JPS6026752B2 - A device that can stick to a wall and move along it - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a device capable of adsorbing to a wall surface and moving along the wall surface by the pressure of a surrounding fluid such as air or water, and more particularly, but not limited thereto. The present invention relates to a device that can stick to a wall surface and move along it to perform tasks such as cleaning and painting the wall surface.

Equipment that performs work such as cleaning or painting vertical or sloping walls such as the outer walls of ships, oil storage tanks, and high-rise buildings has a gate on the part facing the wall. A housing, a plurality of wheels installed in the housing and in contact with a wall surface, an electric motor for driving the wheels, and a closure that extends a gap created between the housing and the wall surface when the wheels are brought into contact with the wall surface. an essentially permeable partition wall formed from a brush-like flexible material fixed around the periphery of the housing; an evacuation means for evacuating the interior of the housing to create a vacuum; A device has been proposed that includes a working tool (for example, the specification and drawings of Japanese Patent Publication No. 47-42798 and the drawings, and the specification and drawings of US Pat. No. 2,455,514).

In such a device, a vacuum is generated within the housing by the exhaust means, and gas pressure acting on the housing due to a pressure difference between the inside and outside of the housing is transmitted to the wall surface through the wheels. This allows the device to stick to the wall.

Further, by driving the above-mentioned wheels, the device attached to the wall surface is moved along the wall surface. Therefore, the device as described above can be attached to a wall surface and moved along the wall surface, and can perform desired work such as cleaning or painting on the wall surface using the equipped working device. However, the known device as described above has the following problems to be solved. That is, the partition wall fixed around the periphery of the opening in the housing is permeable in nature, so that during the evacuation of the interior of the housing by the exhaust means, a significant amount of outside air is drawn into the housing through the partition wall. go inside. Therefore, in order to generate a sufficient vacuum within the housing to vacuum-adsorb the device to the wall surface, a relatively high-capacity evacuation means is required. To solve this problem, it is possible to use a non-ventilated partition wall instead of a ventilated partition wall, but this problem can also be solved by using a non-ventilated partition wall in a conventional manner. Can not do it.

Specifically, when the non-breathable partition wall used in place of the breathable partition wall is made of a relatively flexible material such as synthetic or natural rubber, when the inside of the housing is evacuated to reduce the pressure, Due to the pressure difference between the inside and outside of the housing, gas pressure acts on the partition wall itself in a direction that prevents it from leaking inside the housing, and this gas pressure causes the partition wall to move toward the inside of the housing. A fluid-tight seal between the periphery of the closure and the wall surface is provided through which outside air can enter into the housing. On the other hand, in order to prevent this, if a partition wall made of a relatively rigid material is used, the tip of the partition wall will be attached to the wheel in order to create a fluid-tight seal between the periphery of the housing opening □ and the wall surface. Because it must extend beyond the tread (even just a little) and come into close contact with the wall surface,
When a vacuum is generated within the housing, the gas pressure that acts on the housing due to the pressure difference between the inside and outside of the housing is transmitted to the wall surface through the partition wall rather than through the wheels, and the contact pressure between the tip of the partition wall and the wall surface is increased. is considerably larger than the contact pressure between the wheel and the wall. This is remarkable when the wall surface is not a flat surface but a curved surface or a rough surface with unevenness. Therefore, even if driving force is supplied to the wheels, the frictional resistance between the tip of the partition wall and the wall surface is greater than the frictional resistance between the wheels and the wall surface, so the wheels slip and spin idly, causing the device to move. It is impossible or extremely difficult to do so. The present invention has been made in view of the above-mentioned facts, and its main object is to avoid the above-mentioned drawbacks of known devices and to provide a device for use in a reduced pressure area or housing by relatively low capacity evacuation means. It is possible to generate a sufficient vacuum for adsorption to the wall surface, and it does not cause problems even when the wall surface is not flat and has a raised part such as a weld overlay, and also, It is an object of the present invention to provide a new and improved device capable of adhering to a wall surface and moving along it, which reliably prevents excessive vacuum from being generated in a reduced pressure area.

According to the present invention, there is provided a device capable of adhering to a wall surface and moving along the wall surface by the pressure of surrounding fluid; a pressure receiving body formed of a rigid or semi-rigid material; installed on the pressure receiving body; a plurality of wheels or endless tracks that are brought into contact with a wall surface; a main part that extends outward from one end connected to the pressure receiving body and in the direction of the wall surface and whose free end is brought into contact with the wall surface; a partition wall including an extension extending further outward from the free end of the section and in a direction away from the wall surface, the partition wall cooperating with the pressure receiving body and the wall surface or cooperating with the wall surface to substantially upstream the pressure receiving body; a partition wall defining a dense reduced pressure area; means for discharging fluid from the reduced pressure area to create a vacuum within the reduced pressure area; and a means for generating a vacuum within the reduced pressure area; and a vacuum breaker to prevent the partition wall from being displaced by a relatively small force, at least the free end of the main portion being displaced relative to the pressure receiving body in the direction of the wall surface and in the direction away from the wall surface. fluid pressure acting on the partition wall itself due to a fluid pressure difference within and outside the vacuum region brings the free end into substantially intimate contact with the wall, while the vacuum Fluid pressure acting on the pressure receiving body due to a fluid pressure difference inside and outside the area is transmitted to the wall surface via the wheels or the endless track, thereby causing the device to be attracted to the wall surface. A device is provided that is characterized by:

In such a device of the present invention, the partition wall has a main portion extending outward from one end connected to the pressure-receiving body and in the direction of the wall surface, and whose free end portion is brought into contact with the wall surface. Objective 4: Due to the fluid pressure difference inside and outside the depressurized area, the partition wall itself is forced to displace at least the free end of the main wall towards and away from the wall surface by a small force. The applied fluid pressure acts to bring the free end of the partition wall into fluid-tight contact with the wall surface.

Therefore, it is ensured that the depressurized area defined by the pressure receiving body, the partition wall, and the wall surface is maintained substantially dense, and is therefore sufficient to cause the rhododendron to be adsorbed to the wall surface by relatively low-capacity exhaust means. A vacuum can be created within the reduced pressure region. In addition, since at least the free end of the crown of the partition wall can be displaced towards and away from the wall surface by relatively small forces,
Substantially all of the fluid pressure acting on the pressure-receiving body due to the fluid pressure difference inside and outside the depressurized area is transmitted to the wall surface not through the partition wall but through wheels or endless tracks, thereby causing the device to be attracted to the wall surface. Ru. Therefore, the contact pressure between the wheels or endless track and the wall surface is considerably greater than the contact pressure between the free end of the partition wall and the wall surface, and therefore, the frictional resistance between the wheel or endless track and the wall surface is significantly greater than the contact pressure between the free end of the partition wall and the wall surface. considerably larger than the frictional resistance between the part and the wall surface,
The device can therefore be moved by driving wheels or endless tracks. Furthermore, in the device of the present invention, in addition to the main part, the partition wall has an extension part extending further outward from the free end of the main part and in a direction away from the wall surface, so that the wall surface has, for example, a welded wall. Even if there is a raised object such as a mound, when the device is moved, the partition wall may get caught on the raised object and hinder the movement of the device, or the partition wall may be folded inward and separated from the wall surface. This sufficiently prevents problems such as smearing.

Furthermore, since the apparatus of the present invention is provided with a vacuum breaker to prevent the vacuum generated within the reduced pressure area from exceeding a predetermined value, excessive vacuum may not be generated within the reduced pressure area. Problems such as generation of excessive stress acting on the pressure receiving body etc. and damage to the pressure receiving body etc. can be sufficiently prevented. The invention will now be described in more detail with reference to the accompanying drawings, which illustrate preferred embodiments of the device according to the invention. Referring first to FIGS. 1-3, the device according to the invention comprises a pressure receiving body 2 made of a rigid or semi-rigid material, such as sheet steel.

The pressure receiving body 2 may have any shape as long as it can form a substantially dense depressurized space by cooperating with the partition wall and the wall surface 4 along which the device is to be attracted and moved, which will be described in detail below. However, in the specific example shown, the shape is approximately circular as a whole. A rigid frame member 6 is fixed to the outer surface of the pressure receiving body 2, and wheels 8a, 8 are attached to each of the four legs 6a, 6b, 6c, and 6d of this frame member 6.
b, 8c and 8d are rotatably installed. These wheels 8a, 8b, 8c, and 8d are pressed against and brought into contact with the wall surface 4 by the pressure of a fluid such as surrounding air acting on the pressure receiving body 2, as will be explained later. The frame section 6 is further provided with drive means for rotating the wheels 8a, 8b, 8c and 8d, preferably consisting of two electric motors 10a, 10b capable of rotating in both directions. has been done. The electric motor oa is drivingly connected to the wheels 8a, 8b by a speed reduction mechanism 11a and suitable transmission means such as sprockets and chains, and drives the wheels 8a, 8b in rotation.
Similarly, the electric motor ob is drivingly coupled to the wheels 8c, 8d by a speed reduction mechanism 11b and suitable transmission means such as sprockets and chains.
d to rotate. In the illustrated example, four wheels are used, but three wheels arranged in a triangular shape may be used, or more than four wheels may be used if desired. good.

Furthermore, instead of wheels, two or more endless tracks can also be used. Furthermore, in the illustrated example, the wheels 8a and 8b are driven by the motor 10a, and the wheels 8c and 8d are driven by the motor ob, but all wheels may be driven by a single motor. Alternatively, instead of driving all the wheels, only an arbitrary number of the wheels can be driven.
A partition wall is provided around the periphery of the pressure receiving body 2 through an annular member 12 made of a flexible material that can be displaced in the direction shown by arrow A, that is, in the direction toward and away from the wall surface 4, by a relatively small force. 14 are connected.

As shown most clearly in FIG. 4, the annular member 12 is secured at its outer periphery to the flange portion 2a of the pressure receiving body 2 by suitable means such as nuts and bolts. and,
A partition wall 1 having a substantially hollow conical shape as a whole is attached to the inner circumference of the annular portion 12 by suitable means such as nuts and bolts.
4 are connected to each other at one end 14a. The partition wall 14 in the illustrated example is a portion extending outwardly in the direction of the wall surface 4 from one end 14a fixed to the inner peripheral portion of the annular member 12 to the other end, ie, the free end 14c. It has a main portion 14b, and an extension portion 14d extending further outward from the free end portion 14c of the main portion 14b in a direction away from the wall surface 4. This partition wall 14' cooperates with the pressure-receiving body 2 and the wall surface 4 to define a substantially dense reduced-pressure region 16, as shown most clearly in FIG. Substantially dense depressurized area 16
In order to define this, at least the free end 14c of the partition wall 14 is pressed so that the free end 14c is brought into fluid-tight contact with the wall surface 4 by the gas pressure acting on the partition wall 14 itself, as will be explained later. Preferably, the entire partition wall 14 is formed from a relatively flexible material, such as synthetic or natural rubber. Further, the contact surface of the pond end 14c that contacts the wall surface 4 has a low frictional resistance surface coating such as fluorocarbon resin (trade name: Teflon) in order to reduce the frictional resistance with the wall surface 4. is preferable. Further, a cylindrical guide wall 18 for guiding one end 14a of the partition wall 14 is fixed to the pressure receiving body 2, the operation of which will be explained in detail later.

Further, an exhaust hole 20 is formed in the center of the pressure receiving body 2 for exhausting fluid from the reduced pressure region 16, and the exhaust hole 20 is connected to the pressure receiving body 2 through a suitable connection 22 such as a flexible hose. , to a suitable evacuation means (not shown), such as a vacuum pump or ejector. The effects of the device as described above are as follows.

When an exhaust means installed on the ground or on the deck of a ship is activated, a vacuum is generated within the reduced pressure area 16. In this way, the fluid pressure of the surrounding fluid acts on the pressure receiving body 2 due to the difference in fluid pressure between the inside and outside of the reduced pressure region 16. Pressure receiving body 2
This fluid pressure acting on the partition wall 14 is connected to the pressure-receiving body 2 via a member 12 that allows the partition wall 14 to be displaced in the direction toward and away from the wall surface 4 (in the direction of arrow A) with a relatively small force. On the other hand, since the wheels 8a to 8d are installed on the pressure receiving body 2 by the rigid frame member 6, substantially all of the pressure is transmitted to the wall surface 4 via the wheels 8a to 8d. 4. On the other hand, the fluid pressure acting on the portion 14b of the partition wall 14 due to the fluid pressure difference between the inside and outside of the decompression area 16 is as follows:
Since the portion 14b extends outward from one end 14a toward the free end 14c, it acts to force the partition wall 14 toward the wall surface 4, and the free end 14c of the partition wall 14 acts to force the partition wall 14 toward the wall surface 4.
is brought into fluid-tight contact with the wall surface 4.

Even if the wall surface 4 with which the free end portion 14c of the partition wall 14 comes into contact has a recess or a convex portion, or even if the wall surface 4 is a curved surface, the one end portion 14a of the partition wall 14 may be subjected to a relatively small force. Since the partition wall 14 is connected to the pressure receiving body 2 via the material 12 which can be displaced in the direction of the arrow A, the partition wall 14 is connected to the wall surface 4 and the pressure receiving body 2 as shown by the solid line and the two-dot chain line in FIG. 2, that is, the distance between the tread of the wheel and the pressure receiving body 2, the partition wall 14 is displaced in the direction of arrow A by a relatively small force, and the free end 1 of the partition wall 14
4c is brought into fluid-tight contact with the wall surface 4 only by the fluid pressure acting on the portion 14b. A guide wall 18 fixed to the pressure receiving body 2 guides the one end 14a of the partition wall 14 when the partition wall 14 is displaced in the direction of arrow A. In the device according to the invention, as mentioned above, the free end 14 of the partition wall 14
c is always in substantially close contact with the wall surface 4, and therefore the depressurized area 16 defined by the pressure receiving body 2, the partition wall 14, and the wall surface 4 is substantially close to the wall surface 4, so that the exhaust means with relatively low capacity can Sufficient vacuum can be created within the reduced pressure area 16 to cause the device to stick to the wall 4.

Of course, even if it is said that the portion 14c of the partition wall 14 is brought into substantially close contact with the wall surface 4, the outer wall surface of a ship, the outer wall surface of an oil storage tank, the outer wall surface of a high-rise building, etc., which is to be cleaned or painted, etc. Generally, the wall surface of the partition wall 14 is not a smooth wall surface, but a rough or rough wall surface with considerable unevenness.
It should be understood that the free end 14 is not in complete fluid-tight contact with the wall 4, and some outside air enters the reduced pressure region 16 between the free end 14 and the wall 4. On the other hand, when the wall surface 14 is a fairly smooth surface, the free end portions 14 of the partition wall 14 are brought into almost complete fluid-tight contact;
The reduced pressure region 16 is thus rendered almost completely fluid-tight.

In this case, the depressurized area 16 is removed by means of evacuation.
Excessive vacuum is created in the pressure receiving body 2 and therefore excessive fluid pressure in the pressure receiving body 2 is generated, and excessive stress is generated on the pressure receiving body 2 itself, the frame member 6 or the wheels 8a-8d, and these elements are damaged. There is a fear. Therefore, in the pressure receiving body 2,
When the vacuum in the reduced pressure area 16 exceeds a predetermined value, outside air is introduced to prevent the vacuum in the reduced pressure area 16 from exceeding a predetermined value. Figures 1 and 2) are provided. The device that can be attached to the wall surface 4 as described above moves along the wall surface 4 when the electric motors 10a, 10b are operated by remote control to drive the wheels 8a, 8b and 8c, 8d to rotate in the same direction. Go straight. Also, wheels 8a, 8
When b, 8c, and 8d are rotated in opposite directions, they are rotated around the central axis of the device and directed in a desired direction. In this regard, in the device according to the invention the partition wall 14
Although the free end portion 14c of the partition wall 14 is brought into substantially close contact with the wall surface 4, the partition wall 14 is displaced toward and away from the wall surface 4 by a relatively small force. Therefore, substantially all of the fluid pressure acting on the pressure receiving body 2 is transmitted to the wall surface 4 via the wheels 8a to 8d, while the free end 14c of the partition wall 14 acts on the portion 14b of the partition wall 14 itself. Note that it can only be brought into contact with the wall 4 by fluid pressure. In the device according to the present invention, the vacuum pressure in the decompression area 16 is Vk9, the effective pressure receiving area of the pressure receiving body 2 is D, and the coefficient of friction between the wheels 8a to 8d and the wall surface 4 is K. Then, the frictional force F,k9 between the wheels 8a to 8d and the wall surface 4 is F,=K.・V・D, becomes.

On the other hand, the effective pressure receiving area of partition walls 1 to 4 is D2, partition wall 1
The coefficient of friction between the free end 14c of 4 and the wall surface 4 is K2.
Then, the frictional force F2k9 between the free-like portion 14c of the partition wall 14 and the wall surface 4 is F2=K2·V·D2.
Therefore, F,>F2, that is, K.・D. >As long as the conditions K2 and D2 are satisfied, the wheels 8a to 8d can be rotationally driven. In the known device, the partition wall is oriented in the direction of the wall surface 4 and in the direction of these scales (
In other words, since the fluid pressure acting on the pressure receiving body 2 is transmitted to the wall surface 4 through the partition wall instead of the wheel, the frictional force F between the wheel and the wall surface is increased. cannot be made larger than the frictional force F2 between the partition wall and the wall surface, and it is therefore impossible or extremely difficult to move the device by rotationally driving the wheels. In order to make the device easier to move, a surface coating with a low coefficient of friction such as fluorocarbon resin (trade name: Teflon) is provided on the contact surface of the free end 14c of the partition wall 14 as described above. In addition to reducing the friction coefficient K2 between the other end 14c of the partition wall 14 and the wall surface 4, the treads of the wheels 8a to 8d are provided with a surface coating having a high friction coefficient such as natural or synthetic rubber or urethane resin. Wheel 8a~
It is desirable to increase the coefficient of friction K between 8d and the wall surface 4.

On the wall surface 4 where work such as cleaning or painting is to be performed,
Generally, there is a raised object 26 (Fig. 4) such as weld overlay,
When the device moves along the wall surface 4, the free end 14c of the partition wall 14 gets caught on this protuberance 26, which may impede the movement of the device or cause the partition wall 14 to curve inward. Partition wall 14 extends inwardly from the one end thereof, and thus portion 14b of partition wall 14
The fluid pressure acting on the free end 14c may act in a direction away from the wall and break the fluid-tight contact that separates the free end 14c from the wall. However, the illustrated partition wall 14 has an extension 14d extending outwardly from the free end 14c and away from the wall surface 4, both inside and outside the free end 14c. The partition wall 14 is at an angle of 8 with respect to the wall surface 4.
Therefore, when the device is moved, the free end 14c of the partition wall 14 can pass through the raised portion 26 without getting caught. It is generally preferred that the above angles be between about 30 and 450 degrees. Also, as shown in FIGS. 1 and 2, so that the free end 14c of the partition wall 14 can pass through the raised object 26 more easily,
It is preferable to make cuts 28 in the extension 4d at predetermined intervals to increase the flexibility of the extension 4d. Alternatively, instead of making the cut 28, only the extension part 4d can be made thinner, so that the extension part 4d has greater flexibility than other parts. Furthermore,
In order to more reliably prevent the partition wall 14 from curving inward, a plurality of reinforcing materials such as piano wires are placed radially within the portion 14b of the partition wall 14 at predetermined intervals in all directions. It can be embedded or alternatively the extension part 14
It is also possible to connect the tip end of d to an appropriate location on the pressure receiving body 2 by means of a coiled wire, piano wire, chain, or the like that can be expanded and contracted over a predetermined length.

In the embodiment illustrated in FIGS. 1 to 4, the partition plate 14 is moved through an annular member 12 made of a flexible material and displaced in the direction of arrow A by a relatively small force. By being connected to the pressure receiving body 2, the partition wall 14 can be displaced toward and away from the wall surface 4 with a relatively small force. It is also possible to use a bellows-like member 30 that is expandable and retractable in the direction of arrow A, as shown in FIG.

Further, the annular member 12 is omitted and the one end 14a of the partition wall 14 is connected to the pressure receiving main body 2 immediately in a nested manner,
This also allows the partition wall 14 to be displaced in the direction of the wall surface 4 and in the direction away from it. Furthermore, as shown in FIG. 6, the one end 14 of the partition wall 14
a is directly fixed to the pressure receiving body 2, and due to the flexibility of the portion 14b itself, not the entire partition wall 14 but only the front half including the other end 14c moves in the direction of the wall surface 4 and in the direction away from it, that is, the arrow A It is also possible to make the displacement in the direction shown by . Furthermore, in the apparatus shown in FIGS. 1 to 4,
The depressurized region 16 is made to pass through an exhaust means (not shown) through a sacrificial hose 22 connected to two exhaust holes formed in the pressure receiving body 2, thereby evacuating the depressurized region 16. If desired, suitable exhaust means such as an exhaust pump or an ejector may be installed directly on the pressure receiving body 2.

However, if the exhaust means is installed directly on the pressure receiving body 2, the weight of the device increases accordingly, so as in the specific example shown, the depressurized area is connected to the ground or the deck of a ship via a connecting means such as a flexible hose 22. It is preferable to let the lotus pass through an exhaust means installed above. Furthermore, in the illustrated embodiment, wheels 8a-8d are driven by motors 10a, 10b installed on the device, thereby moving the device; however, if desired, those skilled in the art will be able to As is well known, the apparatus may be moved by connecting a traction wire to a part of the apparatus, such as the frame member 6, and winding this wire with a winch installed on the deck of a ship or the like.

Next, with reference to FIGS. 7 to 17, various modifications according to the present invention will be described, which are particularly suitable when the wall surface to be attracted and moved along is a surface having a large curvature.

The specific example illustrated in FIGS. 7 to 9 has a flat main portion 11 which can be considered as one end connected to the pressure receiving body.
4a, outward from the peripheral part of the main part 114a and the wall surface 10
4, a free end 114c that contacts the wall surface 104, and an extension 114d.

Two parts 102a and 102b of the pressure receiving body are fixed to the main part 114a of the partition wall 114. and two parts 102a, 102b of the pressure receiving body.
Each of the rattan wires 103 are attached to the rigid frame member 106, respectively.
a, 103b so as to be pivotable. The frame member 106 has four wheels 108a, 108b, 1
08c and 108d are installed. Further, although not shown, a motor and a transmission mechanism for driving the wheels may be installed in the frame portion 106, similar to the specific examples shown in FIGS. 1 to 4. In the device as described above, since the partition wall 114 has an elliptical dish shape, a substantially fluid-tight reduced pressure region 116 is defined only by the partition wall 114 and the wall surface 104.

However, if desired, the main portion 114 of the partition wall 114
It is also possible to cut out the part that fits the pressure receiving bodies 102a and 102b of a, so that the two parts 102a and 102b of the pressure receiving bodies, the partition wall 114, and the wall surface 104 define a substantially dense depressurized area 116. can. The reduced pressure region 116 is connected to exhaust means (not shown) via a connecting means 122. Due to evacuating the reduced pressure region 116 to form a vacuum, the pressure receiving body portion 1
02a, 102b is applied to the wall surface 10 via the frame member 106 and the wheels 108a to 108d.
4, and it is clear that this causes the device to be attached to the wall surface 104 without going into detail.
In addition, the free end portion 114c of the function wall 114 is connected to the portion 114.
Due to the flexibility of portion 114b, it is relatively flexible in the direction of and away from wall surface 104 and can be displaced by force, thus bringing it into substantially close contact with wall surface 104 only by fluid pressure acting on portion 114b. It is also obvious that there is no need to elaborate. As above, the seventh
The device shown in FIGS. 9 to 9 has a pressure receiving body 102a and 102b divided into two parts, and a part 11 located between the two parts.
4f, and each of the pressure receiving body portions 102a, 102b is connected to the frame member 1.
06, as can be easily understood from FIG. 9, even if the wall surface 104 has a radius of curvature of approximately 4°, the pressure receiving body portions 102a and 102b are connected to the wall surface. Marking line 103a, 1 according to the curvature of 104
03b to adapt to the wall surface 104.

Accordingly, the apparatus illustrated in FIGS.
Even if 4 is a surface having a radius of curvature of approximately 4, it is possible to reliably adhere to the wall surface and move along it. The apparatus shown in FIGS. 10 and 11 is shown in FIGS.
This is a slight modification of the device shown in the figure.

In the apparatus illustrated in FIGS. 10 and 11, the frame member is divided into two parts 106a and 106b that are hinged to each other by a pin 109, and the hinge pin 109 is in contact with the wall surface 104. Two additional wheels 108e and 108f are installed. Each of the two portions 102a, 102b of the pressure receiving body is rigidly connected to portions 106a and 106b of the frame member, respectively. Similarly to the devices shown in FIGS. 7 to 9, the device shown in FIGS.
It will be clear that it is possible to reliably stick to the wall surface and move along it. In the device shown in FIG. 12, the pressure receiving body has three parts 102a, 102b and 1.
It is divided into 02c.

Each of the portions 102a, 102b, 102c corresponds to a cylinder 111a, 111 installed in the frame portion 106.
It is pivotally connected to the piston ends of 1b and 111c. Further, the frame member 106 includes three distance sensors 113a, 113b, 113c adjacent to each of the three parts 102a, 802b, 102c of the pressure receiving body.
is installed. These distance sensors sense the distance from them to the wall surface 104, and automatically expand or contract each of the cylinders 111a, 111b, and 111c according to the sensed distance. Therefore, in the apparatus shown in FIG. 12, the cylinder 111a is
, 111b, 111c are automatically expanded and contracted, whereby the parts 102a, 102b, 102c of the pressure receiving body
The distance between each of the walls 104 and the wall surface 104 is always maintained constant.
As such, the apparatus shown in FIG. 12 reliably covers the wall surface 104 even if the wall surface 104 has relatively large irregularities or a surface with a relatively small radius of curvature. It can be adsorbed to and moved along. The device shown in FIG. 13 has a pressure receiving body divided into two parts 2.
In addition to dividing into 02a and 202b, part 2 of the pressure receiving body
Separate partition walls 214a, 02a and 202b, respectively.
214b are connected. Thus, in the apparatus illustrated in FIG. 13, two separate areas of reduced pressure are defined. Each of the two parts 202a, 202b of the pressure-receiving body is 213a, as in the device of FIGS. 7-9.
and 213b, it is pivotally connected to the frame member 216. In addition, two parts 20 of the pressure receiving body
2a. 202b is provided with connecting portions 222a, 222b for connecting the respective depressurized regions to exhaust means. The apparatus shown in FIG. 14 is a slight modification of the apparatus shown in FIG.

Similar to the apparatus of FIGS. 10 and 11, in the apparatus of FIG. The pin 209 has a wall surface 104
Two additional wheels 208e and 2
08d is installed. Two parts 202 of the pressure receiving body
a and 202b each represent a portion 20 of the frame member, respectively.
6a and 206b. The apparatus illustrated in FIG. 15 includes separate partition walls 214a and 214b, respectively.
Two parts 202a and 20 of the pressure receiving body are connected to each other.
2b are each pivotably connected to the piston end of each cylinder 211a, 211b, the expansion and contraction of which is automatically controlled by distance sensors 213a, 213b, as in the case of the device illustrated in FIG. It is something.

In the devices shown in FIGS. 7 to 15, even if the wall surface has a considerably large curvature or relatively large unevenness, the device can reliably adhere to the wall surface and move along it. In order to make this possible, the pressure receiving body is divided into two or three parts, but it can also be divided into four or more parts if desired.

For example, the disk-shaped pressure receiving body can be divided into four or more segments, and each segment can be connected to a frame member via a universal joint such as a ball and socket. Furthermore, in the apparatus illustrated in FIGS. 10 and 11 and in the apparatus illustrated in FIG. 14, the frame member is divided into two interconnected sections; however, if desired, the frame member The member can also be divided into three or more parts that are hinged to each other.
In addition, when each of the two or more divided parts of the pressure receiving body is rotatably connected to the frame member directly or via a cylinder, the fluid pressure acting on each part of the pressure receiving body is There is a risk that each section may be tilted due to the uneven impact, and a portion of each section may be brought too close to the wall surface.

If a portion of each portion is brought too close to the wall surface, the frictional force between the free end of the partition wall and the wall surface may become excessive at that portion. To prevent this, please refer to Figure 16 and 1.
As shown in FIG. 7, the pressure receiving body portions 302a, 302
portions 302a, 30 in contact with the wall surface 304, respectively.
Three ball casters 315a and 315b can also be installed to maintain a constant distance between ball casters 2b and wall surface 304. In the device as shown in FIGS. 16 and 17, the pressure receiving body portions 302a and 302b are connected to the cylinder 31.
1a and 311b to the frame member 306,
Part 3 of the pressure receiving body by the cylinders 311a, 311b
02a, 302b are preferably pulled toward frame section 306 with a predetermined force. This is because, if the ball casters 315a, 315b are attached to the pressure receiving body portions 302a, 302b, the fluid pressure acting on the pressure receiving body portions 302a, 302b will not be applied to the frame member 306 and the wheels 308a to 308d. Instead, it is transmitted to the wall surface 304 mainly via the ball casters 315a and 315b, and therefore the wheels 308a to 30
The contact pressure between 8d and the wall surface 304 is reduced, and the wheel 308
Although it may become impossible to move the device by driving cylinders 311a to 308d,
, 311b, the parts 302a, 302b of the pressure receiving body
When the cylinders 311a, 311b,
It is transmitted to the wall surface 304 via the frame section 306 and the wheels 308a-308d, and thus the wheels 308a-308
This is because the device can be moved by driving d. FIG. 18 illustrates a device according to the invention, particularly suitable for adhering to and moving along a partially submerged wall 404 submerged in seawater of a side wall of a ship.

In FIG. 18, frame members, wheels, etc. are omitted for clarity. In the device shown in FIG. 18, an intake conduit 425 extending above the water surface is connected to a vacuum breaker 424 installed on the pressure receiving body 402, and the vacuum in the reduced pressure area 416 is maintained at a predetermined value. When the temperature exceeds that level, the vacuum breaker 424 opens,
The air above the water surface flows through the intake conduit 425 into the depressurized area 416.
The vacuum in the reduced pressure region 416 is thereby maintained at a predetermined value at all times. Further, a drainage hole 421 is formed in the lower part of the pressure receiving body 402, and a drainage pump 426 installed on the ground or the like is connected to this drainage hole 421 via a flexible hose 423. As already mentioned above, the free-form portion of the partition wall 414 that is brought into contact with the wall surface 404 is usually not brought into complete fluid-tight contact with the wall surface 404 and therefore the partition wall 4
14 and the wall surface 404 into the reduced pressure area 416, the water that entered into the reduced pressure area 416 is sucked into the drain pump 426 through the flexible hose 423, and is discharged. It is discharged into the sea through a hose 427. Therefore, the reduced pressure region 416 is never filled with water, and a desired vacuum is always formed within the reduced pressure region 416. Therefore, the pressure of the surrounding fluid, ie, surrounding water, always acts on the pressure receiving body 402, and this water pressure is transmitted to the wall surface 404 via the frame member and wheels (not shown), thereby ensuring that the device is firmly attached to the wall surface 404. It can be absorbed. In the illustrated device, the drain hole 421 is connected to the drain pump 426 via a flexible hose 423, but if desired, the drain pump 426 can be connected to the pressure receiving body 402 or a frame member (not shown). ) and drain hole 42.
1 can also be connected directly. Furthermore, in the apparatus shown in FIG. 18, an exhaust hole 420 formed in the pressure receiving body 402 is connected to an exhaust means 431 such as a vacuum pump installed on the ground or the like via a gas-liquid separator 429. has been done. The gas-liquid separator 429 separates the water accompanying the air sucked from the reduced pressure region 416 through the flexible hose 422 from the air and discharges it into the water storage tank 433. The water accumulated in the water storage tank 433 is If necessary, it can be disposed of in the ocean or elsewhere. As described above, the device according to the present invention, which is capable of adhering to and moving along a wall surface existing in the atmosphere or water, has a blast cleaning device attached to its frame member or pressure receiving body for cleaning or polishing the wall surface. Various working tools are installed, such as scrapers, abrasive belts, rotating brushes, etc., spray guns for painting walls, ultrasonic deep scratches for detecting flaws in welds on walls, etc. By,
It can be applied as a wall surface work device that can perform desired work on a wall surface.

The working device as described above may be installed within the reduced pressure area or outside the reduced pressure area. If it is desired to install the work equipment in the center of the equipment and outside the reduced pressure area,
An annular pressure-reducing area can be formed using an annular pressure-receiving body and a partition wall having a shape corresponding to the annular pressure-receiving body, and a working device can be disposed in the central closed part of the annular pressure-receiving body. Furthermore, the device according to the invention can also be applied to interesting toys that can stick to a wall and move along it. Next, with reference to FIGS. 19 to 21, a description will be given of a wall surface cleaning device according to the present invention, which is equipped with means for cleaning a wall surface by projecting abrasive particles such as steel grit onto the wall surface.

The apparatus illustrated in FIG. 19 uses a high-velocity air stream to abrade a wall surface, similar to the apparatus shown in FIGS. It is a combination of means for projecting village sweeping particles.

In the device shown in FIG. 19, the center portion of the pressure receiving body 502 has a truncated conical shape 503 that tapers away from the wall surface 504. A grinding material particle projection nozzle 550 for projecting grinding material particles onto the wall surface 504 is provided at the tapered tip of the truncated cone shape 503. This nozzle 550 is installed on the ground or on the deck of a ship and supplies compressed air containing abrasive material particles to the nozzle 550 via a flexible hose 552.
and means (not shown) for delivering the same. A hole 520 is formed in the lower part of the pressure receiving body 502 for exhausting air from the reduced pressure area 516 defined by the pressure receiving body 502, the partition wall 514, and the wall surface 504, and for collecting the sanding material particles projected onto the wall surface 504. has been done. A flexible hose 522 is connected to this hole 520, and this flexible hose 522 is used to absorb abrasive material particles contained in the exhaust flow and rust, paint powder, etc. removed from the wall surface 504. Through a separator (not shown), which is known per se and installed on the ground, etc., and which can separate the substances and substances from the exhaust flow separately and independently, Connected to exhaust means (not shown). In such a device, the device can be attached to the wall surface 50 as already explained with reference to FIGS. 1 to 4.
4 and move along it, the nozzle 55
Compressed air containing polishing material particles is projected onto the wall surface 504 from zero, thereby cleaning the wall surface 504.

The sanding material particles projected onto the wall surface 504 are removed from the wall surface 504 together with contaminants such as rust and paint powder, into the reduced pressure area 5.
16 to the lower part of reduced pressure region 516 without dissipating to the outside, and accompanying the air flow exhausted from reduced pressure region 516 passes through exhaust hole 520 and flexible hose 522 to a separator (not shown). and is separated from the air stream in the separator. The abrasive particles separated from the air stream, separate from contaminants such as rust, paint powder, etc., can be reused. In the device as described above, nozzle 5
Compressed air is introduced into the reduced pressure area 516 from 50 . Therefore, in order to generate a predetermined vacuum in the reduced pressure region 516, it is necessary to use a higher performance evacuation means than otherwise for evacuating the reduced pressure region 516 through the exhaust hole 520. In view of the above facts, the device shown in FIG. 20 is a centrifugal projector that mechanically projects abrasive material particles onto a wall surface without using compressed air flow, as shown in FIGS. 1 to 4. It is combined with a device similar to a device that can stick to a wall surface and move along it.

In the apparatus shown in FIG. 20, a centrifugal projection wheel 660, which is known per se, is installed in the center of the pressure-receiving body 602 and can project the particles toward the wall surface 604.

A motor 662 whose output shaft is connected to the wheel 660 and rotates the wheel 660 at a predetermined speed is provided below the centrifugal projection wheel 660.
Further, above the centrifugal projection wheel 660, as will be explained later, grinding material particles collected along with the gas flow are separated from the gas flow and collected, and the collected grinding material particles are distantly projected. An abrasive particle collector and feeder 664 is provided for feeding the center of the wheel. Pressure receiving body 6
A hole 620 is formed in the lower part of the pressure receiving body 602, the partition wall 614, and the wall surface 604 to exhaust air from the reduced pressure area 616 defined by the wall surface 604 and to collect the abrasive particles projected onto the wall surface 604. There is.

This hole 620 is first threaded through the upper side of the collection and feeder 664 by a transfer tube 666 and then connected at one end to a tubular section provided at the top of the collection and feeder 664. Hose 668 is running. The flexible hose 668 is also installed on the ground, etc. via a separator (not shown) installed on the ground, etc., for separating contaminants accompanying the airflow from the airflow. It is connected to evacuation means (not shown), such as a vacuum pump. In the device as described above, it is already possible to
A centrifugal projection wheel 660, rotationally driven by a motor 662, rotates the wall surface 604 as the device attaches to and moves along the wall surface 604 as described with reference to the figures.
The polishing material particles are projected onto the wall surface 604.
is cleaned.

The sanding material particles projected onto the wall surface 604 are removed from the wall surface 604 together with contaminants such as rust and paint powder, into the reduced pressure area 6.
16 and fall below the vacuum region 616 without dissipating to the outside, and, accompanying the airflow exhausted from the vacuum region 616, pass from the exhaust hole 620 through the transfer tube 666 to the abrasive particle separation and collector. 664. In the separator and collector 664, the relative wheel abrasive particles are separated from the airflow by falling below the separator and collector 664. The abrasive particles that fall below and accumulate in the separator and collector 664 are again fed to the centrifugal projection wheel 660 and projected onto the wall 604.
On the other hand, relatively light intrusions such as rust and paint powder removed from the wall surface 604 and abrasive materials unsuitable for reuse that have been broken into small, light particles by colliding with the wall surface 604 are
The air flows along with the air flow through the flexible hose 668 to a separator (not shown) installed on the ground or the like, and is separated from the air flow at this separator. As above, the second
The apparatus shown in FIG. 0 uses a centrifugal projection wheel 660 that is capable of mechanically projecting abrasive particles without the use of a compressed air stream, and therefore requires a relatively low capacity exhaust system. By this means, a sufficient vacuum can be created within the reduced pressure region 616 to cause the device to stick to the wall 604. Additionally, the Kenfumura particles projected onto the wall surface 604 can be removed by utilizing the air flow discharged from the reduced pressure region 616 to create a vacuum within the reduced pressure region 616.
Since it can be recovered and separated from contaminants and abrasives that are crushed and cannot be reused, other special measures for these purposes are unnecessary. Fig. 21 shows a device that can stick to a wall surface and move along it, as shown in Figs. 1 to 4, although the form of the partition wall and the method of connecting the partition wall to the pressure receiving body are slightly different. This is a device similar to the above, combined with a projector that uses a suction air flow to accelerate the Kenkimura particles supplied to it in a rock-like manner and project them onto a wall.

The device shown in FIG. 21, like the devices shown in FIGS. 1 to 4, includes a pressure receiving body 702 and a pressure receiving body 70.
2 and a partition wall 714 that cooperates with the wall surface 704 to define a reduced pressure area 716.

One end of the partition wall 714 is directly fixed to the pressure-receiving body 702, and therefore, similar to the partition wall 14 shown in FIG. It is designed to be able to be displaced in the direction of and in the direction away from it. Further, although not shown in FIG. 21 for clarity of drawing, the device includes a rigid frame member to which the pressure receiving body 702 is connected, and three or more members installed in the rigid frame member. It comprises a wheel and drive means mounted on a rigid frame member for driving the wheel. Pressure receiving body 702
Inside, a grinding material particle projector, generally designated 770, is installed.

This projector 770 is composed of a hollow sea bream 772 rotatably attached to a pressure receiving body 702 and a blade wheel 774 fixed to the tip of this marrow 772. Although not shown, a seal may be provided between the pressure receiving body 702 and the shaft 772 to prevent outside air from entering the depressurized region 716 through the space between the pressure receiving body 702 and the shaft 772. The impeller 774 includes a pair of substantially conical plates 776 spaced apart in the longitudinal direction of the shaft 772.
and a plurality of blades 778 (e.g. eight blades) fixed between the plates 776 at intervals in the circumferential direction. Projector 770
A pulley 780 is fixed to the hollow shaft 772, and this pulley 780 connects a belt 783 to a pulley 784 fixed to the output shaft of a projector drive motor 782 installed on a frame member (not shown). connected by. Furthermore, the hollow shaft 772 of the projector 770 is connected by a flexible hose 79 to a supply section 788 of an abrasive particle collection and supply device 786 installed on the ground or on the deck of a ship. There is. The pressure receiving body 702 is further formed with a passage 792 extending near the periphery of the pressure reduction area 716 for exhausting the annular pressure reduction area 716 and collecting the abrasive material particles.

This passage 792 has an outlet portion 794 , and this outlet portion 79
4 is connected to one end of a flexible hose 796. The end of the flexible hose 796 is connected to an inlet 789 formed at the top of the abrasive storage section 787 of the abrasive particle collector and feeder 786 described above. Collection and feeder 78
The storage section 787 of No. 6 has a deflecting plate 791, an ejecting section 793, and an abrasive material feeding section 795.

The outlet 793 is connected by a flexible hose 798 to evacuation means, such as a vacuum pump, through a separator (not shown) for separating light contaminants from the air stream. Between the abrasive material feed port 795 and the supply section 788, the abrasive particles in the storage section 787 can be sent to the supply connection section 788 without venting the storage section 787 and the supply section 788. A known rotary valve 797 is arranged. The end of the V-supply section 788 opposite to the end to which the flexible hose 790 is connected has a gateway 799 that is open to the outside air. In the apparatus as described above, the vacuum region 716 is evacuated via the passageway 792, the portable hose 796, the receptacle 787 of the collector and feeder 786, and the vacuum region 716 is evacuated by evacuation means, not shown. A predetermined vacuum is created within, which causes the device to stick to the wall 704.

Once a vacuum is created within the reduced pressure region 716, outside air is drawn into the reduced pressure region 716 through an opening 799 in the feed section 788 of the collector and feeder 786, through the flexible hose 790, and the hollow shaft 772 of the projector 770. It gets sucked in. Due to this flow of suctioned outside air, the abrasive material particles sent from the storage section 787 of the collection and supply combiner 786 to the supply section 788 are sent to the impeller 774 through the flexible hose 790 and the hollow shaft 772. It will be done. The impeller 774 rotated by the motor 782 is
The particles sent there by the suction air flow are mechanically accelerated and projected onto the wall surface 704, thereby cleaning the wall surface 704. The sanding material particles projected onto the wall surface 704 are accompanied by the air flow exhausted from the reduced pressure region 716 without being dissipated to the outside from the reduced pressure region 716 together with contaminants such as rust and paint powder removed from the wall surface 704. and then through passageway 792 and steerable hose 796 into receptacle 787 of collection and supply V-dispenser 786 . Accommodation part 7
The abrasive particles that have entered the inside 87 collide with the deflector plate 791 and fall downward, where they are separated from the exhaust air and accumulated there.
Then, it passes through the rotary valve 797 to the technique table section 788.
sent to and reused. The exhaust stream containing contaminants such as rust and paint powder removed from the wall surface 704 and abrasive material unsuitable for reuse that has been broken by colliding with the wall surface 704 is further discharged from the collection section 787 to the outlet section 793 and the The contaminants removed from the wall 704 and the abrasive particles unsuitable for reuse are separated from the exhaust stream through a hose 798 to a separator (not shown). In the above-mentioned apparatus shown in FIG. 21, Sekiguchi 7
99, the outside air is sucked into the depressurized area 716 via the flexible hose 790 and the hollow rattan 772, so the depressurized area 716
evacuation means (not shown) to create a vacuum within the
It is necessary that the exhaust means be somewhat more capable than the exhaust means of the apparatus shown in FIG.

However, in the apparatus shown in FIG. 21, since the supply of abrasive particles to the impeller 774 of the projector 770 is accomplished by suction air flow without using gravity, the abrasive particles There is an advantage that the abrasive particles can be supplied satisfactorily without any restrictions on the supply direction, angle, etc. Note that in the apparatus shown in FIG. 21, the abrasive material collection and supply combiner 786 is separated from the device that adheres to the wall surface 704 and moves along it; however, if desired, the abrasive material collection and supply unit 786 The collection and supply device 786 is connected to the wall surface 704.
It can also be installed integrally with Hishitaka, which attaches to and moves along it.

In addition, in the apparatus shown in FIG. 21, a collecting and supplying V-supply device is constructed in which a part 787 for collecting and storing abrasive particles and a part 788 for supplying and combining abrasive particles are integrated. 786
However, both parts can be provided separately and independently. Although some specific examples of the present invention have been described above in detail with reference to the accompanying drawings, the present invention is not limited to these specific examples, and various modifications may be made without departing from the scope of the present invention. It is obvious that deformation and correction are possible without going into detail.

[Brief explanation of the drawing]

FIG. 1 is a front view of one embodiment of the apparatus according to the invention. 2 is a side view of the apparatus shown in FIG. 1; FIG. Figure 3 shows
FIG. 2 is a sectional view taken along the line m--socket in FIG. 1; FIG. 4 is an enlarged cross-sectional view of a part of FIG. 3. FIG. 5 and FIG. 6 are views similar to FIG. 4, respectively, showing modified examples of the connecting portion between the pressure receiving body and the partition wall. Figure 7, Figure 10, Figure 13, Figure 14,
and FIG. 16 are front views showing various modified embodiments of the device according to the invention, respectively. 8 is a side view, partially in cross section, taken along line XX in FIG. 7; FIG. Figure 9 shows the 7th
A cross-sectional view along the line x-phantom in the figure. FIG. 11 is a side view of the apparatus shown in FIG. 10. 12 and 15 are side views showing modified embodiments of the device according to the invention, respectively. 17th
The figure is a top view of the device illustrated in FIG. 16. Figure 18 shows
FIG. 4 is a simplified cross-sectional view of a variant embodiment of the bag box according to the invention, suitable when the walls are submerged; Figures 19 to 2
1 is a simplified sectional view of an embodiment of the apparatus according to the invention, each comprising means for projecting abrasive particles onto a wall surface; FIG. 2・
...Pressure receiving body, 4...Wall surface, 8a to 8d
...Wheel, 14...Partition wall, 14a.
...One end of the main part of the partition wall, 14b...
Main part of the partition wall, 14c...Free end of the main part of the partition wall, 14d...Extension part of the main part, 16...
. . . Decompression area, 24 . . . Vacuum play force. Figure 1 Multiple Figures 2 Figures Multiple 3 Tickets 4 Figures Multiple Figures 5 Figures Multiple Figures 6 Figure W Figures Most Figures Multiple Figures 2 Figures 'O Figures Multiple Figures 11 Figures Many' Izutai B Figures R ↓ Figures Hishige Figures 'etc. Many strokes, many 20 figures, 21 figures.

Claims (1)

[Scope of Claims] 1. A device capable of adhering to a wall surface and moving along the wall surface by surrounding fluid pressure; a pressure receiving body made of a rigid or semi-rigid material; and installed on the pressure receiving body. a plurality of wheels or endless tracks that are connected to the pressure receiving body and that are brought into contact with the wall surface; a main portion that extends outward from one end connected to the pressure receiving body and in the direction of the wall surface and whose free end is brought into contact with the wall surface; and a partition wall including an extension portion extending further outward from the free end of the main portion and in a direction away from the wall surface, the partition wall cooperating with the pressure receiving body and the wall surface or cooperating with the wall surface. a partition wall defining a substantially dense reduced pressure region; means for discharging fluid from the reduced pressure region to create a vacuum within the reduced pressure region; and a vacuum breaker for preventing the pressure from exceeding the value of fluid pressure acting on the partition wall itself due to a fluid pressure difference within and outside the reduced pressure area causes the free end to be substantially flush against the wall surface. The fluid pressure acting on the pressure receiving body due to the fluid pressure difference inside and outside the reduced pressure area is transmitted to the wall surface through the wheels or the endless track, thereby causing the device to contact the wall surface. A device characterized by being adapted to be adsorbed. 2. For driving the wheels or endless track,
2. The device according to claim 1, further comprising a driving means installed in the pressure receiving body. 3. The device according to claim 2, wherein a rigid frame member is connected to the outer surface of the pressure receiving body, and the wheels or endless track and the driving means are attached to the rigid frame member. 4. Any one of claims 1 to 3, wherein the means for creating a vacuum within the reduced pressure area is an exhaust means communicated with the reduced pressure area via a flexible hose.
The equipment described in section. 5. A surface coating with a high friction coefficient is provided on the surface of the wheel or endless track that comes into contact with the wall surface, and a surface coating with a low friction coefficient is provided on the surface of the free end of the main part of the partition wall that comes into contact with the wall surface. An apparatus according to any one of claims 1 to 4, wherein the apparatus is provided with: 6. The partition wall is connected to the pressure-receiving body via means formed of a flexible material and capable of being displaced toward and away from the wall surface with a relatively small force, and the means capable of displacement; 6. The apparatus according to claim 1, wherein the entire partition wall is displaced in the direction of and away from the wall surface by displacement of the partition wall. 7. The partition wall is connected to the pressure receiving body via a bellows-like means that can expand and contract in the direction of and away from the wall surface with a relatively small force, and the partition wall 6. A device according to any one of claims 1 to 5, wherein the entire partition wall is displaced towards and away from the wall surface. 8. The pressure-receiving body has a guide means extending from the pressure-receiving body toward the wall surface for guiding the partition wall when the entire partition wall is displaced toward and away from the wall surface. Apparatus according to scope 6 or 7. 9
The one end of the main part of the partition wall is directly connected to the pressure receiving body, and due to the flexibility of the main part of the partition wall itself,
Any one of claims 1 to 5, wherein the free end of the main part of the partition wall is displaceable in the direction of and away from the wall surface by a relatively small force. The device according to item 1. 10. Any one of claims 1 to 9, wherein a plurality of cuts are formed at intervals in the extension of the partition wall, thereby increasing the flexibility of the extension. The device according to item 1. 11. The device according to any one of claims 1 to 10, wherein a plurality of reinforcing members are provided at intervals in the main portion of the partition wall. 12. The pressure receiving body is divided into two or more parts that are hinged to each other, and each of the two or more divided parts of the pressure receiving body is pivotally connected to the frame member. An apparatus according to claim 3. 13. The pressure receiving body is divided into two or more mutually hinged parts, the frame member is also divided into two or more mutually hinged parts, and the frame member is also divided into two or more mutually hinged parts. 4. The device according to claim 3, wherein each of the divided parts of the pressure receiving body is connected to each part of the frame member, which is divided into two or more parts. 14 Each part of the pressure receiving body divided into two or more parts is connected to the frame member via a cylinder that is fixed to the frame member and whose expansion and contraction is controlled according to the shape of the wall surface. An apparatus according to claim 12 or 13. 15 The pressure receiving body and the partition wall are divided into two or more parts so as to define two or more separate and independent reduced pressure areas, and the pressure receiving body and the partition wall are divided into two or more parts, and 4. The apparatus of claim 3, wherein each portion of said pressure receiving body is pivotally connected to said frame member. 16 The pressure-receiving body and the partition wall are divided into two or more parts so as to define two or more separate and independent pressure-reducing areas, and the frame members are hingedly connected to each other. divided into two or more parts, and two
The device according to claim 3, wherein each part of the pressure receiving body divided into two or more parts is respectively connected to each part of the frame member divided into two or more parts. . 17 Each part of the pressure receiving body divided into two or more parts is connected to the frame member via a cylinder that is fixed to the frame member and whose expansion and contraction is controlled according to the shape of the wall surface. The device according to claim 15 or 16. 18. Claim No. 1, wherein each part of the pressure receiving body divided into two or more parts is provided with three or more casters for maintaining a constant distance between each part and the wall surface. The device according to item 14 or 17. 19. Claim 1, comprising means for draining liquid entering the reduced pressure area from the reduced pressure area when the device adsorbs to and moves along a wall surface below the liquid surface.
19. The device according to any one of items 1 to 18. 20 The pressure-receiving body is provided with means for projecting abrasive particles onto the wall within the reduced-pressure region, and a fluid flow through which the abrasive particles projected onto the wall are discharged from within the reduced-pressure region. 20. A device as claimed in any one of claims 1 to 19, adapted to be associated with and retrieved from the reduced pressure area. 21. The device according to claim 20, wherein the means for projecting the abrasive particles is a projector that mechanically projects the abrasive particles onto the wall surface. 22 further comprising an abrasive particle collection and supply device and a transfer tube interconnecting the collection and supply device and the reduced pressure region, the means for creating a vacuum in the reduced pressure region; is configured to exhaust the reduced pressure area through the collection and supply device and the transfer pipe, and the abrasive particles projected from the projector onto the wall surface cause gas to be exhausted from the reduced pressure area. Entrained flow from the vacuum region passes through the transfer tube into the collector and feeder where it is separated from the gas stream and transferred by gravity to the projector for reuse. 22. A device according to claim 21, adapted to be supplied with. 23 The reduced pressure region is in communication with the atmosphere via the projector and is subject to the action of a gas flow drawn into the reduced pressure region through the projector due to the vacuum created within the reduced pressure region. 22. The apparatus of claim 21, wherein abrasive particles are thus supplied to the projector.