Surface processing device and surface processing unit

Abstract

To provide a surface processing unit that uses a moving flying object to more reliably and effectively process a surface or an object extending from the surface.SOLUTION: A surface processing unit 100 includes: a processing part 10 which has a rotating body 14 that comes into contact with a surface G and a drive part 12 that drives the rotating body 14; and a frame 20 whose one end is attached to the processing part 10 and which is connected to a flying moving body 50. In the surface processing unit, when the drive part 12 rotates the rotating body 14 in a state of being in contact with a surface G, a force F of advancing in the first direction D1 with respect to the surface G is applied to the processing part 10, a force component Th in the second direction D2 opposed to the first direction D1 is applied to the processing part 10 via the frame 20 by the flying moving body 50 connected to the frame 20 and flying, the force component Th in the second direction D2 is greater than the force F advancing in the first direction D1, and the rotating body 14 advances in the second direction D2 with respect to the surface G to process the surface G or object while rotating in a state of being in contact with the surface G or object.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a surface processing device that uses a flying vehicle to process a surface or an object extending from a surface, and a surface processing unit that includes this surface processing device. [Background technology]

[0002] As a surface processing unit that uses a flying vehicle to process a surface or an object extending from a surface, a cleaning unit that cleans various surfaces with a cleaning device incorporated in the flying vehicle has been proposed (see, for example, Patent Document 1). In the cleaning unit described in Patent Document 1, a horizontally rotating brush is attached to the underside of the flying vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2016-209801 Summary of the Invention [Problem to be solved by the invention]

[0004] However, because the air current causes fluctuations in the flight of the flying object, when a horizontally rotating brush is attached to the flying object as in the cleaning unit described in Patent Document 1, there is a risk that the tip of the brush will not be able to properly contact the surface to be cleaned. Patent Document 1 proposes a mechanism for extending and retracting the brush shaft and changing the angle of the brush shaft, but this is difficult to absorb the fluctuations in the flight of the flying object. Therefore, it is difficult to perform a process such as reliably and effectively cleaning the surface to be cleaned.

[0005] In addition to cleaning the surfaces to be cleaned, it is also desirable to use flying vehicles to reliably and effectively treat the surfaces to be cleaned, such as cutting weeds that have grown above the ground.

[0006] Therefore, the object of the present invention is to solve the above-mentioned problems and to provide a surface processing device that uses a mobile flying object to more reliably and effectively process a surface or an object extending from a surface, and a surface processing unit equipped with this surface processing device. [Means for solving the problem]

[0007] In order to achieve the above object, one aspect of the present invention is a method for producing a composition comprising the steps of: A processing unit including a rotating body that contacts the surface portion or an object extending from the surface portion, and a driving unit that drives the rotating body; A frame having one end to which the processing unit is attached and which is connected to an airborne vehicle; Equipped with When the rotating body is rotated in a first rotation direction by the driving unit while in contact with the surface or the object, a force moving in a first direction relative to the surface is applied to the processing unit, and a force component in a second direction opposite to the first direction is applied to the processing unit via the frame by the flying moving body connected to the frame in flight, a force component in the second direction is greater than a force in the first direction, The surface processing apparatus rotates in the first rotation direction while in contact with the surface or the object, and moves in the second direction relative to the surface to process the surface or the object.

[0008] Another aspect of the present invention is The surface treatment device described above; A surface treatment unit comprising: Effect of the Invention

[0009] As described above, in this aspect, it is possible to provide a surface processing device that uses a mobile flying object to more reliably and effectively process a surface or an object extending from a surface, and a surface processing unit equipped with this surface processing device. [Brief description of the drawings]

[0010] [Figure 1]1 is a side view showing a schematic diagram of a surface processing unit including a surface processing unit and a flying vehicle according to one embodiment of the present invention, performing processing on a substantially horizontal surface. [Diagram 2] FIG. 2 is a side view taken along the line AA in FIG. [Figure 3A] FIG. 11 is a cross-sectional view showing a frame extension mechanism in a schematic manner, illustrating a state in which the frame is extended. [Figure 3B] FIG. 4 is a cross-sectional view showing a frame extension / contraction mechanism in a contracted state. [Figure 4A] FIG. 3 is an enlarged side view of the rotating body shown in FIG. 2, showing an embodiment in which the rotating body is a rotating brush. [Figure 4B] 4B is an enlarged view of an end portion of the rotating brush shown in FIG. 4A. FIG. [Diagram 5] FIG. 13 is a perspective view showing an embodiment in which the rotating body is a rotary blade. [Figure 6] FIG. 13 is a cross-sectional view showing a processing unit having a drive unit, a rotating body and a collar, and a collar having a plurality of diagonally extending grooves formed on its inner surface, showing the processing unit rotated in a first rotation direction R1. [Figure 7] 13 is a diagram showing how individual rotating bodies constituting a rotating body spread outward as the processing section rotates in a first rotation direction R1. FIG. [Figure 8] This is a cross-sectional view showing a processing unit equipped with a drive unit, a rotating body and a collar, and the collar having multiple grooves extending diagonally on its inner surface, showing the processing unit rotated in a second rotation direction R2. [Figure 9] 13 is a diagram showing the individual rotating bodies constituting the rotating body returning from an outwardly spreading state to an inward state during rotation of the processing portion in a second rotation direction R2. FIG. [Figure 10] FIG. 11 is a side view showing a schematic diagram of a surface processing unit including a surface processing unit and a flying vehicle according to another embodiment of the present invention, performing processing of a substantially vertical surface. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, with reference to the drawings, embodiments and examples for carrying out the invention according to the present disclosure will be described. Note that the flying vehicle described below is intended to embody the technical idea of ​​the invention according to the present disclosure, and unless otherwise specified, the invention according to the present disclosure is not limited to the following. In each drawing, components having the same function may be given the same symbol. In consideration of the explanation or ease of understanding of the main points, the embodiments and examples may be shown separately for convenience, but partial replacement or combination of the configurations shown in different embodiments and examples is possible. In the embodiments and examples described below, descriptions of matters common to the above will be omitted, and only the differences will be described. In particular, similar effects due to similar configurations will not be mentioned in each embodiment or example. The size and positional relationship of the components shown in each drawing may be exaggerated to clarify the explanation.

[0012] In this specification, the terms "left-right direction," "front-back direction," and "up-down direction" respectively refer to the "left-right direction," "front-back direction," and "up-down direction" of a flying vehicle during horizontal flight.

[0013] (Surface Processing Device and Surface Processing Unit According to One Embodiment of the Present Invention) First, a surface processing unit including a surface processing unit and a flying mobile object according to one embodiment of the present invention will be described with reference to Figures 1, 2, 3A, and 3B. Figure 1 is a side view showing a surface processing unit including a surface processing unit and a flying mobile object according to one embodiment of the present invention performing processing on a substantially horizontal surface. Figure 2 is a side view showing an arrow AA in Figure 1. Figure 3A is a cross-sectional view showing a frame extension mechanism, showing a state in which the frame is extended. Figure 3B is a cross-sectional view showing a frame extension mechanism, showing a state in which the frame is contracted.

[0014] The surface processing device 2 according to this embodiment includes a processing unit 10 that processes a surface G or an object extending from the surface G, and a frame 20 to which the processing unit 10 is attached at one end and which is connected to a flying vehicle 50. A unit including the surface processing device 2 and the flying vehicle 50 is the surface processing unit 100 according to this embodiment.

[0015] (Flying vehicle) As the flying vehicle 50 used in this embodiment, any known flying vehicle including a drone, a volocopter, and a multicopter can be adopted. The flying vehicle 50 illustrated in Figs. 1 and 2 includes a main body 52 and a plurality of rotor units 54 attached to the main body 52. ​​An electric motor provided in the rotor unit 54 is supplied with power from a battery stored in the main body 52, and the rotor rotates. The rotation of the rotor generates a downward thrust, which allows the flying vehicle 50 to rise and fly. Figs. 1 and 2 illustrate the case of a so-called quadcopter equipped with four rotor units 54.

[0016] Legs 56 that support the flying vehicle 50 when the flying vehicle 50 touches the ground are attached to the underside of the main body 52. ​​Furthermore, a mounting part 58 for mounting the frame 20 of the surface processing device 2 extends downward from the underside of the central region of the main body 52.

[0017] (Face treatment device) The surface processing device 2 according to this embodiment includes a processing unit 10 that processes the surface G or an object extending from the surface G as described above, and a frame 20 to which the processing unit 10 is attached at one end and which is connected to the flying vehicle 50. The processing unit 10 includes a rotating body 14 that contacts the surface G or an object extending from the surface G, and a drive unit 12 that drives the rotating body 14.

[0018] In Figures 1 and 2, the rotating body 14 in contact with the surface G, etc. is rotated in a rotational direction R1 by the drive unit 12, and is pulled by the flying vehicle 50 attached to the frame 20 in an approximately horizontal direction D2 (see the dashed arrow in Figure 1), and the rotating body 14 processes the surface G, etc.

[0019] The frame 20 includes a frame body 22 that is configured with a first member 22A and a second member 22B. The first member 22A and the second member 22B are attached in a state that they can slide relative to each other, as described below.

[0020] The first member 22A is mainly formed in a pipe shape, and an aircraft connection part 26 is formed at the upper end to be connected to the lower end of the attachment part 58 of the flying vehicle 50. As shown in Fig. 2, the upper side of the second member 22B is mainly formed in a pipe shape, and the lower side extends to both the left and right sides, and drive part support parts 24 that support both ends of the drive part 12 of the processing part 10 are provided at both ends.

[0021] The driving unit 12 according to this embodiment is an outer rotor type motor, and the driving unit support part 24 of the frame 20 supports the driving fixed part on the center side of the outer rotor type motor and is not in contact with the outer surface of the rotor. As will be described later, the hollow rotating body 14 is attached so as to cover the outer surface of the rotor via the collar 16, and by driving the outer surface of the rotor to rotate, a driving force is transmitted to the rotating body 14 via the collar 16, causing the rotating body 14 to rotate (for example, see FIG. 6).

[0022] <Extension mechanism> 3A and 3B, the inner diameter of the first pipe-shaped member 22A is slightly larger than the outer diameter of the upper portion of the second pipe-shaped member 22B. The upper end region of the second member 22B is inserted into the first member 22A. This allows the first member 22A and the second member 22B to be attached in a slidable state.

[0023] The first member 22A and the second member 22B have contact surfaces 22A1 and 22B1 formed at their tips, respectively. When the face processing device 2 is pulled by the flying object 50, the contact surfaces 22A1 and 22B1 come into contact with each other, as shown in FIG. 3A. At this time, the frame 20 (frame body 22) is in the most extended state. From this state, for example, if the flying altitude of the flying object 50 suddenly drops, the flying object 50 approaches the processing unit 10. If the frame does not expand or contract, the flying object 50 pushes back the face processing device 2, changing the way the processing unit 10 advances relative to the face G, causing problems in processing. However, in this embodiment, as shown in FIG. 3B, the frame 20 (frame body 22) shrinks, so the flying object 50 does not push back the face processing device 2. Therefore, it is possible to suppress adverse effects on the processing of the face G, etc., by the processing unit 10 due to flight fluctuations of the flying object 50.

[0024] (Method of processing) Specific examples of the processing of the surface G by the processing unit 10 include cleaning and polishing the ground covered with asphalt, concrete, etc., the floors and walls of buildings, solar panels, etc., with a rotating brush. A specific example of the processing of an object extending from the surface G includes cutting plants such as grass extending from the ground with a rotating blade. Specific examples of such processing will be described later.

[0025] In order to treat the surface G or an object extending from the surface G, in the treatment section 10 of the surface treatment device 2, the driving section 12 rotates the rotor 14 in a first rotation direction R1 while in contact with the surface G or an object extending from the surface G. FIG. 1 shows the rotor 14 rotating in the first rotation direction R1 while in contact with a substantially horizontal surface (ground) G or an object extending from the surface G. Due to the rotation of the rotor 14, a force F is applied to the treatment section 10 in a first direction D1 to the right in FIG. 1. When viewed from the surface G side, the surface G receives the force F from the treatment section 10.

[0026] Meanwhile, the frame 20 of the surface processing device 2 is connected to the flying vehicle 50 by the flying vehicle connection part 26 provided at the end opposite to the end where the processing device 10 is attached. In this state, the flying vehicle 50 flies toward the left in FIG. 1. As a result, the frame 20 is pulled by a force in a direction diagonally toward the upper left in FIG. 1. This force is transmitted via the frame 20 to the processing device 10 connected by the drive unit support part 24.

[0027] The force T directed diagonally upward and to the left, which is generated by the pulling of the flying object 50, is composed of a vertical force component Tv and a horizontal force component Th. The horizontal force component Th is a force directed in a second direction D2 opposite to the first direction D1 in which the rotor 14 moves in the rotation direction R1.

[0028] Since the weight of the processing portion 10 is greater than the vertical force component Tv, the rotating body 14 rotates in the rotation direction R1 while remaining in contact with the surface G, etc., and continues to apply the force F to the surface G. On the other hand, the horizontal force component Th directed in the second direction D2 is greater than the force F caused by the rotation of the rotating body 14. In other words, there is a relationship Th > F.

[0029] As a result, while the rotor 14 is in contact with the surface G, it rotates in the rotation direction R1 and advances in a second direction D2 relative to the surface G to process the surface G. In other words, while the rotor 14 rotates, it advances in a second direction opposite to the first direction D1 in which it advances due to the rotation. The relative speed of the outer circumferential portion of the rotor 14 in contact with the surface G to the surface G is the speed at which the rotor 14 is rotated by the drive unit 12 and the speed at which it moves horizontally while being pulled by the flying object 50, so that an effect similar to that obtained when the rotor 14 is rotated at a higher speed for processing can be obtained. If the rotor 14 is a rotating brush, a brushing effect and polishing effect can be obtained by rotating the rotor (rotating brush) 14 at a higher speed.

[0030] A similar effect can be obtained when processing objects extending from the surface portion. If the rotor 14 is a rotary blade, the rotor (rotary blade) 14 can be rotated at a higher speed to improve the cutting effect of objects such as grass.

[0031] As described above, the surface processing device 2 of this embodiment includes a processing unit 10 having a rotating body 14 that contacts the surface G or an object extending from the surface G and a drive unit 12 that drives the rotating body 14, and a frame 20 to which the processing unit 10 is attached at one end and connected to a flying moving body 50. When the driving unit 12 rotates the rotating body 14 in a first rotation direction R1 while in contact with the surface G or an object, a force F moving in a first direction D1 relative to the surface G is applied to the processing unit 10, and a force component Th in a second direction D2 opposite to the first direction D1 is applied to the processing unit 10 via the frame 20 by the flying moving body 50 connected to the frame 20, and the force component Th in the second direction D2 is greater than the force F moving in the first direction D1, so that while in contact with the surface G or the object, the rotating body 14 rotates in the first rotation direction R1, moving in the second direction D2 relative to the surface G to process the surface G or the object.

[0032] Moreover, the surface processing device unit 100 according to this embodiment is a unit including the surface processing device 2 and the flying object 50.

[0033] This embodiment makes it possible to provide a surface processing device 2 that uses a mobile flying object 50 to more reliably and effectively process a surface G or an object extending from the surface G, and a surface processing unit 100 equipped with this surface processing device 2.

[0034] The surfaces treated by the surface treatment device 2 and the surface treatment device unit 100 may be not only substantially horizontal surfaces such as the illustrated surface G, but also inclined surfaces and, as described below, substantially vertical surfaces. Also, not only flat surfaces such as the illustrated surface G, but also curved surfaces and irregularly changing surfaces are possible.

[0035] As described above, while the flying vehicle 50 flies in a generally horizontal direction and pulls the processing unit 10, the flight altitude and the like fluctuate due to fluctuations in air currents. When the flight altitude increases, the speed at which the surface processing device 2 is pulled increases slightly, and the surface processing device 2 may move slightly faster in the second direction D2. In this case, the effect of the processing by the processing unit 10 is slightly improved.

[0036] On the other hand, when the flying altitude of the flying mobile object 50 decreases, the flying mobile object 50 moves in a direction approaching the processing unit 10. At this time, if the frame 20 does not have an expansion and contraction function, there is a risk that a force that pushes the processing unit 10 back in the first direction D1 is applied to the surface processing device 2. In this case, there is a risk that the processing by the processing unit 10 will be adversely affected.

[0037] For this reason, as described above, in the surface processing device 2 of this embodiment, the frame 20 has an extension mechanism, and when the flying mobile body 50 moves in a direction approaching the processing device 10 while the processing device 10 is being pulled by the flying mobile body 50 via the frame 20, the frame 20 shrinks.

[0038] Although the flying altitude of the flying vehicle 50 fluctuates due to fluctuations in air currents, even if the altitude of the flying vehicle 50 drops, the frame 20 can be prevented from shrinking and pushing the processing unit 10 back in the first direction D1. This buffer function provided by the expansion and contraction of the frame 20 allows the processing unit 10 to continue effective processing. In addition, the extension mechanism of the frame 20 may further include a shock-absorbing member such as a damper, allowing the frame 20 to extend and retract more smoothly.

[0039] (Rotary Brush) Next, an embodiment in which the rotor 14 is a rotating brush will be described with reference to Fig. 4A and Fig. 4B. Fig. 4A is an enlarged view of the rotor shown in Fig. 2, and is a side view showing an embodiment in which the rotor is a rotating brush. Fig. 4B is an enlarged view of the end of the rotating brush in Fig. 4A.

[0040] The rotating body according to this embodiment is a rotating brush 14B having a cylindrical outer shape, and wheels 18 are attached to both sides of the rotating brush 14B in the direction of the rotation axis. In Fig. 4A, the cross section of the hole 18 on the left side is shown, and the outer surface of the wheel 18 on the right side is shown. In Fig. 5B, the wheel 18 in a cross section on the left side and the rotating brush 14B in its vicinity are shown.

[0041] 4B, the wheels 18 are free wheels that are not connected to the drive unit 12, and when processing is performed in the processing unit 10, the wheels 18 on both sides of the rotating brush 14B come into contact with the surface G and roll on the surface G. In other words, the wheels 18 that are not connected to the drive unit 12 and roll on the surface G are attached to both sides of the rotating brush 14B in the rotation axis direction.

[0042] The movement direction of the processing unit 10, which is pulled by the flying object 50, is stabilized by the wheel 18 rolling on the surface G. In particular, since the wheel 18 is a free wheel, the moving direction of the processing unit 10 can be stably guided regardless of the rotation of the rotating brush 14B.

[0043] Furthermore, assuming that the outer diameter of the freewheel is Dw and the outer diameter of the rotating brush 14B is Db, the outer diameter Dw of the wheel is smaller than the outer diameter Db of the rotating brush 14B. In other words, there is a relationship of Dw < Db. An example of the outer diameter Dw of the wheel is approximately 2 to 10 mm smaller than the outer diameter Db of the rotating brush 14B.

[0044] 4B, the brush portion 14B1 of the rotating brush 14B has elasticity and is deflected by the weight of the processing section 10, and the wheel 18, which is a rigid body, comes into contact with the surface G. In this manner, since the outer diameter Dw of the wheel 18 is formed smaller than the outer diameter Db of the rotating brush 14B, the brush portion 14B1 of the rotating brush 14B having elasticity is deflected and the tip of the brush portion 14B1 strongly hits the surface G, and processing such as cleaning and polishing can be performed efficiently.

[0045] (Rotary blade) Next, an embodiment in which the rotor 14 is a rotary blade will be described with reference to Fig. 5. Fig. 5 is a perspective view showing an embodiment in which the rotor is a rotary blade.

[0046] In the embodiment shown in FIG. 5, the rotary blade 14C, which is a rotating body, is covered with a cover wheel 18C shown by a dotted line. The cover wheel 18C is a free wheel that is not connected to the drive unit 12, like the above-mentioned wheel 18, and is designed to roll on the surface G. The cover wheel 18C has an opening 18C1. In other words, a part of the rotary blade 18C is covered by the cover wheel 18C. The rotary blade 14C exposed from the opening 18C1 can cut objects extending from the surface G, such as weeds.

[0047] As described above, in this embodiment, a cover wheel 18C that covers a part of the rotary blade 14C, rolls on the surface G, and is not connected to the drive unit 12 is provided. The cover wheel 18C that rolls on the surface G can stabilize the moving direction of the processing unit 10 that is pulled by the flying vehicle 50. At the same time, the area of ​​the rotary blade 14C that is not involved in the processing can be covered to improve safety.

[0048] (Movement of driving force transmission member) When the rotating brush 14B or the rotating blade 14C is used as the rotating body 14, there is a risk that the rotation of the rotating body 14 will be restricted due to interference with the surface G or an object extending from the surface G. For example, depending on the shape and properties of the surface G, the frictional force between the tip of the brush part 14B1 of the rotating brush 14B and the surface G may increase, causing the rotation of the rotating brush 14B to be restricted. In addition, for example, the rotating blade 14C may become entangled with a plant extending from the surface G, causing the rotation of the rotating blade 14C to be restricted.

[0049] If the driving force continues to be transmitted from the driving unit 12 to the rotating body 14 in this state, the transmission torque of the driving unit 12 may become excessive, which may cause the driving unit 12, which is an electric motor, to trip, and may also cause damage to the rotating body 14. Furthermore, if there is a driving force transmission member that transmits the driving force from the driving unit 12 to the rotating body 14, the driving force transmission member may also be damaged.

[0050] Next, referring to Figs. 6 to 9, one embodiment of a mechanism for reducing the driving force transmitted from the driving unit 12 to the rotor 14 by moving the driving force transmission member, which is a mechanism for dealing with the above problem, will be described in detail. Fig. 6 is a cross-sectional view showing a processing unit including a driving unit, a rotor, and a collar, and the collar having a plurality of grooves extending diagonally on its inner surface, and shows the processing unit rotated in a first rotation direction R1. Fig. 7 is a cross-sectional view showing the individual rotors constituting the rotor spreading outward as the processing unit rotates in the first rotation direction R1. Fig. 8 is a cross-sectional view showing a processing unit including a driving unit, a rotor, and a collar, and the collar having a plurality of grooves extending diagonally on its inner surface, and shows the processing unit rotated in a second rotation direction R2. Fig. 9 is a cross-sectional view showing the individual rotors constituting the rotor returning inward from a state where they spread outward as the processing unit rotates in the second rotation direction R2.

[0051] The driving unit 12 according to this embodiment is an outer rotor type motor, and the driving force transmission surface 12a is the rotor outer surface. The rotating body 14 is a hollow member arranged to cover the rotor outer surface 12a. A collar 16 is arranged between the rotor outer surface 12a and the inner surface 14a of the rotating body 14 as a torque transmission member. The inner surface 16b of the collar 16 is in contact with the rotor outer surface 12a and the outer surface 16a of the collar 16 is in contact with the inner surface 14a of the rotating body 14.

[0052] The outer diameter of the rotor outer surface 12a can be 20 mm to 80 mm, for example. The total length of the rotor outer surface 12a can be 100 mm to 2000 mm, for example. The rotor outer surface 12a has a taper in which the outer diameter is large on the central side (inner side) in the direction of the rotation axis and is small on the outer side. The gradient of the taper can be such that the outer diameter changes by 0.1 mm to 1.5 mm for every 100 mm of movement in the direction of the rotation axis. Each of these numerical ranges is merely an example and is not limited to these. The inner surface 16b of the collar 16 and the outer surface 12a of the rotor are constrained by frictional force. The outer surface 16a of the collar 16 and the inner surface 14a of the rotor 14 may be constrained by frictional force, or may be fixed to each other by adhesion or the like.

[0053] When the rotor 14 is rotated by the drive unit 12 under normal conditions, the rotor outer surface 12a and the inner surface 16b of the collar 16 are constrained by static friction between them. On the other hand, when the rotation of the rotor 14 is constrained for some reason, a force larger than the static friction is applied between the rotor outer surface 12a and the inner surface 16b of the collar 16, and the rotor outer surface 12a and the inner surface 16b of the collar 16 move relative to each other. If the rotor outer surface 12a does not have a taper, when the force between the rotor outer surface 12a and the inner surface 16b of the collar 16 becomes larger than the static friction force, the rotor outer surface 12a and the inner surface 16b of the collar 16 rotate while sliding against each other (while rubbing against each other). Therefore, the rotor outer surface 12A and the inner surface 16b of the collar 16 may be damaged by the force and frictional heat applied by the dynamic friction.

[0054] On the other hand, in this embodiment, since the rotor outer surface 12a has a taper, when the force between the rotor outer surface 12a and the inner surface 16b of the collar 16 becomes larger than the static friction force and the rotor outer surface 12a and the inner surface 16b of the collar 16 move relatively, the collar 16 moves outward in the direction of the rotation axis where the outer diameter becomes smaller along the taper. As a result, the driving force transmitted from the rotor outer surface 12a to the inner surface 16b of the collar 16 is reduced, or the driving force is not transmitted at all. Therefore, the driving force transmitted from the rotor outer surface 12a to the inner surface 14a of the rotor 14 can be reliably reduced, and damage to the members can be prevented.

[0055] As described above, in the surface processing device 2 of this embodiment, the drive unit 12 is an outer rotor type motor, and the rotating body 14 is a hollow member arranged to cover the rotor outer surface of the outer rotor type motor. Between the rotor outer surface 12a and the inner surface 14a of the rotating body 14, a collar 16 is arranged whose inner surface 16b contacts the rotor outer surface 12a and whose outer surface 16a contacts the inner surface 14a of the rotating body 14. The rotor outer surface 12a has a taper in the direction of the rotation axis, with a large outer diameter on the central side (inner side) and a small outer diameter on the outer side. When the rotation of the rotating body 14 is restricted due to interference with the surface G or an object extending from the surface G, the collar 16 moves outward in the direction of the rotation axis along the taper, thereby reducing the driving force transmitted from the rotor outer surface 12a to the inner surface 14a of the rotating body 14.

[0056] In this embodiment, when the rotation of the rotor 14 is restricted due to interference with surface G or an object extending from surface G, the collar 16 moves along the taper of the rotor outer surface 12a, thereby reliably reducing the driving force transmitted from the rotor outer surface 12a to the inner surface 14a of the rotor 14, thereby preventing damage to the components. When the collar 16 and the rotor 14 are constrained by friction, the collar 16 may move (slide) relative to the rotor 14 inward in the direction of the rotation axis, or the rotor 14 may elastically deform. When the collar 16 and the rotor 14 are constrained by adhesion or the like, the rotor 14 will elastically deform.

[0057] Furthermore, in this embodiment, a plurality of grooves 16G extending obliquely are formed on the inner surface 16b of the collar 16. The rotor 14 is composed of a plurality of individual rotors 14' (six in the figure). The individual rotors 14' are arranged side by side in the direction of the rotation axis, and as shown in FIG. 7, adjacent individual rotors 14' are fitted together with a concave-convex shape. As a result, the individual rotors 14' are constrained to each other in the rotation direction, but are movable relative to each other in the direction of the rotation axis. A collar 16 is arranged inside each individual rotor 14'.

[0058] Groove 16G provided on inner surface 16b of collar 16 is formed at an angle such that, when rotating in rotation direction R1, the outer end in the direction of the rotation axis is positioned forward in the direction of travel than the inner end in the direction of the rotation axis.

[0059] When the groove 16G is provided on the inner surface 16b of the collar 16, the collar 16 is easily moved along the direction in which the groove 16G extends. In addition, since the rotor outer surface 12a has a tapered shape in the rotational axis direction, the collar 16 is easily moved outward along the extension direction of the groove 16G in the rotational axis direction where the outer diameter of the rotor outer surface 12a is small. When the rotor 14 is rotating under normal conditions, the contact inner surface between the grooves 16G on the inner surface 16b of the collar 16 and the rotor outer surface 12a is restrained from each other by static friction force.

[0060] Next, consider the force that the contact inner surface of the inner surface 16b of the collar 16 receives from the rotor outer surface 12a when the rotor 14 driven by the drive unit 12 rotates in the rotation direction R1. As shown in Fig. 6, the contact inner surface of the inner surface 16b receives a force FR1 in a direction perpendicular to the rotation axis from the rotor outer surface 12a. Considering the force components in the direction along the extension direction of the groove 16G and the force components in the direction perpendicular to that, the force FR1 is composed of a force component FR1x in the direction along the groove 16G and a force component FR1y perpendicular to that.

[0061] In other words, the collar 16 receives a force component TR1x directed toward the outside of the rotation axis along the extension direction of the groove 16G. If the angle between the extension direction of the groove 16G and the rotation axis direction is α, then Force component TR1x =TR1 × sinα It becomes.

[0062] As described above, when the force between the rotor outer surface 12a and the inner surface 16b of the collar 16 becomes greater than the static friction force, the force component TR1x due to the taper of the rotor outer surface 12a, the groove 16G on the inner surface 16b of the collar 16, and the inclination of the groove 16G makes it easier for the collar 16 to move outward in the direction of the rotation axis.

[0063] Therefore, when the rotation of the rotors 14 is restricted during processing while the drive unit 12 is rotating them in the rotation direction R1, the individual rotors 14' move outward in the rotation axis direction together with the collar 16 from the initial state in which they are in contact with each other (see the upper diagram) to a state in which they are separated from each other (see the lower diagram) as shown in Fig. 7. This is the same whether the collar 16 and the individual rotors 14' are restricted by friction or by adhesion or the like.

[0064] As described above, in the surface processing device 2 of this embodiment, a plurality of grooves 16G extending diagonally are formed on the inner surface 16b of the collar 16, and when the drive unit 12 rotates in the first rotation direction R1, an FR1x facing outward along the extension direction of the grooves 16G is applied from the rotor outer surface 12a to the collar 16, and when the force transmitted from the rotor outer surface 12a to the inner surface 16b of the collar 16 exceeds a predetermined value, the collar 16 moves outward in the direction of the rotation axis along the extension direction of the grooves 16G.

[0065] The groove 16G provided on the inner surface 16b of the collar 16 allows the collar 16 to move more smoothly outward in the direction of the rotation axis along the taper, thereby more reliably reducing the driving force transmitted from the rotor outer surface 12A to the inner surface 16b of the collar 16 and preventing damage to the components.

[0066] After the individual rotors 14' have moved outward in the rotational axis direction together with the collar 16 and are spaced apart, the user can stop the drive unit 12 to eliminate the event that has constrained the rotation of the rotors 14, and manually move the individual rotors 14' inward in the rotational axis direction to return them to their initial state. Furthermore, in this embodiment, by using the groove 16G provided on the inner surface 16b of the collar 16 to reverse the drive unit 12 and rotate it in the rotational direction R2, the individual rotors 14' that have moved outward in the rotational axis direction together with the collar 16 and are spaced apart can be returned to their initial state in contact with each other.

[0067] When the drive unit 12 is rotated in the rotation direction R2, the inner surface 16b of the collar 16 receives a force FR2 in a direction perpendicular to the rotation axis from the rotor outer surface 12A, as shown in Fig. 8. The direction of the force FR2 is opposite to the direction of the above-mentioned force FR1 by 180 degrees. Considering the force component of this force FR2 in the direction along the groove 16G and the force component in the direction perpendicular to the direction, the force FR2 is composed of a force component FR2x in the direction along the groove 16G and a force component FRy perpendicular to the direction.

[0068] In other words, the collar 16 receives a force component TR2x in the direction toward the inside of the rotation axis along the extension direction of the groove 16G. If the angle between the extension direction of the groove 16 and the rotation axis direction is α, then Force component TR2x =TR2 × sinα It becomes.

[0069] Since the collar 16 is located in the region where the outer diameter of the rotor outer surface 12a is reduced, when the rotor outer surface 12a rotates in the second rotation direction, the collar 16 rotates in the second rotation direction while slipping. As a result, the collar 16 receives a force directed toward the inside of the rotation axis along the groove 16G. Since the gradient of the taper is very small, the collar 16 moves inward in the rotation axis direction, where the outer diameter becomes larger, along the extension direction of the groove 16G. As a result, as shown in FIG. 9, the individual rotating bodies 14' that are separated from each other (see the upper figure) move inward in the rotation axis direction together with the collar 16, returning to the initial state where they were in contact with each other (see the lower figure).

[0070] As described above, in the surface processing device 2 of this embodiment, when the collar 16 moves outward along the taper 16G and then the drive unit 12 rotates in the second rotation direction R2 opposite to the first rotation direction R1, an inward force along the extension direction of the groove 16G is applied to the collar 16 from the rotor outer surface 12a, and the collar 16 moves inward in the direction of the rotation axis along the extension direction of the groove 16G, and the driving force transmitted from the rotor outer surface 12a to the inner surface 14a of the rotating body 14 increases.

[0071] After the collar 16 moves outward along the taper and the phenomenon that restricted the rotation of the rotor 14 is resolved, the user can easily return to the initial state in which driving force can be transmitted from the rotor outer surface 12a to the inner surface 14a of the rotor 14 by rotating the drive unit 12 in the second rotational direction. (Surface Processing Device and Surface Processing Unit According to Other Embodiments of the Present Invention) Next, a surface treatment device and a surface treatment unit according to another embodiment of the present invention will be described with reference to Fig. 10. Fig. 10 is a side view that shows a schematic view of treatment of a substantially vertical surface by a surface treatment unit including a surface treatment unit and a flying vehicle according to another embodiment of the present invention.

[0072] In this embodiment, the surface G to be treated by the surface treatment device 2 is a substantially vertical surface such as the wall of a building. The surface G may not only be flat, but also curved or irregularly changing. When the surface G is a substantially horizontal surface or a surface with a certain degree of inclination, the rotating body 14 comes into contact with the surface G due to gravity. In this embodiment, a counterweight 30 is provided to press the rotating body 14 against the substantially vertical surface G.

[0073] The upper part of the frame 20 is attached to the flying vehicle 50 at the flying vehicle connection part 26 and is suspended substantially vertically. A member in which the arms J1 and J2 are integrally connected in a V shape is disposed at the lower part of the frame 20. A processing unit 10 is attached to the tip of the arm J1, and a counterweight 30 is attached to the tip of the arm J2. The connection region of the arms J1 and J2 is rotatably attached to the upper part of the frame 20 at the position indicated by Q.

[0074] Due to the rotational moment M of the counterweight 30, the treatment section 10 is pressed against the substantially vertical surface G with a force indicated by an arrow P. In this manner, the surface treatment device 2 is moved upward by the flying vehicle 50 while the rotor 14 of the treatment section 10 is rotated in a first rotational direction R1 such that the rotor 14 moves downward relative to the surface G, whereby the surface G can be efficiently treated in the same manner as in the case shown in FIG.

[0075] The use of the counterweight 30 is merely an example, and the rotor 14 of the processing section 10 can be pressed against the substantially vertical surface G by, for example, an actuator, a damper, or the like.

[0076] (General) The first aspect of the present invention is A processing unit including a rotating body that contacts the surface portion or an object extending from the surface portion, and a driving unit that drives the rotating body; A frame having one end to which the processing unit is attached and which is connected to an airborne vehicle; Equipped with When the rotating body is rotated in a first rotation direction by the driving unit while in contact with the surface or the object, a force moving in a first direction relative to the surface is applied to the processing unit, and a force component in a second direction opposite to the first direction is applied to the processing unit via the frame by the flying moving body connected to the frame in flight, a force component in the second direction is greater than a force in the first direction, The surface processing apparatus rotates in the first rotation direction while in contact with the surface or the object, and moves in the second direction relative to the surface to process the surface or the object.

[0077] A second aspect of the present invention is a method for producing a composition comprising the steps of: The frame has an extension mechanism, This is a surface processing device in which, when the flying object moves in a direction approaching the processing portion while the processing portion is being pulled by the flying object via the frame, the frame shrinks.

[0078] A third aspect of the present invention is the method according to the first or second aspect, The driving unit is an outer rotor type motor, the rotating body is a hollow member arranged to cover an outer surface of a rotor of the outer rotor type motor, a collar is disposed between the rotor outer surface and the inner surface of the rotating body, the collar having an inner surface in contact with the rotor outer surface and an outer surface in contact with the inner surface of the rotating body; the rotor outer surface has a taper in which the outer diameter is large at the center and small at the outside in the direction of the rotation axis, When the rotation of the rotating body is restricted due to interference with the surface or the object, the collar moves outward in the direction of the rotation axis along the taper, reducing the driving force transmitted from the outer surface of the rotor to the inner surface of the rotating body.

[0079] A fourth aspect of the present invention relates to a method for producing a composition according to the third aspect, A plurality of grooves extending diagonally are formed on the inner surface of the collar, When the drive unit rotates in the first rotation direction, a force is applied from the outer surface of the rotor to the collar in an outward direction along an extension direction of the groove, This is a surface processing device in which, when a force transmitted from the outer surface of the rotor to the inner surface of the collar exceeds a predetermined value, the collar moves outward in the direction of the rotation axis along the extension direction of the groove.

[0080] A fifth aspect of the present invention relates to a method for producing a composition according to the fourth aspect, When the drive unit rotates in a second rotation direction opposite to the first rotation direction after the collar moves outward along the taper, an inward force is applied to the collar from the outer surface of the rotor along the extension direction of the groove, The collar moves inward in the direction of the rotation axis along the extension direction of the groove, thereby increasing the driving force transmitted from the outer surface of the rotor to the inner surface of the rotating body.

[0081] A sixth aspect of the present invention is any one of the first to fifth aspects, The rotating body is a rotating brush.

[0082] A seventh aspect of the present invention relates to the sixth aspect, This is a surface treatment device in which wheels that are not connected to the drive unit and roll on the surface are attached to both sides of the rotating brush in the rotation axis direction.

[0083] An eighth aspect of the present invention relates to the seventh aspect, The outer diameter of the wheel is smaller than the outer diameter of the rotating brush.

[0084] A ninth aspect of the present invention is any one of the first to fifth aspects, The rotating body is a rotary blade.

[0085] A tenth aspect of the present invention relates to the ninth aspect, The surface treatment device includes a cover wheel that covers a portion of the rotary blade, rolls on the surface, and is not connected to the drive unit.

[0086] An eleventh aspect of the present invention is a method for producing a composition comprising the steps of: A surface treatment device according to any one of the first to tenth aspects; A surface treatment unit comprising:

[0087] Although the embodiments and modes of implementation of the present invention have been described, the disclosed contents may vary in details of the configuration, and changes in the combination and order of elements in the embodiments and modes of implementation may be realized without departing from the scope and spirit of the claimed invention. [Explanation of symbols]

[0088] 2 Surface Processing Device 10 Processing section 12 Drive unit 12a Outer surface of rotor 14 Rotating Body 14' Individual Rotating Body 14a Inner surface 14B Rotating Brush 14B1 Brush section 14C Rotary blade 16 Color 16a Exterior 16b Inside 16G groove 18 Wheels 18C Cover Wheel 18C1 opening 20 Frames 22 Frame body 22A First Component 22A1 Contact surface 22B Second member 22B1 Contact surface 24 Drive unit support 26 Aircraft connection part 30 Counterweight 50 Flying Vehicles 52 Main unit 54 Rotor unit 56 legs 58 Mounting part 100 Face Processing Unit G Face

Claims

1. A processing unit including a rotating body that contacts the surface portion or an object extending from the surface portion, and a driving unit that drives the rotating body; A frame having one end to which the processing unit is attached and which is connected to an airborne vehicle; Equipped with When the rotating body is rotated in a first rotation direction by the driving unit while in contact with the surface or the object, a force moving in a first direction relative to the surface is applied to the processing unit, and a force component in a second direction opposite to the first direction is applied to the processing unit via the frame by the flying moving body connected to the frame during flight, a force component in the second direction is greater than a force in the first direction; A surface processing apparatus characterized in that the rotating body rotates in the first rotational direction while in contact with the surface or the object, and moves in the second direction relative to the surface to process the surface or the object.

2. The frame has an extension mechanism, The face processing device of claim 1, characterized in that when the flying object moves in a direction approaching the processing device while the processing device is being pulled by the flying object via the frame, the frame shrinks.

3. The driving unit is an outer rotor type motor, the rotating body is a hollow member arranged to cover an outer surface of a rotor of the outer rotor type motor, a collar is disposed between the rotor outer surface and the inner surface of the rotating body, the collar having an inner surface in contact with the rotor outer surface and an outer surface in contact with the inner surface of the rotating body; the rotor outer surface has a taper in which the outer diameter is large at the center and small at the outside in the direction of the rotation axis, A surface processing device as described in claim 1, characterized in that when rotation of the rotating body is restricted due to interference with the surface or the object, the collar moves outward in the direction of the rotation axis along the taper, reducing the driving force transmitted from the outer surface of the rotor to the inner surface of the rotating body.

4. A plurality of grooves extending diagonally are formed on the inner surface of the collar, When the drive unit rotates in the first rotation direction, a pressure is applied from the outer surface of the rotor to the collar in an outward direction along an extension direction of the groove, 4. The surface processing device according to claim 3, wherein when a force transmitted from the outer surface of the rotor to the inner surface of the collar exceeds a predetermined value, the collar moves outward in the direction of the rotation axis along the extension direction of the groove.

5. When the drive unit rotates in a second rotation direction opposite to the first rotation direction after the collar moves outward along the taper, an inward force is applied to the collar from the outer surface of the rotor along the extension direction of the groove, The surface processing device according to claim 4, characterized in that the collar moves inward in the direction of the rotation axis along the extension direction of the groove, thereby increasing the driving force transmitted from the outer surface of the rotor to the inner surface of the rotating body.

6. 2. The surface treatment device according to claim 1, wherein the rotating body is a rotating brush.

7. 7. The face treatment device according to claim 6, wherein wheels that roll on the face and are not connected to the drive unit are attached to both sides of the rotating brush in the direction of the rotation axis.

8. 8. The surface treatment device according to claim 7, wherein an outer diameter of the wheel is smaller than an outer diameter of the rotating brush.

9. The surface treating apparatus according to claim 1 , wherein the rotating body is a rotary blade.

10. The surface treatment device according to claim 9, further comprising a cover wheel that covers a portion of the rotary blade, rolls on the surface, and is not connected to the drive unit.

11. A surface treatment device according to any one of claims 1 to 10, A surface treatment unit comprising: a flying vehicle.

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