Wall surface traveling robot

Abstract

In order to resolve a problem such that a prior wall-surface travelling robot has dropped from a wall-surface at travelling by that the parallelism between a frame and the wall-surface is not held by rotation moment by its own weight, a wall-surface travelling robot according to the present invention comprises extendable absorption pad mechanisms ( 3 ) in each of which absorption pads ( 3 - 3 ) detachable to the wall-surface to be absorbed move parallel to the wall-surface and vertically in the wall-surface, and extend to the wall-surface; and a rotation moment offsetting mechanism ( 4 ) for applying a force opposite to the wall-surface into a lower end part ( 2 - 1 - 2 ) of a frame ( 2 ).

1 - 20 . (canceled) 
     
     
         21 . A wall-surface travelling robot for absorbing and travelling on the vertical wall-surface, comprising:
 extendable absorption pad mechanisms in each of which absorption pads detachable to the wall-surface to be absorbed move parallel to the wall-surface and vertically in the wall-surface, and extend to the wall-surface; and   a rotation moment offsetting mechanism for applying a force opposite to the wall-surface into a lower end part of a frame.   
     
     
         22 . A wall-surface travelling robot according to  claim 21  wherein
 said extendable absorption pad mechanism is provided with three or more guide rails installed on an upper part and a lower part of the frame, reciprocating mechanical portions contacting to said guide rails and moving up and down slidably, absorption pad mechanical portions each of which is paired to the reciprocating mechanical portion and on which absorption pads with vacuum generating devices are erected in the wall-surface direction, extendable mechanical portions each of which is engaged with said reciprocating mechanical portion and said absorption mechanical portion and each of which extends and contracts said absorption pad mechanical portion in the wall-surface direction with keeping parallelism to the wall-surface, and a travelling drive mechanism for moving the reciprocating mechanical portions in a vertical direction of the frame. 
 
     
     
         23 . A wall-surface travelling robot according to  claim 21  wherein
 said rotation moment offsetting mechanism is provided with a wheel which is provided on the lower end portion of the frame and biases to the wall-surface, a supporting plate for supporting one end of said wheel and engaging another end of said wheel with the lower end portion of the frame, and a drive means for performing rotation of the supporting plate or pressing to the wall-surface. 
 
     
     
         24 . A wall-surface travelling robot according to  claim 21  wherein
 said extendable mechanical portion is provided with a linear shaft provided on the absorption pad mechanical portion located on a wall-surface side of the reciprocating mechanical portion, a linear bush or a linear ball screwed on said linear shaft and provided on the absorption pad mechanical portion, and a drive means supporting said linear shaft. 
 
     
     
         25 . A wall-surface travelling robot according to  claim 22  wherein
 said rotation moment offsetting mechanism is provided with a wheel which is provided on the lower end portion of the frame and biases to the wall-surface, a supporting plate for supporting one end of said wheel and engaging another end of said wheel with the lower end portion of the frame, and a drive means for performing rotation of the supporting plate or pressing to the wall-surface. 
 
     
     
         26 . A wall-surface travelling robot according to  claim 22  wherein
 said extendable mechanical portion is provided with a linear shaft provided on the absorption pad mechanical portion located on a wall-surface side of the reciprocating mechanical portion, a linear bush or a linear ball screwed on said linear shaft and provided on the absorption pad mechanical portion, and a drive means supporting said linear shaft. 
 
     
     
         27 . A wall-surface travelling robot according to  claim 24  wherein
 said extendable mechanical portion is provided with a guide rod which is provided through said reciprocating mechanical portion and the absorption pad mechanical portion and whose end is secured on the reciprocating mechanical portion or the absorption pad mechanical portion, and a stopper which is contacted with a guide rod through hole in the reciprocating mechanical portion or the absorption pad mechanical portion is provided on a free end portion of another end of the guide rod. 
 
     
     
         28 . A wall-surface travelling robot according to  claim 26  wherein
 said extendable mechanical portion is provided with a guide rod which is provided through said reciprocating mechanical portion and the absorption pad mechanical portion and whose end is secured on the reciprocating mechanical portion or the absorption pad mechanical portion, and a stopper which is contacted with a guide rod through hole in the reciprocating mechanical portion or the absorption pad mechanical portion is provided on a free end portion of another end of the guide rod. 
 
     
     
         29 . A wall-surface travelling robot according to  claim 21  wherein
 said extendable mechanical portion is provided with an X-shaped link mechanism wherein two plates are installed each on right side and left side in both side plates in a vertical moving direction of the reciprocating mechanical portion and the absorption pad mechanical portion and are formed as X-shape by fixing the center points of the two plates, wherein three end portions of the X-shape link mechanism are supported on predefined positions of the both side plates in the reciprocating mechanical portion and the absorption pad mechanical portion, wherein one end portion of the X-shape is provided slidably to an elongate hole which is in parallel to the vertical direction of the reciprocating mechanical portion and is provided at a predefined position of the both side plates of the reciprocating mechanical portion, and a drive means for reciprocating one end portion of the link mechanical portion inserting slidably along the elongate hole. 
 
     
     
         30 . A wall-surface travelling robot according to  claim 21  wherein
 the extendable mechanical portion is provided with a rack which is erected at a predefined position on the wall-surface side in the reciprocating mechanical portion, a pinion which is provided at a predefined position opposite to the wall-surface in the absorption pad mechanical portion and which is engaged with the rack, a roller or a shoe like a ship-bottom shape which holds a back-surface of the rack and a drive means for supporting the pinion. 
 
     
     
         31 . A wall-surface travelling robot according to  claim 21  wherein
 said travelling drive mechanism is provided with a predefined number of pulleys which are provided on the upper part and the lower part in the frame respectively, a predefined number of endless rotation belts extending between the pulleys, fastening means for fastening predefined positions of the endless rotation belts on the reciprocating mechanical portion and a drive means for supporting on the pulleys. 
 
     
     
         32 . A wall-surface travelling robot according to  claim 21  wherein
 said travelling drive mechanism is provided with a linear shaft which is supported on the upper part and the lower part in the frame in order to change from rotation movement to linear movement, a drive means which is supported at one end of the linear shaft, a linear bush or a linear ball which is screwed on the linear shafts and which is provided in the reverse direction relative to the wall-surface of the reciprocating mechanical portion. 
 
     
     
         33 . A wall-surface travelling robot according to  claim 21  wherein
 said absorption pad mechanical portion is to erect two or more absorption pads vertically in the wall-surface direction. 
 
     
     
         34 . A wall-surface travelling robot according to  claim 33  wherein
 said absorption pad mechanical portion is provided with two or more absorption pads, and a plurality of absorption pad supporting rod mechanisms which are provided through a base plate of the absorption pad mechanical portion and which can move slidably in the wall-surface direction and can stop the absorption pads at one end of the wall-surface side thereof, which are provided with concave grooves up and down to the sliding direction on an outer peripheral wall in another end thereof, which are biased to the wall-surface direction by an elastic material and which are provided vertically, gripping mechanisms for engaging with the concave grooves of the absorption pad supporting rods to prevent slide movement of the absorption pad supporting rods, and a drive means for controlling so as to prevent slide movement of the absorption pad supporting rod when the absorption pads are absorbed on the wall-surface and to start slide movement of the absorption pad supporting rod when the absorption pads are released. 
 
     
     
         35 . A wall-surface travelling robot according to  claim 22  wherein
 said extendable mechanical portion is provided with an X-shaped link mechanism wherein two plates are installed each on right side and left side in both side plates in a vertical moving direction of the reciprocating mechanical portion and the absorption pad mechanical portion and are formed as X-shape by fixing the center points of the two plates, wherein three end portions of the X-shape link mechanism are supported on predefined positions of the both side plates in the reciprocating mechanical portion and the absorption pad mechanical portion, wherein one end portion of the X-shape is provided slidably to an elongate hole which is in parallel to the vertical direction of the reciprocating mechanical portion and is provided at a predefined position of the both side plates of the reciprocating mechanical portion, and a drive means for reciprocating one end portion of the link mechanical portion inserting slidably along the elongate hole. 
 
     
     
         36 . A wall-surface travelling robot according to  claim 22  wherein
 the extendable mechanical portion is provided with a rack which is erected at a predefined position on the wall-surface side in the reciprocating mechanical portion, a pinion which is provided at a predefined position opposite to the wall-surface in the absorption pad mechanical portion and which is engaged with the rack, a roller or a shoe like a ship-bottom shape which holds a back-surface of the rack and a drive means for supporting the pinion. 
 
     
     
         37 . A wall-surface travelling robot according to  claim 22  wherein
 said travelling drive mechanism is provided with a predefined number of pulleys which are provided on the upper part and the lower part in the frame respectively, a predefined number of endless rotation belts extending between the pulleys, fastening means for fastening predefined positions of the endless rotation belts on the reciprocating mechanical portion and a drive means for supporting on the pulleys. 
 
     
     
         38 . A wall-surface travelling robot according to  claim 22  wherein
 said travelling drive mechanism is provided with a linear shaft which is supported on the upper part and the lower part in the frame in order to change from rotation movement to linear movement, a drive means which is supported at one end of the linear shaft, a linear bush or a linear ball which is screwed on the linear shafts and which is provided in the reverse direction relative to the wall-surface of the reciprocating mechanical portion. 
 
     
     
         39 . A wall-surface travelling robot according to  claim 22  wherein
 said absorption pad mechanical portion is to erect two or more absorption pads vertically in the wall-surface direction. 
 
     
     
         40 . A wall-surface travelling robot according to  claim 39  wherein
 said absorption pad mechanical portion is provided with two or more absorption pads, and a plurality of absorption pad supporting rod mechanisms which are provided through a base plate of the absorption pad mechanical portion and which can move slidably in the wall-surface direction and can stop the absorption pads at one end of the wall-surface side thereof, which are provided with concave grooves up and down to the sliding direction on an outer peripheral wall in another end thereof, which are biased to the wall-surface direction by an elastic material and which are provided vertically, gripping mechanisms for engaging with the concave grooves of the absorption pad supporting rods to prevent slide movement of the absorption pad supporting rods, and a drive means for controlling so as to prevent slide movement of the absorption pad supporting rod when the absorption pads are absorbed on the wall-surface and to start slide movement of the absorption pad supporting rod when the absorption pads are released.