JPS6363429B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method of manufacturing an adsorption element for a robot that adsorbs a wall surface, and more specifically, provides a strong adsorption force to a robot that adsorbs a wall surface, regardless of the roughness or unevenness of the wall surface. The present invention relates to a method of manufacturing an adsorption element made of a woven fabric laminate that can be used as a woven fabric.

(b) Prior art Inspection of tanks, storage pools, and lining tanks in radioactive waste treatment facilities and reprocessing facilities at nuclear power plants, inspection, cleaning, repainting, etc. of internal and external walls of various tanks at oil plants. Wall suction robots are used to carry out these tasks. These wall suction traveling robots are equipped with rubber suction elements such as suction butts or suction skirts in order to suction the main body of the robot to the wall surface or floor surface on which it travels.

However, with such conventional adsorption elements, it is difficult to bring the adsorption surface into close contact with the running surface when the wall or floor surface is not sufficiently smooth, or when the wall or floor surface is uneven. Therefore, it is not possible to provide the main body of the robot with a practically sufficient running support force. As a result, the running stability of the wall suction traveling robot is impaired, and the safety and efficiency of the work performed by the robot are reduced.

(b) Object of the Invention The main object of the present invention is to provide an adsorption element made of a woven fabric laminate that can solve the above-mentioned problems observed in conventional wall adsorption traveling robots, especially the adsorption elements thereof. It is about providing.

(C) Structure of the Invention The present invention consists of laminating a predetermined number of woven fabrics F' each having a lug 1 at one end and a brush-like free end 3 formed only by wefts 2 at the other end. After that, an adsorption element 6 for the wall suction traveling robot 5 is used to fix the ear-shaped portion 1 and to form an elastic crimping portion on the other end surface of the woven fabric laminate F to the wall surface 4 consisting of the free end 3 of the weft yarn 2. The gist is the manufacturing method.

(d) Embodiment FIG. 1 is a partially cutaway side view of a wall suction traveling robot 5 in which a suction element 6 manufactured by the method of the present invention is mounted on a suction cup 7, and FIG.
FIG. 2 is an explanatory diagram of the manufacturing process. In these drawings, the wall suction traveling robot 5 has a suction cup 7 attached to the main body of the robot, and a suction cup 7 with an opening formed on the wall surface 4 side has a suction cup 7 on the lower end surface. is equipped with an adsorption element 6 which functions as an air-blocking member having high wear resistance and elasticity and is made of a woven fabric laminate F over its entire circumference. The adsorption element 6 that functions as the air blocking member is made of polyimide fiber,
Fibers having elasticity and abrasion resistance such as carbon fibers and glass fibers are woven, and the warp threads are extracted over the entire width of the woven fabric except for the selvedge 1. Thereafter, a predetermined number of sheets are laminated to form the selvedge. It is manufactured by fixing the part 1 with a bonding material such as a thermosetting resin.

The material for forming the adsorption element 6 according to the present invention is, for example, as shown in FIG. It is manufactured by cutting the woven fabric F' at the center of the ear 1 parallel to the longitudinal direction of the ear 1. A predetermined number of materials for the adsorption element thus obtained are laminated with the ear-like parts 1 in close contact with each other, and the ear-like parts 1 are immersed in a thermosetting resin such as an epoxy resin to coat the resin. The adsorption element 6 is formed by impregnation and then drying. In the embodiment shown in Figure 2a, ears 1 are provided at both ends of the woven fabric F'.
However, as a different embodiment, as shown in FIG. Fabric F′ is produced, and the ear-shaped portion 1 is
A suction element similar to that shown in FIG. 2a can also be manufactured by cutting off several warp yarns 8 disposed at opposite ends of the suction element. In these embodiments, the warp yarns 8 are pulled out except for the ear-shaped portion 1, so in order to reduce the manufacturing cost of the adsorption element 6, the warp yarns are arranged except for the ear-shaped portion 1 during weaving. It is preferable to omit the installation or to adjust the weave structure so that the number of installations is the minimum required for weaving. In a different embodiment of the invention, the warp threads 8 may be removed after the step of impregnating the ears 1 with resin is completed. In this way, the adsorption element 6 has the free end 3 formed by the elastically deformable weft yarn 2 formed at the part elastically crimped to the wall surface 4.
can be manufactured.

When attached to the lower end surface of the suction cup 7, the suction element 6 functions as a member to prevent outside air from entering into the space surrounded by the suction cup, and prevents negative pressure suction acting on the wall suction traveling robot 5. The force is maintained at a predetermined level, and in order to achieve this purpose, it is desirable to appropriately design the filament density and laminated thickness of the woven fabric laminate that constitutes the adsorption element 6. According to the experiments of the present inventor, it was found that the lamination density was increased as much as possible by the ordinary method of laminating woven fabrics, and the lamination thickness of the woven fabric F' mainly composed of the weft 2 was increased. By adjusting the distance to 10 mm or more, more preferably 20 mm or more, the negative pressure suction force can be maintained at a good level.

(E) Effects of the Invention As is clear from the above description, the adsorption element 6 according to the present invention has the ability to make one end of the woven fabric laminate F substantially formed from the weft 2 follow the unevenness of the wall surface or the floor surface 4. Since the free end has improved elasticity, it eliminates the drop in negative pressure suction force caused by the lack of ability to follow irregularities on walls or floors, which has been a problem with known adsorption elements. It can be effectively prevented. Therefore, the present invention can exhibit remarkable effects in ensuring running stability and operational safety of the wall suction traveling robot.

[Brief explanation of drawings]

FIG. 1 is a partially cutaway side view of a wall suction traveling robot having an adsorption element manufactured by the method of the present invention, and FIG. 2 is an explanatory view of the manufacturing process of the adsorption element. DESCRIPTION OF SYMBOLS 1... ears, 2... weft, 3... free end of weft, F'... woven fabric, F... woven fabric laminate, 4...
Wall surface, 5... Wall adsorption traveling robot, 6... Adsorption element.

Claims (1)

[Claims] 1. After laminating a predetermined number of woven fabrics having an ear-like part at one end and a brush-like free end formed only by weft yarns at the other end, the said ear-like part is fixed, and the woven cloth is laminated. 1. A method of manufacturing an adsorption element for a wall adsorption traveling robot, which comprises forming an elastic crimping part on the other end surface of the body, which is made of a free end of a weft yarn and is pressed onto a wall surface.