JPS6028715B2 - 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 adhering to and moving along a wall surface surrounded by gas or liquid.

As disclosed in Japanese Patent Publication No. 47-42798, an apparatus for cleaning or painting the outer walls of ships, outer walls of high-rise buildings, etc. includes a pressure-receiving body and a pressure-receiving body. A plurality of wheels are attached to the pressure receiving body and brought into contact with the wall surface, one end of which is connected to the pressure receiving body and the end of the wheel is brought into contact with the wall surface, and cooperates with the pressure receiving body and the wall surface to define a depressurized space. A device has been proposed comprising an essentially breathable sealing member formed from a brush-like flexible material and a vacuum source for evacuating fluid from the vacuum space. In such a device, when a vacuum is generated in the reduced pressure space by discharging fluid from the reduced pressure space by the action of the reduced pressure source, the fluid pressure acting on the pressure receiving body due to the fluid pressure difference inside and outside the reduced pressure space is applied to the wheels. It is transmitted to the wall surface through the , and the device is thus attracted to the wall surface.

When the wheels are driven by an appropriate drive source such as an electric motor, the device can be moved along the wall surface. Therefore, the wall surface can be sequentially cleaned or painted using the attached appropriate working device. However, in the known device as described above, there are the following drawbacks that must be solved.

That is, because the sealing member defining the reduced pressure space is inherently breathable, a significant amount of fluid passes through the sealing member from outside during the evacuation of fluid from the reduced pressure space by the reduced pressure source. Enter the space. Therefore, a fairly high-capacity vacuum source is required to generate sufficient vacuum within the vacuum space to ensure that the device is attracted to the wall surface.
Therefore, in order to eliminate the above-mentioned drawbacks, the inventors of the present invention
We have proposed an improved device that can stick to and move along walls.

Such a device is disclosed in the specification and drawings of Japanese Utility Model Application Publication No. 52-97376, and the configuration of one specific example thereof is as shown in FIG. Referring to FIG. 1, the improved device includes a circular pressure receiving body 1, a frame 2 is attached to the pressure receiving body 1, and a wheel 3 is attached to the tip of the frame 2. Further, a funnel-shaped seal 4 extending outwardly opposite the wall surface 0' is attached to the peripheral edge of the pressure receiving body 1, and the seal 4 cooperates with the pressure receiving body 1 and the wall surface 0 to define a depressurized space 6. This reduced pressure space 6 is connected to a reduced pressure source such as a suction pump. The seal 4 is made of a substantially air-impermeable flexible material, and its tip, ie, the entrance end, is in flexible contact with the wall surface. In such a device,
Because the seal 4 is formed from a substantially non-breathable flexible material, fluids external to the vacuum space 6 are prevented from entering the vacuum space 6 through the seal 4, thus creating a relatively low capacity vacuum. A sufficient vacuum can be generated in the depressurized space 6 by the source, and the suction force to the wall of the device can be increased.

Due to the fluid pressure difference between the inside and outside of the decompression space 6, the seal 4 in the above-described device is required to have sufficient elasticity to overcome the fluid pressure difference.

That is, if the seal 4 does not have sufficient elasticity, the seal 4 will be pushed inward by the fluid pressure acting on the outer surface of the seal 4 due to the fluid pressure difference inside and outside the decompression space 6, as shown in FIG. The seal 4 is turned over to provide an airtight contact between the seal 4 and the wall surface 0, as shown in FIG. When such airtight contact is broken, as will be readily understood, fluid enters the vacuum space 6 from the outside through it, and the fluid pressure difference inside and outside the vacuum space 6 is substantially eliminated, thus causing the device to close to the wall 01. It becomes impossible to absorb this.
On the other hand, if the seal 4 has sufficient elasticity, even if the deformation is slight, as shown in FIG. presses this seal 4 against the wall surface, thus achieving an airtight contact between the seal 4 and the wall surface 0. but,
Even in the above device with a seal 4 having sufficient elasticity, the following drawbacks exist:

To explain with reference to FIGS. 5 to 7, if there is a protrusion 7 such as a welding bead on the surface of the wall surface 0, the tip of the seal 4 will come into contact with the protrusion 7 as the device moves. Become. When the seal 4 is unable to cross over the protrusion 7 and comes into contact with the protrusion 7, the seal 4 is deformed inward as shown in FIG. 6, and as the device moves, the seal 4 is further deformed. It turns over as shown in Figure 7. In this way, as described above, the airtight contact between the seal 4 and the wall 0 is broken, and the device is no longer able to suction the wall 01. In order to eliminate the above-mentioned drawbacks, the inventors have proposed a further improved device that can adhere to and move along a wall surface.

Such a device is disclosed in the specification and drawings of Japanese Utility Model Publication No. 57-56943, and its construction is schematically shown in FIG. In such a device, as can be easily understood by comparing FIG. 1 and FIG. A main part that extends outward in this direction and whose other end is brought into contact with the wall surface 0, and a bent part 4 that extends outward in a direction away from the wall surface 0 at the other end of the main part.
1. In the device equipped with the seal 4 improved as described above, since the bent portion 41 is present, even if there is a protrusion 7 on the surface of the wall surface 0, the bent portion is not formed, as shown in FIG. 41 allows the tip side of the seal 4 to easily pass over the protrusion 7, thus preventing the seal 4 from turning over as described above due to the presence of the protrusion 7. However, even in the above-mentioned device, especially when crossing the protrusion 7, the seal 4 is deformed due to the resistance, and its function over the protrusion is not fully satisfactory.

The present invention has been made in view of the above-mentioned facts, and its purpose is to eliminate the various drawbacks mentioned above and to provide a vacuum source with a relatively low capacity that is sufficient to ensure that an apparatus is attached to a wall surface in a vacuum space. To provide a further improved device capable of adhering to and moving along a wall surface, which is capable of generating a vacuum and can function satisfactorily even in the presence of protrusions such as welding beads on the wall surface. It is to be.

Hereinafter, a device constructed according to the present invention will be described in detail. First, a first specific example of the device according to the present invention will be described with reference to FIG. 9. The illustrated device includes a circular pressure receiving body 1, a frame 2 is attached to the outer surface of the pressure receiving body 1, A wheel 3 is attached to the tip of the frame 2.

An annular seal 4 is attached to the green part around the pressure receiving body 1, and the seal 4 cooperates with the pressure receiving body 1 and the wall surface 0 to define a depressurized space 6. Its construction, except for the seal 4, is substantially the same as the device shown in FIGS. 1 and 8 above. Next, the structure of the seal 4 will be explained. As shown in FIG. 9, the seal 4 extends from one end connected to the pressure receiving body toward the wall surface and outward, and the end portion of the seal 4 is brought into contact with the wall surface. It has a funnel-shaped main part and a new curved part 41 that extends outward in a direction away from the wall surface 0 following the other end of the main part.

In this specific example, the distal end side of the bent portion extends toward the frame 2, and the distal end portion is directly connected to the frame 2. This seal 4 is shown in Figures 1 and 8.
Like the seal of the illustrated device, it is formed from a substantially impermeable, flexible material, such as a rubber material. Therefore, the seal 4 in this specific example and the seal 4 of the device shown in FIG.
When compared with , the seal 4 in this specific example is the 8th
The difference is that the bent portion 41 of the seal 4 shown in the figure is further extended and attached to the frame 2, and the other configurations are substantially the same. The device of the first embodiment described above can be used in a gas or liquid, such as the atmosphere;
When a vacuum source (not shown) such as a suction pump is activated,
Fluid such as air in the reduced pressure space 6 is discharged, and the reduced pressure space 6
A vacuum is created within.

In this way, due to the fluid pressure difference inside and outside the decompression space 6,
External fluid pressure acts on the main parts of the pressure receiving body 1 and the seal 4. Thus, the fluid pressure acting on the pressure receiving body 1 is transmitted to the wall surface 0' via the frame 2 and the wheels 3, and thus the wheels 3 are brought into contact with the wall surface 0' with the required pressure, and the entire device including the pressure receiving body 1 is Wall surface 01 existing in gas or liquid
This is absorbed. Further, the fluid pressure acting on the main portion of the seal 4 acts to force this main portion in the direction toward the wall surface 0, and thus the other end of the main portion of the seal 4 is sufficiently airtight to the surface of the wall surface 0. be brought into contact. When the wheel 3 is rotated in such a state, the device can move along the wall surface 0 while adhering to it, and during such movement, the pressure receiving body 1 and the frame 2 are moved as shown in FIG. It is moved while maintaining a constant distance from the wall surface 0, as shown in FIG. In the first specific example as described above, since the tip side of the seal 4, specifically the tip of the bent portion 41, is attached to the frame 2 which moves while maintaining a constant distance from the wall surface 0, Even if there is a protrusion on the surface of the seal 4, the tip side of the seal 4 will be pulled by the frame 2, thereby reliably preventing the seal 4 from curling up as described above. This deformation can also be suppressed.

Next, with reference to FIG.
A specific example will be explained.

The second specific example differs from the first specific example only in the manner in which the seals 4 are connected, and the other configurations are substantially the same. In FIG. 10, the seal 4 attached to the illustrated pressure receiving body 1 has a funnel shape that extends from one end connected to the pressure receiving body 1 toward the wall surface 01 and outward, and the other end is brought into contact with the wall surface 01. and a bent part extending outward in a direction away from the wall surface 0 following the pond end of this main part, and in the second specific example, the tip of the bent part of this seal is It is connected to the frame 2 via a connecting member such as a chain 9 or piano wire. Such second
In the specific example, substantially the same effect as in the first specific example is achieved. Next, a third specific example of the apparatus according to the present invention will be described with reference to FIG.

The third specific example differs from the first specific example only in the structure of the seal, and the other structures are substantially the same. Referring to FIG. 11, the seal in the third specific example is composed of a hollow tube member 42, which is arranged in an annular shape around the periphery of the pressure receiving body 1. As shown in FIG. In a specific example, as shown in FIG. 11, a protrusion that protrudes inward is provided on the inner peripheral edge of the tube member 42, and this protrusion is connected to the pressure receiving body 1'. This tube member 42 is made of a substantially non-breathable flexible material such as a rubber material, similar to the seal 4 of the first embodiment, and a gas such as air is injected into the inside thereof. In the third specific example of such a configuration, the lower end of the outer peripheral surface of the tube member 42 is brought into contact with the wall surface, and when a vacuum is generated in the reduced pressure space 6 as described above, the fluid pressure inside and outside of the reduced pressure space 6 increases. Due to the difference, the fluid pressure acting on the portion of the outer circumferential surface of the tube member 42 that is outside the reduced pressure region 6 acts to force the tube member 42 in the direction away from the wall 0', thus causing the tube member 42 to The lower end of the outer peripheral surface of is brought into sufficiently airtight contact with the surface of wall surface 0. Also in the third specific example described above, since the seal is composed of the tube member 42 and air is injected into the tube member 42, even if there are protrusions on the surface of the wall surface 0, the inside will not be affected. The tube portion 42 is not deformed by the action of air and does not enter between the pressure receiving body 1 and the wall surface 0, and substantially the same effect as in the first example is achieved. Next, a fourth specific example of the apparatus according to the present invention will be described with reference to FIG.

The seventh specific example differs from the first specific example only in the structure of the seal, and the other structures are substantially the same as in Oka. Referring to FIG. 12, the illustrated seal includes an inner seal 4 attached to the pressure receiving body 1, and an outer seal 43 surrounding the inner seal 4 and disposed on the outside thereof, and attached to the frame 2. I'm here. The inner seal 4 is funnel-shaped and extends from one end connected to the pressure receiving body 1 toward the wall surface 01 and outward. This inner seal 4, like the seal 4 of the first embodiment, is formed from a substantially air-impermeable, flexible material, such as a rubber material. Further, the outer seal 43 has an inverted funnel shape, and extends inward from one end connected to a portion of the frame 2 that is located outside the connection portion of the inner seal 4 to the pressure receiving body 1. It is extending. This outer seal 43 is formed from a flexible material such as a rubber material. In a seal having such a configuration, the first
As can be understood from FIG. 2, the inner seal 4 cooperates with the pressure receiving body 1 and the wall surface 0 to define a depressurized space 6, and the other end of the inner seal 4 is overlapped on the reservoir end of the outer seal 43. The other end of the outer seal 43 is brought into contact with the wall surface 01. In the seventh specific example, when a vacuum is generated in the reduced pressure space 6 as described above, the fluid pressure acting on the outer surface of the inner seal 4 due to the fluid pressure difference inside and outside the reduced pressure space 6 is It acts to force the seal 4 in the direction toward the wall 0, and thus the pond end of the inner seal 4 is pressed against the surface of the wall 0 via the other end of the outer seal 43 in a sufficiently airtight manner.

Also in the fourth specific example described above, since an inverted funnel-shaped outer seal 43 is provided in addition to the inner seal 4 that defines the depressurized space 6, the outer seal 43 exists on the surface of the wall surface 0 due to the action of the outer seal 43. The protrusion can be easily crossed over, and substantially the same effect as in the first example is achieved.
In addition, in each of the above-mentioned specific examples, only two wheels 3 are shown in the drawings, but it is necessary to install three or more wheels in an actual device.

As described above, in the apparatus of the present invention, as in the apparatuses shown in FIGS. 1 and 8, sufficient vacuum can be generated in the reduced pressure space using a relatively low-capacity reduced pressure source, and the wall surface Even if there are protrusions on the surface, the sealing function will not be destroyed and a sufficiently good suction and movement function will be achieved.

[Brief explanation of the drawing]

FIG. 1 is a simplified cross-sectional view of an example of a conventional device. 2 and 3 are cross-sectional views for explaining the disadvantages that occur when a material that does not have sufficient elasticity is used for the seal of the device shown in FIG. 1, respectively. FIG. 4 is a sectional view for explaining the effect of the seal in the device shown in FIG. 1 when a material having sufficient elasticity is used for the seal. 5 to 7 are diagrams for explaining the problems that occur when the seal of the device shown in FIG. 1 comes into contact with a protrusion on a wall surface, respectively. 8th
The figure is a simplified cross-sectional view of another example of a conventional device. FIG. 9 is a simplified cross-sectional view of a first specific example of the device according to the invention. FIG. 10 is a simplified cross-sectional view of a second specific example of the device according to the invention. FIG. 11 is a simplified cross-sectional view of a third specific example of the device according to the invention. 12th
The figure is a simplified cross-sectional view of a fourth specific example of the device according to the invention. 1...Pressure receiving body, 3...Wheel, 4...Seal, 6...Decompression space, 9
...Chain (connection village), 41...
Bend part, 42...Tube member, 43...
...Outer seal o Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 12 Figure 10 Figure 11

Claims (1)

[Scope of Claims] 1. A pressure receiving body, a plurality of wheels attached to the pressure receiving body and brought into contact with a wall surface, and a plurality of wheels connected to the pressure receiving body and cooperating with the pressure receiving body and the wall surface to define a depressurized space. with a sticker that
and a vacuum source for discharging fluid from the vacuum space, the device adhering to and movable along a wall; the seal being formed from a substantially impermeable flexible material; A main part that extends outward from one end connected to the pressure receiving body toward the wall surface and has the other end in contact with the wall surface, and a main part that extends in a direction away from the wall surface following the other end of the main part. and an outwardly extending bent portion, the bent portion being connected to the pressure receiving body. 2. The device according to claim 1, wherein the tip end side of the bent portion of the seal extends toward the pressure receiving body, and the tip end of the bent portion is directly connected to the pressure receiving body. . 3. The device according to claim 1, wherein the tip of the bent portion of the seal is connected to the pressure receiving body via a connecting member. 4. A pressure receiving body, a plurality of wheels attached to the pressure receiving body and brought into contact with a wall surface, and a seal connected to the pressure receiving body and defining a depressurized space in cooperation with the pressure receiving body and the wall surface;
a vacuum source for discharging fluid from the vacuum space; in an apparatus capable of adhering to and movable along a wall; the seal comprising a tube member formed from a substantially non-porous flexible material; 1. A device comprising: a gas injected into the tube member; and a portion of the outer peripheral surface of the tube member being brought into contact with the wall surface. 5. A pressure receiving body, a plurality of wheels attached to the pressure receiving body and brought into contact with a wall surface, and a seal connected to the pressure receiving body and defining a depressurized space in cooperation with the pressure receiving body and the wall surface;
and a vacuum source for discharging fluid from the vacuum space, the device adhering to and movable along a wall; the seal being formed from a substantially impermeable flexible material; an inner seal extending outward toward the wall surface from one end connected to the pressure receiving body; and one end formed of a flexible material and connected to a portion of the pressure receiving body outside of the connecting portion of the inner seal. an outer seal extending inwardly toward the wall, the other end of the outer seal being in contact with the wall, and the other end of the inner seal being on the other end of the outer seal. A device characterized in that the device is polymerized.