JP3175052B2 - Device that can move along the surface - Google Patents

Description

[Technical field] The present invention relates to a method for cleaning inner and outer wall surfaces, floor surfaces or glass surfaces of a building, or a surface such as an inner surface of an air conditioning duct or water pipe, etc. It relates to a mobile device.

[Prior Art] Japanese Patent Publication No. 60-26752 (U.S. Pat. No. 4,095,378 and drawings) discloses a method of cleaning a surface such as an inner and outer wall surface of a building by adsorbing a vacuum on the surface and cleaning the surface along the surface. An apparatus for moving is disclosed. The apparatus comprises a rigid or semi-rigid pressure receiving body, a sealing member for defining a reduced pressure space in cooperation with a body mounted on the main body and a surface to be adsorbed, and a pressure reducing means for reducing the pressure in the reduced pressure space. ing. By depressurizing the decompression space by the decompression means, the pressure receiving main body is vacuum-adsorbed to the surface. In the pressure receiving body,
Further, a traveling mechanism including a plurality of wheels brought into contact with the surface and a drive motor for rotating the wheels is mounted. Further, the pressure receiving main body is also equipped with a working mechanism such as a polishing material spraying means for spraying the cleaning material onto the surface.

[Problems of the prior art]

Thus, the above-described conventional apparatus has the following problems to be solved. It is necessary to dispose a traveling mechanism including an electric motor and a transmission means together with a plurality of wheels, which makes the device relatively large and expensive. Therefore, it is difficult to sufficiently reduce the size of the device, and it is difficult to achieve a device suitable for cleaning the inner surface by entering into an air conditioning duct or water pipe having a small cross-sectional area. Even in the case of a duct or pipe with a relatively large cross-sectional area, in the case of a so-called elbow part with a small curvature, all wheels cannot contact the surface as required,
It is often the case that the surface is separated from some wheels, which makes it impossible to move the device. In addition, it is necessary to provide a working means such as a cleaning material spraying means for cleaning the surface and the like, and such a working means makes the apparatus larger and more expensive. Furthermore, in the case where a ridge such as a glass frame extends on the surface, the conventional device is substantially impossible to move across the ridge.

[Solution of the Invention]

The present invention has been made in view of the above facts, and its main technical problem is that it can be reduced in size and can be manufactured at low cost as compared with conventional devices, and can be moved along a surface. It is to provide a new and improved device.

Another technical solution of the present invention is a surface, which can be penetrated into a duct or pipe with a small cross-section and which can also move as required along the surface even in an elbow part with a small curvature. To provide a new and improved device that can be moved along.

Another technical problem to be solved by the present invention is that a small and inexpensive movable along the surface can perform cleaning work on the surface without the need of providing special working means such as abrasive material spraying means. It is to provide a new and improved device.

Yet another technical problem of the present invention is to provide a new and improved device that can move along a surface, which can move across the ridge even if the ridge extends on the surface. To provide.

[Solution of the Invention]

In order to achieve the above technical solution, according to the present invention, at least two mobile units are connected to each other via a connecting means which can be extended and contracted, and each of the mobile units has a respective one of the mobile units. State setting means is provided for selectively setting a movable state along the surface and a locked state to be locked to the surface.
Each of the mobile units includes a rigid or semi-rigid body.

In one aspect of the present invention, a locking member is attached to the main body of the moving unit, and the state setting means is constituted by traveling means selectively positioned at a protruding position and a retracted position, and the traveling means is protruded. When the traveling means comes into contact with the surface and the locking member is separated from the surface, the movable state is set. When the traveling means is located at the retracted position, the traveling means is separated from the surface and the locking member is placed on the surface. , So that the locking state is set. By attaching the traveling means to the main body via the cylinder mechanism and expanding and contracting the cylinder mechanism, the traveling means can be selectively positioned between the protruding position and the retracted position.

In another aspect of the present invention, a braking means for selectively applying a braking action to the traveling means brought into contact with the surface is provided, and the movable state is set when no braking action is applied to the traveling means. The locking state is set when the braking action is added to the means.

In still another aspect of the present invention, each body of the mobile unit is connected to the connecting means via the selective separating means,
In a state in which one of the mobile units is positioned at the operation position where a part of the mobile unit is brought into contact with the surface by the selective separation means for one of the mobile units, the other of the mobile units is entirely removed by the selective separation means of the other mobile unit. Is configured to be able to be separated from the surface. The selective separating means can also be constituted by a cylinder mechanism.

[Function of the invention]

In the device of the present invention, when one unit is set to a movable state and the other unit is set to a locked state to extend or contract the connecting means, one unit is moved along the surface, and accordingly, 2 units are moved. The device can be moved along the surface by alternately reversing the movable and locked states of the individual units and extending or contracting the coupling means as appropriate. There is no need to provide a traveling mechanism including an electric motor and transmission means, and the device can be made sufficiently small and inexpensive.

When one of the units is set to the movable state and moved along the surface, if the specific part of the seal member attached to the unit body is kept in contact with the surface as required, the specific part of the seal member will be The surface is cleaned by being moved relative to the surface in contact with the surface.

When one of the units is moved along the surface, if the unit is separated from the surface by the selective separation means, the unit is moved across a ridge such as a glass frame extending on the surface. be able to.

(Preferred specific examples)

A more detailed description is given below with reference to the accompanying drawings, which illustrate preferred embodiments of the apparatus constructed in accordance with the present invention.

Referring to FIGS. 1 and 2, the illustrated apparatus constructed in accordance with the present invention comprises two mobile units 2A and 2B.

Referring to FIGS. 3 and 4 together with FIGS. 1 and 2, the moving unit 2A may be formed from a rigid or semi-rigid material such as a metal plate such as a steel plate or an appropriate synthetic resin. Includes a body 4 that can be made. The main body 4 has a hollow rectangular parallelepiped shape as a whole, and has a rectangular upper wall 6, four side walls 8, 10, 12 extending downward from four side edges of the top wall 6, and
14 and a bottom wall 16. A circular opening 18 is formed at the center of the lower surface wall 16, and a cylindrical hanging wall 20 extending downward therefrom is fixed to the circular opening 18.

Referring to FIGS. 1 to 4, and particularly to FIG. 3, the moving unit 2A is formed from a synthetic rubber such as polyurethane which is relatively flexible and has a relatively large coefficient of friction. Includes a convenient member 22. The member 22 has a cylindrical base 24 and a seal 26 extending radially outward from the outer peripheral surface of the cylindrical base 24. The seal portion 26 has a truncated cone-shaped portion 28 inclined downward and extending radially outward and an inverted truncated cone-shaped portion 30 inclined upward from the truncated cone shape and extending radially outward. Member 22
The upper half of the cylindrical base 24 is fitted on the outer peripheral surface of the cylindrical hanging wall 20 of the main body 4 and fastened to the cylindrical hanging wall 20 by a well-known metal fastening band 32 wound around the outer circumferential surface. ing. The lower end of the cylindrical base 22 of the member 22 constitutes a locking member which is selectively brought into contact with the surface 34 to be cleaned, as will be mentioned later. A plurality of communication grooves 36 are formed at the lower end of the cylindrical base 22 at intervals in the circumferential direction. Each of the communication grooves 36 extends through the lower end of the cylindrical base 22 in the radial direction. The sealing portion 26 of the member 22 forms a sealing member that defines a reduced pressure space 38 in cooperation with the main body 4 and the surface 34 to be cleaned. In the embodiment shown, the boundary of the frusto-conical portion 28 of the seal 26 with the inverted frusto-conical portion 30 closely contacts the surface 34 to define a substantially closed vacuum space 38. The inverted frusto-conical portion 30 of the seal member 26 is gradually separated from the surface 34 toward the outside in the radial direction, and is used for sealing when small protrusions exist on the surface 34 or foreign matter adheres to the surface 34. The portion 26 functions as a guide means when getting over such a small protrusion or foreign matter. If desired, a plurality of circumferentially spaced communication grooves may be formed at the boundary between the frusto-conical portion 28 and the inverted frusto-conical portion 30 that contact the surface 34. When such a communication groove is formed, dust or the like removed from the surface by being attached to a fluid (for example, air) which normally enters the decompression space 38 from the outside through the groove is introduced into the decompression space 38, and thus dust and the like are removed. It is prevented from flying around (in this case, the decompression space
Depressurized space through communication groove to maintain 38 in a decompressed state
It is necessary to aspirate excess fluid from the vacuum space 38 over fluid entering the interior of the vacuum 38).

Referring to FIG. 1 to FIG. 3, the main body 4 of the moving unit 2A has a communication opening 40 formed in the upper wall 6 to the side wall 8 thereof. 42 is fixed. The communication pipe 42 is connected to a reduced pressure source 44 through a suitable connection means (not shown) such as a flexible hose.
(FIG. 2). A decompression source 44, which can be constituted by a vacuum pump or an ejector, sucks a fluid such as air from between the decompression spaces 38 to decompress the interior of the decompression space 38.

The main body 4 of the moving unit 2A is further provided with a pneumatic cylinder mechanism 46 (not shown, but the cylinder mechanism 46 is connected to a source of pressurized air via an appropriate pneumatic circuit). As clearly shown in FIG. 3, the cylinder 48 of the cylinder mechanism 46 is fixed to the upper surface of the upper wall 6 of the main body 4. The rod 50 of the cylinder mechanism 46 penetrates through the upper surface wall 6 and protrudes into the decompression space 38. The cylinder mechanism 46 is preferably a non-rotating rod type in which the rod 50 has a hexagonal cross section or the like, and the rod 50 is prevented from rotating relative to the cylinder 48. Rod projecting into the decompression space 38
A running means 52 is attached to the tip of the 50. The running means 52 includes a support member 54 fixed to the distal end of the rod 50. Three wheels 60, 62 and 64 are rotatably mounted on the support member 54 via shafts 56 and 58. ing. The cylinder mechanism 46 and the traveling means 52 mounted on the rod 50 of the cylinder mechanism 46 constitute state setting means for selectively setting the moving unit 2A between the movable state and the locked state (the operation of this state setting means). Will be mentioned later).

The configuration of the other moving unit 2B shown in FIGS. 1 and 2 is substantially the same as the moving unit 2A. However,
In the embodiment shown, the connecting pipe 42 of the moving unit 2B is extended substantially horizontally to the right in FIG. 2 for the sake of connection of connecting means (not shown) such as a flexible hose. On the other hand, the communication pipe 42 of the moving unit 2A is inclined upward and extends rightward in FIG.

Continuing the description with reference to FIGS. 1 and 2, the two mobile units 2A and 2B are mutually connected by a connecting means indicated by reference numeral 66 as a whole. The connecting means 66 in the specific example shown in FIG. 1 comprises a pair of pneumatic cylinder mechanisms 68 and 70 which are vertically arranged in parallel in FIG.
68 and 70 are also connected to a source of pressurized air via a suitable pneumatic circuit). Cylinder 80 of cylinder mechanism 68 and 70 and
82 is a side wall 10 and 12 on the main body 4 of the mobile unit 2B, respectively.
And the rods 84 and 86 of the cylinder mechanisms 68 and 70 are connected to the side walls 10 and 12 of the main body 4 of the moving unit 2A, respectively. Cylinder mechanisms 68 and 70 and moving unit 2A
And 2B are preferably connected to the main body 4 via a universal joint that allows relative tilting in any direction, and in the illustrated embodiment, connection mechanisms 72, 74, 76 and 78 including ball joints. Connected through. More specifically, the cylinder 80 of the cylinder mechanism 68 is fixed to one end of the connection mechanism 72,
The other end of the connection mechanism 72 is connected to the main body 4 of the mobile unit 2B.
The rod 84 of the cylinder mechanism 68 is fixed to one end of a connection mechanism 74, and the other end of the connection mechanism 74 is fixed to the side wall 10 of the main body 4 of the moving unit 2A.
The cylinder 82 of the cylinder mechanism 70 is fixed to one end of the connection mechanism 76, the other end of the connection mechanism 76 is fixed to the side wall 12 of the main body 4 in the moving unit 2B, and the rod 86 of the cylinder mechanism 70 is connected to the connection mechanism 78. This connection mechanism 78 is fixed to one end.
Is fixed to the side wall 12 of the main body 4 in the mobile unit 2A.

Next, the operation of the above-described device will be described with reference to FIGS. At the start of the operation of the apparatus, the pair of cylinder mechanisms 68 and 70 constituting the connecting means 66 are in a contracted state (the state actually shown in FIGS. 1 and 2). Further, the cylinder mechanism 46 provided in each of the moving units 2A and 2B is also in a contracted state (2 in FIG. 3).
(A state shown by a dotted chain line). In such a state,
44 is energized, and the decompression space 38 in each of the mobile units 2A and 2B is depressurized. As shown by a two-dot chain line in FIG. 3, when the cylinder mechanism 46 constituting the state setting means in the moving units 2A and 2B is contracted, the wheels 6
With 0, 62 and 64 retracted, the locking member (i.e., the lower end of the cylindrical base 24 of member 22) is brought into contact with surface 34 and wheels 60, 62 and 64 are spaced from surface 34. I have. Accordingly, the fluid pressure acting on the main body 4 due to the pressure difference between the inside and outside of the depressurized space 34 is transmitted to the surface 34 via the locking member, and the locking member is pressed against the surface 34. Since the seal member (ie, seal portion 26 of member 22) can be easily moved in a direction relatively close to and away from surface 34,
The seal member itself is caused by the pressure difference between the inside and outside of the decompression space 38 (more specifically, the frusto-conical portion 28 of the seal portion 26)
(In the state in which the lower end of the cylindrical base 24 of the member 22 is pressed against the surface 34, the communication groove 36 formed in the lower end of the cylindrical base 22). The inside and outside of the cylindrical base 22 are communicated with each other, and the space surrounded by the seal portion 26 is also reduced in pressure.) Thus, when the locking member (ie, the lower end of the cylindrical base 24 of the member 22) is pressed against the surface 34, the relative movement between the locking member and the surface 34 will be easily understood as shown in FIG. The moving units 2A and 2B are in a locked state where they cannot be easily moved along the surface 34, being resisted by the considerable frictional forces acting. Then the mobile unit
Only the cylinder mechanism 46 at 2A is extended to the state shown by the solid line in FIG. Thus, the wheels 60, 62 and 64 project beyond the cylindrical base 24 of the member 22 and the locking member (i.e., the lower end of the cylindrical base 24 of the member 22) is separated from the surface 34 and the wheel 60 , 62 and 64 are surface 34
Contact. The seal member (ie, seal portion 26 of member 22) remains in close contact with surface 34 due to the fluid pressure acting on itself. The locking member is separated from the surface 34 and the wheel 6
In a state where 0, 62 and 64 are brought into contact with the surface 34, the moving unit 2A is set to a movable state where it can move along the surface 34 easily enough by the rotation of the wheels 60, 62 and 64. You. Thus, when one of the moving units 2A is set to the movable state and the other moving unit 2B is set to the locked state, and the pair of cylinder mechanisms 68 and 70 constituting the connecting means 66 are extended, the moving unit 2B becomes It remains stationary without being moved relative to surface 34,
As shown by a two-dot chain line in FIG.
In response to the extension of 70, the moving unit 2A is moved to the left in FIG. During such movement of the moving unit 2A, a part of the sealing member 26 of the member 22, that is,
The interface between 28 and inverted frustoconical portion 30 is kept in close contact with surface 34, so that a particular portion of seal 26 applies a rubbing action to surface 34 to clean surface 34. Set the moving unit 2B to the locked state and set the moving unit
When the pair of cylinder mechanisms 68 and 70 are contracted while maintaining the state in which the movable unit 2A is set to the movable state, the moving unit 2A
It is returned to the original position shown by the solid line in the figure. Therefore, if necessary, the moving unit 2A can be repeatedly moved between the position indicated by the solid line and the position indicated by the two-dot chain line in FIG. it can.

Next, in a state where the moving unit 2A is moved to the position shown by the two-dot chain line in FIG. 1, the cylinder mechanism 46 in the moving unit 2B is extended to the state shown by the solid line in FIG. The cylinder mechanism 46 is contracted to the state shown by the two-dot chain line in FIG. Thus, contrary to the above-described case, moving unit 2B is set to a movable state, and moving unit 2A is set to a locked state. In this state, when the pair of cylinder mechanisms 68 and 70 constituting the connecting means 66 are contracted, the moving unit 2A is stopped at the position shown by the two-dot chain line in FIG. 1, but the moving unit 2B is moved to the position shown in FIG. It is moved to the position shown by the dashed line. During such movement of the moving unit 2B, a part of the seal portion 26 of the member 22, that is, a boundary portion between the truncated cone-shaped portion 28 and the inverted truncated cone-shaped portion 30 is maintained in a state of being closely contacted with the surface 34. Accordingly, the surface 34 is cleaned by applying a rubbing action to the surface 34 by a specific portion of the seal portion 26. Set the mobile unit 2A to the locked state and set the mobile unit 2B
When the pair of cylinder mechanisms 68 and 70 are extended while maintaining the movable state of the movable unit 2B, the movable unit 2B is returned to the original position shown in FIG. Accordingly, if necessary, the moving unit 2B can be repeatedly moved between the position shown by the solid line and the position shown by the two-dot chain line in FIG. 1 a plurality of times, and thus the required cleaning work can be repeatedly added to the specific area of the surface. . In a state where the moving unit 2B is moved to the position shown by the two-dot chain line in FIG. 1, the moving unit 2A is set to the movable state again, and the moving unit 2B is set to the locked state, so that the pair of the connecting means 66 is formed. Cylinder mechanisms 68 and 70
Is extended, the moving unit 2A is further moved right and left from the position shown by the two-dot chain line in FIG. By sequentially moving the moving units 2A and 2B in this way, the entire apparatus can be moved as required, and the surface 34 can be sequentially cleaned during such movement. Member 22
In order to make the cleaning operation performed by rubbing the surface 34 with the seal portion 26 more effective, a large number of abrasive grains are embedded in a required portion of the seal member 26 or a polishing cloth is applied, if desired. You can wear it.

In order to rotate the device in a required direction instead of straight, instead of simultaneously expanding or contracting the pair of cylinder mechanisms 68 and 70 constituting the connecting means 66, one of them may be expanded or contracted. For example, a mobile unit
When 2A is set to a movable state, the moving unit 2B is set to a locked state, and only one cylinder mechanism 68 is extended,
As shown by the solid line in the figure, the moving unit 2A is moved in a direction inclined upward to the left. Conversely, when only the other cylinder mechanism 70 is extended, the moving unit 2A is moved in the direction inclined downward to the left as shown by the two-dot chain line in FIG.

In the above-described position, the pair of cylinder mechanisms 68 and 70 constituting the connection means 66 are connected to the connection mechanisms 72 and 7 including ball joints.
It is connected to the main body 4 of the mobile units 2A and 2B via 4, 76 and 78. Accordingly, each of the moving units 2A and 2B can be tilted in any direction with respect to the other without being restrained by the other, so that even if the surface 34 is a curved surface having a relatively small curvature, Each of the units 2A and 2B is appropriately tilted according to the curved state of the surface
, And can move along the surface 34.

6 to 8 show modifications of the traveling means.

In the modification shown in FIG.
A case 90 of a known ball caster 88 is fixed to the tip of the rod 50. In a state where the cylinder mechanism 46 is extended, a rotatable ball 92 projected downward from the case 90 contacts the surface 34,
Thus, the mobile unit 2A is set in a movable state.
When the cylinder mechanism 46 is contracted, the ball 92 of the ball caster 88 is separated upward from the surface 34, and the locking member (that is, the lower end of the cylindrical base 24 of the member 22) is pressed against the surface 34, thus moving. Unit 2A is set to the locked state.

In the modification shown in FIG.
A sliding member 94 is fixed to the tip of the rod 50. The lower half portion of the sliding member 94 is shaped like an inverted truncated cone. At least the lower half of the sliding member 94 is formed of a material having a low coefficient of friction such as an acetal resin impregnated with a lubricant, and the sliding member 94 smoothly slides on the surface 34 to function as a so-called warp. is important. When the cylinder mechanism 46 is extended, the sliding member 94
Is in contact with the surface 34, and thus the moving unit 2A is set in a movable state. When the cylinder mechanism 46 is contracted,
The sliding member 94 is spaced upward from the surface 34, and the locking member (ie, the lower end of the cylindrical base 24 of the member 22) is pressed against the surface 34, thus setting the moving unit 2A to the locked state.

In the modification shown in FIG.
A high-pressure fluid cushion means 96 known per se is fixed to the tip of the rod 50. This cushion means
96 has a main part 98 fixed to the distal end of the rod 50. An annular seal 10 protruding downwardly at the periphery of the circular lower surface of the main part 98
0 is provided. In the illustrated state, in which the cylinder mechanism 46 is extended, the annular seal 100 is
And cooperates with the main portion 98 and the surface 34 to define a substantially closed pressurized space 102. The main part 98 is formed with a flow path 104 opened on the lower surface thereof, and this flow path 104
It is connected to a source of pressurized fluid 108 via 106. The pressurized fluid supplied from the pressurized fluid source 108 is discharged into the pressurized space 102, thus creating a high-pressure fluid cushion in the pressurized space 102, and the moving unit 2A is maintained in a floating state. Therefore, the moving unit 2A is set to a movable state where it can easily move along the surface. When the cylinder mechanism 46 is contracted and the supply of the pressurized fluid is stopped, the seal 100 of the cushion means 96 is separated from the surface 34, and the locking member (the lower end of the cylindrical base 24 of the member 22) is pressed against the surface. Thus, the moving unit 2A is set to the locked state. When the high-pressure fluid cushion means 96 is provided as the traveling means, the moving unit 2A can be set to the locked state by simply stopping the supply of the pressurized fluid without contracting the cylinder mechanism 46. Can be. When the supply of the pressurized fluid is stopped, the high-pressure cushion in the pressurized space 102 disappears, and the lower surface of the main part 98 is brought into linear contact with the surface 34, so that the moving unit 2A moves along the surface 34. And the locking state is set. Therefore, when using the high-pressure fluid cushion means 96, the high-pressure fluid cushion means 96 is directly fixed to the main body 4 instead of mounting the high-pressure fluid cushion means 96 on the medium 4 via the cylinder mechanism 46. You can also. Thus, the amount of pressurized fluid used in the high-pressure fluid cushion means 96 is sufficiently small, and the pressurized fluid does not substantially hinder the decompression of the decompression space 38 in the moving unit 2A. .

9 and 10 show a modification of the state setting means.

In the modification shown in FIG. 9, the moving unit 2A
The support shaft 110 is mounted on the cylindrical hanging wall 20 of the main body 4 through an appropriate mounting bracket (not shown). A wheel 112 is rotatably mounted on the support shaft 110. On the other hand, the cylinder 48 of the cylinder mechanism 46 is fixed to the upper wall 6 of the main body 4, and the rod 50 penetrates through the upper wall 6 of the main body 4 and protrudes into the decompression space 38.
A disc-shaped braking member 114 is fixed to the tip of the rod 50 of the cylinder mechanism 46. The braking member 114 can be formed from a material having a large coefficient of friction, such as synthetic rubber. As shown by the solid line in FIG. 9, when the cylinder mechanism 46 is contracted, the braking member 114 is separated upward from the wheel 112. Therefore, the wheels 112 in contact with the surface 34 can rotate freely, and the moving unit 2A is set to a movable state. Mobile unit 2A
Is set to the locked state, the cylinder mechanism 46 is extended and the braking member 114 is pressed against the wheel 112 as shown by a two-dot chain line in FIG. Thus, the rotation of the wheel 112 is braked by the braking member 114, and thus the moving unit 2A in which the braked wheel 112 is brought into contact with the surface.
Is set in a state where it is difficult to move along the surface 34, and thus is set in a locked state.

In the modification shown in FIG. 10, the cylinder mechanism 46
A support shaft 116 is mounted on the distal end of the rod 50, and a wheel 118 is rotatably mounted on the support shaft 116. on the other hand,
A cylindrical braking member 120 is fixed to the lower surface of the upper wall 6 of the main body 4. As shown by the solid line in FIG. 10, when the cylinder mechanism 46 is extended, the wheel 118 is separated from the braking member 120, and the wheel 118 in contact with the surface 34 can rotate freely. Thus, the mobile unit 2A is set to a movable state. On the other hand,
As shown by a two-dot chain line in FIG. 10, when the cylinder mechanism 46 is contracted, the wheel 118 is raised somewhat and is pressed by the braking member 120, so that the rotation of the wheel 118 is braked. The moving unit 2A in which the braked wheel 118 is brought into contact with the surface 34 is set in a state in which it is difficult to move along the surface 34, and is therefore set in a locked state.

In the modification shown in FIG. 9 or FIG. 10, the braking member is pressed against the wheel to brake the wheel, and thus the moving unit 2A (or 2B) is set to the locked state. The wheels may be braked by any suitable means. For example, the wheels can be mounted on a support shaft via a known one-way clutch capable of changing the rotation allowable direction. In this case, for example, when moving the moving unit 2A in the right direction in FIG. 10, the one-way clutch is set to a state in which the rotation of the wheels in the counterclockwise direction is allowed, and thus the moving unit 2A is set to the movable state. On the other hand, the mobile unit 2B (see FIG. 1)
In order to move the moving unit 2A in the right direction so as to move the moving unit 2A in the right direction, the one-way clutch may be set to a state in which the wheels can be rotated clockwise.

11 and 12 show another embodiment of the device constructed according to the present invention. Such an example comprises four mobile units 202A, 202B, 202C and 202D. The configuration of these moving units 202A, 202B, 202C and 202D themselves is slightly different in the position of the communication opening formed in the main body 204 and the position and extending direction of the communication pipe 242 fixed to the communication opening. 1 to 5 except for
The configuration is substantially the same as the configuration of the moving unit 2A shown in the figure.

Mobile unit 202A and mobile unit 202B form a pair,
The mobile unit 202C and the mobile unit 202D form a pair. The pair of the mobile unit 202A and the mobile unit 202B will be described. The mobile unit 202A and the mobile unit 202B are connected to each other by the connection unit 266. The connecting means 266 is composed of a composite cylinder mechanism in which the cylinder ends of two ordinary pneumatic cylinder mechanisms are connected, and two rods 267 and 269 projecting in opposite directions to each other.
Having. The connecting means 266 is connected to the main body 204 of the mobile units 202A and 202B via the selective separating means 205.
More specifically, a connection bracket 207 is fixed to the tip of each of the rods 267 and 269 of the connecting means 266.
The cylinders 211 of the two pneumatic cylinder mechanisms 209 are fixed to the connection bracket 207 (not shown, but the cylinder mechanism 209 is connected to a source of pressurized air via an appropriate pneumatic circuit. ). The two cylinder mechanisms 209 extending in the vertical direction with a space therebetween in the horizontal direction.
Constitute the selective separation means 205. The downwardly projecting rods 213 of the two cylinder mechanisms 209 are advantageously connected to the side walls 210 or 212 of the body 204 of the moving unit 202A or 202B via a universal joint that allows tilting in any direction. It is. In the illustrated example, the rod 21 of the cylinder mechanism 209 is connected via a connection mechanism 215 including a ball joint.
3 is connected to the side wall 210 or 212 of the main body 204 of the mobile unit 202A or 202B.

The configuration of the pair of the mobile unit 202C and the mobile unit 202D is substantially the same as the configuration of the pair of the mobile unit 202A and the mobile unit 202B. Mobile unit 202A and mobile unit
Coupling means 266 in pairs with 202B and mobile unit 202C
And the connecting means 266 in the pair of the mobile unit 202D,
They extend substantially parallel to one another. Two connecting means 266
Are connected to each other by pair connecting means 217. The pair connecting means 217 is constituted by a two-rod type pneumatic cylinder mechanism having two rods 221 which can be integrally extended and contracted (not shown, this cylinder mechanism is also connected via an appropriate pneumatic circuit). Connected to a source of pressurized air). The pair connecting means 217 extends substantially perpendicularly to the extending direction of the connecting means 266 in each pair.
The cylinder 219 of the pair connecting means 217 is fixed to the cylinder side surface of the connecting means 266 in the pair of the moving unit 202C and the moving unit 202D, and the distal ends of the two rods 221 of the pair connecting means 217 are the moving unit 202A and the moving unit 202B. Are fixed to the side of the cylinder of the connecting means 266 in the pair.

The operation of the apparatus shown in FIGS. 11 and 12 will be described as follows. In an apparatus including four mobile units 202A, 202B 202C and 202, for example, the paired mobile units 202A and 202B are set to the movable state, the paired mobile units 202C and 202D are set to the locked state, and The moving unit which extends (or contracts) the pair connecting means 217 constituted by a cylinder mechanism, and thus forms a pair
The surface 34, which can be made of glass of the building, is moved upward (or downward) in FIG.
Can be cleaned. Of course, paired mobile units
202A and 202B are set to the locked state, the paired moving units 202C and 202D are set to the movable state, and the pair connecting means
217 may be extended (or contracted), thus moving the paired mobile units 202C and 202D.
Furthermore, four mobile units 202A, 202B, 202C and 20
It is also possible to move only a specific one of the 2Ds, for example, only the mobile unit 202A. In this case, the mobile unit
202A is set to the movable state, and the mobile unit 20B (and the mobile units 202C and 202D) is set to the locked state. Then, one rod 267 of the connecting means 266 connecting the moving unit 202A and the moving unit 202B is extended (or contracted), and thus the moving unit 202A is moved rightward (or leftward) in FIG.

In the device shown in FIGS. 11 and 12,
The following facts should be noted. Mobile unit 202A,
When the selective separation means 205 composed of the cylinder mechanism 209 is extended in each of 202B, 202C and 202D, as shown by a solid line in FIG.
Each of 202A, 202B, 202C, and 202D is positioned in an operative position and includes a sealing member 26 or seal portion 26 of member 22.
Is brought into contact with a surface 34, which may be glass of the building. Each of the mobile units 202A, 202B, 202C, and 202D is set to one of a movable state and a locked state. Thus, for example, the selective separation means of the mobile unit 202A
Prior to or simultaneously with the contraction of 205, the reduced pressure in the reduced pressure space of the moving unit 202A is released by, for example, connecting the reduced pressure space to the atmosphere, and the vacuum suction of the moving unit 202A on the surface 34 is released. When the selective separating means 205 is contracted in such a state, as shown by a two-dot chain line in FIG. 12, the whole moving unit 202A is raised to the separated position, and the whole moving unit 202A including the seal member is moved upward from the surface. Separated. Accordingly, as shown in FIG. 12, a projection 223 such as a glass frame extends on the surface 34, and the projection 2
When the mobile unit 202A is adjacent to 23, the mobile unit 202A is raised to the separated position indicated by the two-dot chain line, and then the connecting means 266 is extended. Thus, as shown by the two-dot chain line in FIG. 12, the moving unit 202A is moved while being raised to the separated position, and is moved across the ridge 223. After a while, mobile unit 202A
By extending the selective separation means 205 in the above, the moving unit 202A can be lowered to the operating position again, and the depressurized space of the moving unit 202A can be depressurized and the moving unit 202A can be vacuum-adsorbed to the surface 34 again. if needed,
Mobile units 202A and 202B (or 202C and 20
2D) may be moved to the separated position, the pair connecting means 217 may be extended (or contracted), and the paired moving units 202A and 202B (or 202C and 202D) may be moved across the ridge 223 as a unit. it can.

As described above, the specific examples and the modified examples of the device configured according to the present invention have been described in detail with reference to the accompanying drawings. However, the present invention is not limited to the specific examples and the modified examples. It should be understood that various changes and modifications can be made without departing from the present invention.

〔The invention's effect〕

According to the device constructed according to the present invention, (a) it can be made much smaller and less expensive than conventional devices, and (b) the surface is sufficiently good even if the surface is curved with a small curvature. Can move along,
(C) The cleaning operation can be performed on the surface without requiring an expensive working mechanism. (D) If a ridge such as a glass frame exists on the surface, the ridge moves over the ridge. And excellent effects such as can be achieved.

[Brief description of the drawings]

FIG. 1 is a plan view showing a specific example of an apparatus configured according to the present invention. FIG. 2 is a side view of the apparatus of FIG. FIG. 3 is a partial sectional view showing a part of the apparatus shown in FIG. FIG. 4 is a partial bottom view showing a part of the apparatus of FIG. FIG. 5 is a plan view for explaining the operation of the apparatus shown in FIG. 6, 7, 8, 9 and 10 are partial cross-sectional views showing a modification of the apparatus shown in FIG. 1. FIG. 11 is a plan view showing another specific example of the device configured according to the present invention. FIG. 12 is a side view of the apparatus of FIG. 2A… Moving unit 2B… Moving unit 4… Body 22… Member 23… Cylindrical base (locking member) 26… Seal part (seal member) 34… Surface 38… Decompression space 46… Cylinder mechanism 52… running means 60… wheels 62… wheels 64… wheels 66… connecting means 68… cylinder mechanism 70… cylinder mechanism 88… ball caster 94… sliding member 96… high pressure fluid cushion Means 112 Wheel 114 Braking member 118 Wheel 120 Braking member 202A Mobile unit 202B Mobile unit 202C Mobile unit 202D Mobile unit 404 Main body 205 Selective separation means 209: cylinder mechanism 217: connecting means 223: ridge 266: connecting means

Claims (16)

(57) [Claims] 1. At least two moving units interconnected by connecting means that can be extended and contracted, each of which has a movable unit capable of moving each of said units along a surface. State setting means for selectively setting a state and a locked state to be locked to the surface is provided, and one unit is set to the movable state and the other unit is set to the locked state. When set and the connecting means is extended or contracted, the one unit is moved along the surface and includes a rigid or semi-rigid body for each of the units, with a locking member mounted on the body. Wherein the state setting means includes a traveling means selectively positioned at a protruding position and a retracted position, and when the traveling means is positioned at the protruding position, the traveling means contacts the surface and The lock When the movable state is set with the member separated from the surface and the traveling means is positioned at the retracted position, the traveling means is separated from the surface and the locking member comes into contact with the surface and the engaging member is brought into contact with the surface. A device that is movable along a surface, wherein a stop state is set. 2. The traveling means is mounted on the main body via a cylinder mechanism, and the traveling means is selectively positioned at the projecting position and the retracted position by expansion and contraction of the cylinder mechanism. An apparatus according to claim 1. 3. Apparatus according to claim 1, wherein said traveling means comprises at least one wheel. 4. The apparatus according to claim 1, wherein said running means comprises at least one ball caster. 5. The apparatus according to claim 1, wherein said running means comprises a sliding member formed of a material having a low coefficient of friction. 6. Apparatus according to claim 1, wherein said travel device comprises high pressure fluid cushion means. 7. The apparatus according to claim 1, wherein said locking member is formed of a material having a high coefficient of friction. 8. The apparatus according to claim 7, wherein said locking member is made of synthetic rubber. 9. A system comprising at least two moving units interconnected by connecting means which can be extended and contracted, each of which has a movable unit capable of moving each of said units along a surface. State setting means for selectively setting a state and a locked state to be locked to the surface is provided, and one unit is set to the movable state and the other unit is set to the locked state. When set and the connecting means is extended or contracted, the one unit is moved along the surface and includes a rigid or semi-rigid body for each of the units, and the condition setting means is attached to the body. And a braking means for selectively applying a braking action to the traveling means, wherein the movable state is set when the braking action is not applied to the traveling means. A device movable along a surface, characterized in that the locking state is set when the braking action is applied to the driving means. 10. The apparatus of claim 9 wherein said travel means comprises at least one wheel and said braking means includes a braking member selectively pressed against said wheels. 11. A system comprising at least two moving units interconnected by connecting means that can be extended and contracted, each of which has a movable unit capable of moving each of said units along a surface. State setting means for selectively setting a state and a locked state to be locked to the surface is provided, and one unit is set to the movable state and the other unit is set to the locked state. When set and the connecting means is extended or contracted, the one unit is moved along the surface and each of the units includes a rigid or semi-rigid body, the body having a locking member mounted thereon. Wherein the state setting means includes a traveling means selectively positioned at a protruding position and a retracted position, and when the traveling means is positioned at the protruding position, the traveling means contacts the surface and The lock When the movable state is set with the member separated from the surface and the traveling means is positioned at the retracted position, the traveling means is separated from the surface and the locking member comes into contact with the surface and the engaging member is brought into contact with the surface. A stop state is set, and the connecting means is connected to the main body of each of the units via selective separating means for selectively positioning the main body between the operating position and the separated position, and In a state where the main body of the one unit is located in the operation position by the selective separation means, when the main body of the other unit is moved to the separation position by the selective separation means for the other unit, the other A device movable along the surface, wherein the entire unit is separated from the surface. 12. A system comprising at least two moving units interconnected by connecting means that can be extended and contracted, each of said units having a movable unit capable of moving each of said units along a surface. State setting means for selectively setting a state and a locked state to be locked to the surface is provided, and one unit is set to the movable state and the other unit is set to the locked state. When set and the connecting means is extended or contracted, the one unit is moved along the surface and includes a rigid or semi-rigid body for each of the units, and the condition setting means is attached to the body. And a braking means for selectively applying a braking action to the traveling means, wherein the movable state is set when the braking means is not applied to the traveling means. When the braking action is applied to the traveling means, the locked state is set, and the connecting means connects the body of each of the units via selective separating means for selectively positioning the main body between the operating position and the separated position. Connected to the main body, and in the state where the main body of the one unit is located in the operation position by the selective separation means for one unit, the other unit is separated from the other unit by the selective separation means for the other unit. A device movable along a surface, wherein the body is moved away from the surface when the body is moved to the remote position. 13. The apparatus according to claim 11, wherein said selective separating means comprises a cylinder mechanism, said cylinder mechanism being connected to said main body of said unit via a universal joint. 14. The two parts connected to each other through said connecting means.
13. A mobile unit pair comprising two mobile unit pairs, wherein said connecting means of each of said mobile unit pairs are interconnected by pair connecting means which can be extended and contracted. The described device. 15. The extension and contraction directions of the coupling means of each of the mobile unit pairs are substantially parallel to one another, and the extension and contraction directions of the pair coupling means are each of the coupling directions of each of the mobile unit pairs. 15. The device of claim 14, wherein the device is substantially perpendicular to the direction of extension and contraction of the means. 16. The apparatus according to claim 14, wherein said connecting means comprises a cylinder mechanism.