole is not limited to vertical and horizontal. It may be any tilt angle including. That is, the wall surface may be, for example, a vertical wall, a sloping wall, a ceiling or a floor. Further, in the present specification, the "upper surface" of the wall surface suction device means a surface that can be seen when the wall surface suction device is sucked on the wall surface.

As shown in FIGS. 4 and 5, the wall surface adsorption device 1 according to the present embodiment is configured to be adsorbable on the wall surface 2. As shown in FIGS. 1 to 3, the wall surface suction device 1 according to the present embodiment can continuously suck the air in the partition wall 4 and the recessed space 3 that partition the recessed space 3 facing the wall surface 2. It is provided with a possible suction unit 5. Further, the wall surface moving device 6 according to the present embodiment includes a wall surface suction device 1 and is configured to be movable on the wall surface 2. In this example, the wall surface moving device 6 further includes a traveling means 7 provided in the wall surface suction device 1.

In this example, the partition wall 4 has an outer shape having a circular shape in a top view centered on the central axis O of the wall surface suction device 1, and is continuous with the top wall 4a and the outer peripheral edge of the top wall 4a over the entire circumference. It has a peripheral wall 4b that is provided and extends toward the wall surface 2. In this example, the peripheral wall 4b extends perpendicularly to the top wall 4a from the outer peripheral edge of the top wall 4a toward the wall surface 2, and has a constant height in the circumferential direction thereof. The top wall 4a may have a substantially rectangular shape in a plan view, for example, and the shape of the partition wall 4 can be changed as appropriate. Further, the partition wall 4 can be composed of, for example, a synthetic resin member and / or a metal member, and is in a negative pressure state (negative internal pressure) of the recessed space 3 required for adsorbing the wall surface suction device 1 on the wall surface 2. It suffices to have rigidity that can maintain.

As shown in FIGS. 1 to 3, the wall surface suction device 1 is continuously arranged on the partition wall 4 over the entire circumference at the peripheral edge of the recessed space 3 and outside the peripheral edge of the recessed space 3 (in this example). It comprises a skirt 8 that extends outward) and is flexible. It is preferable that the skirt 8 is continuously arranged on the partition wall 4 over the entire circumference at the peripheral edge of the recessed space 3, but is intermittently arranged on the partition wall 4 over the entire circumference at the peripheral edge of the recessed space 3. You may. Further, in this example, the skirt 8 is arranged on the outer peripheral surface of the peripheral wall 4b of the partition wall 4, but may be arranged on the inner peripheral surface of the peripheral wall 4b or may be arranged on the upper surface of the top wall 4a, for example. May be good. Further, the skirt 8 may be arranged by directly connecting to the partition wall 4, or may be indirectly connected and arranged. For example, when the brush 9 and / or the friction adjusting member 10 described later are continuously arranged on the outer peripheral surface of the peripheral wall 4b over the entire circumference, the skirt 8 is directly connected to the outer peripheral surface of the peripheral wall 4b. The brush 9 and / or the friction adjusting member 10 arranged on the peripheral wall 4b (outer peripheral surface) is indirectly connected to the outer peripheral surface of the brush 9 and / or the friction adjusting member 10, that is, the peripheral wall 4b (outer peripheral surface). You may. The skirt 8 can be made of, for example, rubber and / or a soft synthetic resin, and as shown in FIGS. 4 and 5, for example, when the wall surface 2 is curved, the skirt 8 extends radially outward from the partition wall 4. It suffices that the existing portion has flexibility such that it can be curved substantially along the wall surface 2. According to the skirt 8, it is possible to suppress the flow of air through the gap G formed between the partition wall 4 and the wall surface 2 at the peripheral edge of the recessed space 3. Therefore, according to the wall surface suction device 1, a stable suction force can be easily applied to an uneven wall surface 2, such as when the wall surface 2 is curved or has an uneven portion or a stepped portion. Can be obtained.

Further, in this example, as shown in FIGS. 2 and 3, the wall surface suction device 1 further includes a brush 9 which is continuously arranged on the partition wall 4 over the entire circumference at the peripheral edge of the recessed space 3. There is. In this example, the brush 9 can be composed of a large number of trichomes (for example, made of synthetic resin or natural hair) extending toward the wall surface 2, and the wall surface 2 is formed of, for example, minute uneven portions (FIGS. 4, FIG. 5) or a stepped portion (not shown), the air flow through the gap G between the partition wall 4 and the wall surface 2 described above by deforming to follow the uneven portion or the stepped portion. It suffices to have the flexibility to suppress. Further, the brush 9 is preferably continuously arranged on the partition wall 4 over the entire circumference at the peripheral edge of the recessed space 3, but is intermittently arranged on the partition wall 4 at the peripheral edge of the recessed space 3 over the entire circumference. You may. Further, in this example, the brush 9 is indirectly connected to the partition wall 4 via a moving means described later, but is arranged to be directly connected to the partition wall 4 without such a moving means. You may. In this example, the brush 9 is arranged on the inner peripheral surface of the peripheral wall 4b of the partition wall 4, but may be arranged on the outer peripheral surface of the peripheral wall 4b, for example. Further, for example, by arranging the brush 9 on the skirt 8, the brush 9 may be indirectly connected to the partition wall 4 via the skirt 8 and arranged. In this way, the brush 9 can be arranged by being directly or indirectly connected to the partition wall 4. The brush 9 may not be provided. The brush 9 functions particularly effectively for suppressing the flow of air through the gap G between the partition wall 4 and the wall surface 2 when the wall surface 2 has a step portion, particularly a large step portion due to a gap or a groove. To do.

In this example, the brush 9 is movable in the direction of approaching and separating from the wall surface 2 as shown by the alternate long and short dash arrow in FIGS. 4 and 5. Specifically, the brush 9 is connected to the partition wall 4 via a moving means (not shown), and the brush 9 comes into contact with the wall surface 2 by moving in a direction close to the wall surface 2 by the moving means. It can be separated from the wall surface 2 by moving in a direction away from 2. As described above, in this example, the brush 9 can be used only when necessary. In this example, as shown in FIG. 2, the brush 9 is divided into a plurality of brushes (9 in this example) in the circumferential direction, and can be individually moved in the directions of approaching and separating from the wall surface 2. ing. By dividing the brush 9 into a plurality of pieces in this way, the followability to the wall surface 2 is improved when the wall surface 2 is curved, for example. It should be noted that the brush 9 does not require such division, and may be composed of one member forming an annular shape.

Further, in this example, as shown in FIGS. 2 and 3, the wall surface suction device 1 further includes a friction adjusting member 10 intermittently arranged on the partition wall 4 over the entire circumference. The friction adjusting member 10 may be continuously arranged on the partition wall 4 over the entire circumference. In this example, the friction adjusting member 10 is composed of ball bearings. The friction adjusting member 10 is not limited to such a ball bearing as long as the frictional force with the wall surface 2 can be adjusted, and may include, for example, at least one of a rubber member, a sponge rubber member, and a ball bearing. By using the friction adjusting member 10 having a large frictional force with respect to the wall surface 2 such as a rubber member or a sponge rubber member, the wall surface suction device 1 can be made difficult to move with respect to the wall surface 2, and a ball bearing or the like can be used. By using the friction adjusting member 10 having a small frictional force with respect to the wall surface 2, the wall surface suction device 1 can be smoothly moved with respect to the wall surface 2. In this example, the ball bearing as the friction adjusting member 10 is arranged on the partition wall 4 over the entire circumference. For example, the rubber member is arranged on the partition wall 4 over the entire circumference inside the ball bearing in the radial direction. Further, the sponge rubber member may be arranged on the partition wall 4 over the entire circumference inside the rubber member in the radial direction. Further, rubber members, sponge rubber members and ball bearings may be arranged alternately in the circumferential direction. Further, in this example, the friction adjusting member 10 is indirectly connected to the top wall 4a of the partition wall 4 via a moving means described later, but the partition wall 4 is arranged without such a moving means. It may be arranged by directly connecting to the top wall 4a. In this example, the friction adjusting member 10 is arranged inside the peripheral wall 4b of the partition wall 4 in the radial direction, but may be arranged, for example, outside the peripheral wall 4b in the radial direction. For example, by arranging the friction adjusting member 10 on the skirt 8, the friction adjusting member 10 may be indirectly connected to the partition wall 4 via the skirt 8 and arranged. In this way, the friction adjusting member 10 can be arranged by being directly or indirectly connected to the partition wall 4. The friction adjusting member 10 may not be provided. The friction adjusting member 10 is particularly effective in optimizing the frictional force according to the material, shape, and / or inclination angle of the wall surface 2, especially when the wall surface suction device 1 constitutes the wall surface moving device 6. Function.

In this example, the friction adjusting member 10 is movable in the direction of approaching and separating from the wall surface 2 as shown by the two-dot chain arrow in FIGS. 4 and 5. Specifically, the friction adjusting member 10 is connected to the top wall 4a of the partition wall 4 via a moving means (not shown), and the moving means moves the wall surface 2 in a direction close to the wall surface 2. On the other hand, it can be separated from the wall surface 2 by moving in a direction away from the wall surface 2. As described above, in this example, the friction adjusting member 10 can be used only when necessary. In this example, as shown in FIG. 2, the friction adjusting member 10 is divided into a plurality of pieces (9 pieces in this example) in the circumferential direction, and can be individually moved in the directions of approaching and separating from the wall surface 2. It is said that. By dividing the friction adjusting member 10 into a plurality of parts in this way, the followability to the wall surface 2 is improved when the wall surface 2 is curved, for example. The friction adjusting member 10 does not require such division, and may be composed of one member forming an annular shape.

At least two of the skirt 8, the brush 9, and the friction adjusting member 10 may be arranged alternately in the circumferential direction.

The suction unit 5 can be composed of, for example, a centrifugal fan. In this example, the suction portion 5 is provided on the outside of the partition wall 4 (outer surface of the top wall 4a), but may be provided on the inside of the partition wall 4 (inner surface of the top wall 4a), and the arrangement thereof is appropriate. It can be changed. In this example, the suction unit 5 is configured to continuously discharge the air in the recessed space 3 through the exhaust port 4c provided on the top wall 4a. In this example, the exhaust port 4c has a circular shape centered on the center of the top wall 4a (center axis O), but the shape and arrangement thereof can be changed as appropriate. In this way, by continuously sucking the air in the recessed space 3 by the suction portion 5, the negative pressure state of the recessed space 3 can be maintained and the suction force to the wall surface 2 can be maintained.

In this example, the traveling means 7 is composed of omni-wheels 11 arranged in three directions, whereby the traveling means 7 can move in all directions along the wall surface 2. Each of these three traveling means 7 is rotationally driven around the drive axis X by a motor (not shown). As shown in FIG. 2, the three drive axes X are arranged so as to be offset by 120 ° in the circumferential direction when viewed from the bottom surface. Further, in this example, as shown in FIGS. 3 to 5, the traveling means 7 is tilted from the wall surface 2 so that the ground contact surface of the traveling means 7 is separated from the wall surface 2 toward the inside in the radial direction of the partition wall 4. While moving in the direction away (see FIG. 4), the ground contact surface of the traveling means 7 moves away from the wall surface 2 as it goes outward in the radial direction of the partition wall 4, and moves in a direction closer to the wall surface 2 as it tilts (see FIG. 5). ), It is connected to the top wall 4a of the partition wall 4 via a link. Therefore, when the wall surface 2 is curved in a convex shape as shown in FIG. 4, it is possible to suppress an increase in the gap G between the wall surface 2 and the peripheral wall 4b of the partition wall 4 due to the curvature, and FIG. When the wall surface 2 is curved in a concave shape as shown in the above, it is possible to suppress the occurrence of the peripheral wall 4b of the partition wall 4 being caught on the wall surface 2 due to the curvature. The traveling means 7 is not limited to the configuration in which the traveling means 7 is connected to the partition wall 4 via such a link.

As the traveling means 7, for example, a Mecanum wheel may be used instead of the omni wheel 11. Further, preferably, the number and arrangement of the traveling means 7 may be appropriately changed within a range in which the traveling means can be moved in all directions. Further, the traveling means 7 is not limited to those capable of moving in all directions, and may include steerable wheels such as a four-wheeled vehicle, or may be a crawler or the like. Further, the traveling means 7 may be formed of an elastic body such as a sponge so as to follow the uneven portion or the stepped portion of the traveling surface (wall surface 2). Further, the traveling means 7 may be provided inside the partition wall 4 or may be provided outside the partition wall 4. Further, it is desirable that the traveling means 7 is arranged as close as possible to the peripheral wall 4b of the partition wall 4. With such an arrangement, the peripheral wall 4b of the partition wall 4 can be prevented from being caught by the uneven portion or the stepped portion of the wall surface 2. The traveling means 7 may be connected to the wall surface suction device 1 and may be able to tow the wall surface suction device 1, for example.

Further, the wall surface moving device 6 does not have to have the traveling means 7. For example, the wall surface moving device 6 includes a plurality of wall surface suction devices 1, and the plurality of wall surface suction devices 1 are connected in a row (for example, a single character row or a cross-shaped row) or in a ring shape. It may be configured to be movable by changing the suction force or frictional force of each wall surface suction device 1 with respect to the wall surface 2 and the distance between the wall surface suction devices 1. In this case, for example, the wall surface suction devices 1 can be connected to each other by an expansion / contraction means capable of expanding / contracting, and the distance between the wall surface adsorption devices 1 can be changed by the expansion / contraction means. Further, the suction force of each wall surface suction device 1 with respect to the wall surface 2 can be changed by adjusting, for example, the suction force of the suction unit 5 (for example, the output of the centrifugal fan). Further, the frictional force of each wall surface suction device 1 with respect to the wall surface 2 can be changed, for example, by moving the friction adjusting member 10 in the direction of approaching and separating from the wall surface 2 by the moving means as described above. ..

The wall surface moving device (not shown) composed of the plurality of wall surface suction devices 1 can be moved in the following manner, for example. First, a certain wall surface suction device 1 is moved forward by reducing the suction force or the frictional force and extending the expansion / contraction means on the rear side, and then stopped by increasing the suction force or the frictional force and on the rear side. It is assumed that the telescopic means are operated in a cycle of contracting. For example, from the state in which all the telescopic means are contracted, from the wall surface suction device 1 at the frontmost in the traveling direction to the wall surface suction device 1 at the rearmost in the traveling direction (plural wall surface suction devices) When 1 is connected in a ring shape, the wall surface moving device can be advanced by operating the wall surface moving device while delaying the phase appropriately (for example, 1/2 cycle) in both clockwise and counterclockwise directions. The wall surface moving device composed of the plurality of wall surface suction devices 1 has a structure in which adjacent skirts 8 are connected to each other (when a plurality of wall surface suction devices 1 are connected in an annular shape, the skirts 8 are connected in an annular shape). ) May be used.

Further, the wall surface adsorption device 1 further includes a detection means (not shown) for detecting the internal pressure of the concave space 3 or the uneven portion or the step portion of the wall surface 2, and the wall surface 2 is subjected to the detection result of the detection means. It may be possible to change the adsorption force. Such a detecting means is arranged on the portion of the partition wall 4 facing the recessed space 3 or on the skirt 8 (for example, the portion of the skirt 8 facing the wall surface 2, that is, the lower portion of the skirt 8 is continuous over the entire circumference. Alternatively, it is preferably arranged intermittently), but it may be arranged in other parts. The detection means may be either a contact type or a non-contact type, and may be of any type such as a pressure sensor (atmospheric pressure sensor, etc.), a displacement sensor (needle type, laser type, etc.), an image sensor (camera), and the like. Can be used. When detecting the internal pressure of the recessed space 3, for example, a pressure sensor may be arranged in a portion of the partition wall 4 facing the recessed space 3, or a separate chamber communicating with the recessed space 3 may be provided. A pressure sensor may be arranged in the skirt 8 or a pressure sensor may be arranged in the lower part of the skirt 8.

The wall surface moving device 6 composed of a single wall surface suction device 1 detects, for example, the internal pressure of the recessed space 3 of the wall surface suction device 1 by the detecting means, and when the internal pressure drops too much, It can be configured to increase the suction force of the wall surface suction device 1 with respect to the wall surface 2. Further, when the wall surface moving device is configured by the plurality of wall surface suction devices 1 as described above, at least one of the plurality of wall surface suction devices 1 further includes the detection means, and the wall surface moving device is said to be provided. It may be possible to change the suction force of at least one of the plurality of wall surface suction devices 1 with respect to the wall surface 2 according to the detection result of the detection means. For example, the internal pressure of the recessed space 3 of a certain wall surface suction device 1 is detected by the detection means, and when the internal pressure drops too much, the wall surface suction device 1 or another wall surface suction device 1 has a wall surface 2. It can be configured to increase the adsorption force. The detection means may be provided on all of the plurality of wall surface suction devices 1, or may be provided on only a part of them.

When detecting the uneven portion or the stepped portion of the wall surface 2 instead of the internal pressure of the concave portion space 3, the larger the uneven portion or the stepped portion of the wall surface 2, the easier it is for the internal pressure of the concave portion space 3 to decrease. Therefore, it is possible to configure the wall surface suction device 1 to increase the suction force as the uneven portion or the stepped portion of the wall surface 2 becomes larger. Further, in this case, it is preferable that the detection means is provided as far forward as possible in the moving direction of the wall surface suction device 1, and such an arrangement reduces the internal pressure of the recessed space 3 located behind the detection means in advance. It is possible to predict and increase the internal pressure of the recessed space 3 at an early timing. For example, in the case of the wall surface moving device 6 composed of a single wall surface suction device 1, the detection means is arranged on the skirt 8 (preferably the outer peripheral edge of the skirt 8) (preferably on the entire circumference under the skirt 8). It is preferable to arrange them continuously or intermittently. Further, in the case of a wall surface moving device configured by connecting a plurality of wall surface suction devices 1 in a row, the front end of the wall surface moving device in the moving direction (for example, the front portion of the front wall surface suction device 1 in the skirt 8). It is preferable to arrange the detection means (preferably at the lower part of the skirt 8). Further, in the case of a wall surface moving device configured by connecting a plurality of wall surface suction devices 1 so as to form an annular shape, the outer peripheral edge portion of the wall surface moving device (for example, the wall surface moving device in the skirt 8 of each wall surface suction device 1). The detection means is arranged (preferably the outer peripheral edge portion and / or the inner peripheral edge portion) of the portion located on the outer peripheral edge portion or the outer peripheral edge portion and / or the inner peripheral edge portion of the connected skirt when the skirt 8 is connected in an annular shape as described above (preferably the skirt 8 It is preferable to place it at the bottom).

According to the wall surface moving device 6 composed of a single wall surface suction device 1 or the wall surface moving device composed of a plurality of wall surface suction devices 1, for example, a wall surface including a window portion of a building, a wall surface of a dam body, an aircraft. It can move stably and easily on an uneven wall surface 2 of various materials, structures, curvatures and / or slopes such as the outer surface of the aircraft. In addition, by installing inspection sensor tools and / or cleaning tools as appropriate, various wall surface inspections (acquisition of data such as images, diagnosis, marking of parts requiring repair, etc.) and / or cleaning can be performed. It can be easily realized.

Although one embodiment of the present invention has been described above, it goes without saying that the above description is merely an example of the embodiment of the present invention, and various changes may be made as long as the gist of the invention is not deviated. ..

1 Wall surface suction device 2 Wall surface 3 Recessed space 4 Partition wall 4a Top wall 4b Peripheral wall 4c Exhaust port 5 Suction part 6 Wall surface moving device 7 Traveling means 8 Skirt 9 Brush 10 Friction adjustment member 11 Omni wheel G Gap O Center axis X Drive axis

Claims (8)

It is a wall surface adsorption device that can be adsorbed on the wall surface.
A partition wall that partitions the recessed space facing the wall surface,
A suction unit capable of continuously sucking air in the recessed space,
A skirt that is continuously or intermittently arranged on the partition wall at the peripheral edge of the concave space and extends toward the outside of the peripheral edge of the concave space and has flexibility .
A detection means for detecting the internal pressure of the recessed space or the uneven portion or the stepped portion of the wall surface is provided.
A wall surface adsorption device, characterized in that the adsorption force on the wall surface can be changed according to the detection result of the detection means . The wall surface suction device according to claim 1, further comprising a brush, which is continuously or intermittently arranged on the partition wall at the peripheral edge of the recessed space over the entire circumference. The wall surface suction device according to claim 1 or 2, further comprising a friction adjusting member which is continuously or intermittently arranged on the partition wall over the entire circumference. The wall surface suction device according to claim 3, wherein the friction adjusting member includes at least one of a rubber member, a sponge rubber member, and a ball bearing. A brush and a brush, which are continuously or intermittently arranged on the partition wall at the peripheral edge of the recessed space over the entire circumference.
The partition wall is further provided with a friction adjusting member which is continuously or intermittently arranged over the entire circumference.
The wall surface suction device according to any one of claims 1 to 4, wherein the brush and / or the friction adjusting member can move in a direction close to and away from the wall surface. The wall surface adsorption device according to any one of claims 1 to 5, wherein the detection means is continuously or intermittently arranged on a portion of the skirt facing the wall surface over the entire circumference. A wall surface moving device comprising the wall surface adsorption device according to any one of claims 1 to 6 . The wall surface moving device according to claim 7 , further comprising a traveling means provided in the wall surface suction device.

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