Adsorbent

Abstract

An object of the present disclosure is to provide an adsorbent body that can be adsorbed on any curved surface.SOLUTION: An adsorbent according to one aspect of the present disclosure is an adsorbent that adsorbs to a surface of an object by vacuum adsorption, the adsorbent including an adsorbent main body having a concave portion, a vacuum generator that depressurizes the concave portion, and a plurality of adsorption portions arranged inside the concave portion, wherein the plurality of adsorption portions each have an arc-shaped bottom surface and are arranged so as to surround a central portion of the concave portion as a whole and so as to be in contact with a wall surface constituting the concave portion, and the plurality of adsorption portions are configured so that ground contact surface pressures of the respective adsorption portions are balanced when adsorbing to the object.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to adsorbents. [Background technology]

[0002] BACKGROUND ART Adsorbents that adsorb to the walls of buildings and facilities of plants, factories, etc., for the purpose of maintenance, inspection, and construction of these buildings and facilities are known (see Japanese Patent Application Laid-Open No. 6-72365).

[0003] The suction body has a skirt member made of a fabric and having a hollow cross section that is attached to the wall side of the body and surrounds the outer periphery of the body, the skirt member being long enough to contact the wall surface, an exhaust port provided on the inner periphery of the body surrounded by the skirt member, and an exhaust blower attached to the exhaust port to form a suction chamber on the inner periphery of the body.The suction body also has an opening on the outer periphery of the body for introducing air into the skirt member, and a rib member provided along the skirt member near the wall surface to restrict deformation of the skirt member.

[0004] The above-described structure of the attraction body realizes an attraction mechanism for an attraction traveling device that has small sliding resistance with the wall surface, is lightweight, has a simple structure, and is capable of accommodating a large payload. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 6-72365 Summary of the Invention [Problem to be solved by the invention]

[0006] Although the above-mentioned adsorbent has the advantage that it is not affected by uneven wall surfaces because the skirt member is soft, the wall surface is basically flat and it cannot be adsorbed to any curved surface, making it difficult to adsorb to structures with uneven walls such as pipes, chimneys, and tanks.

[0007] The present disclosure has been made in light of the above-mentioned circumstances, and aims to provide an adsorbent that can be adsorbed onto any curved surface. [Means for solving the problem]

[0008] An adsorption body according to one aspect of the present disclosure is an adsorption body that adheres to the surface of an object by vacuum suction, and comprises an adsorption body main body having a recess, a vacuum generator that reduces the pressure in the recess, and a plurality of adsorption parts arranged inside the recess, each of which has an arc-shaped bottom surface and is arranged so that, as a whole, it surrounds the center of the recess and is in contact with the wall surfaces that make up the recess, and is configured so that the contact surface pressure of the individual adsorption parts is balanced when adsorbed to the object. [Effects of the Invention]

[0009] The adsorbent of the present disclosure can be adsorbed onto any curved surface. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic perspective view showing an adsorbent according to one embodiment of the present disclosure. [Figure 2] FIG. 2 is a schematic perspective view showing a part of the internal structure of the adsorbent of FIG. [Figure 3] FIG. 3 is a bottom view of the adsorber of FIG. [Figure 4] 4 is a bottom view showing the configuration of the first support rod, the second support rod, the first support rod and the second support rod of the adsorbent of FIG. [Figure 5] FIG. 5 is a schematic side view showing the state in which the suction part is in contact with the curved surface. [Figure 6] FIG. 6 is a schematic side view showing an adsorbent according to an embodiment different from that shown in FIG. [Figure 7] FIG. 7 is a bottom view of the adsorber of FIG. DETAILED DESCRIPTION OF THE INVENTION

[0011] [Description of the embodiments of the present disclosure] (1) An adsorbent according to one aspect of the present disclosure is an adsorbent that adheres to the surface of an object by vacuum suction, and includes an adsorbent body having a recess, a vacuum generator that reduces the pressure in the recess, and a plurality of adsorbent parts disposed inside the recess, each of which has an arc-shaped bottom surface and is arranged so as to surround the center of the recess as a whole and to be in contact with the inner surface of the wall that constitutes the recess, and is configured so that the contact pressure of each adsorbent part is balanced when adsorbed to the object.

[0012] The adsorber has multiple suction parts and is configured so that the contact pressure of each suction part is balanced when it adheres to an object. Therefore, even if the object has a curved surface, the contact pressure of each suction part is balanced, making it difficult for gaps through which air can leak from the recesses. Therefore, even on curved surfaces, the suction force obtained by drawing a vacuum in the recesses can be maintained, so the adsorber can adhere to any curved surface.

[0013] (2) The adsorption body described in (1) above may include a plurality of first support rods supporting a pair of adjacent adsorption portions and a plurality of second support rods supporting a pair of adjacent first support rods, and the first support rods and the second support rods may be configured so that the inclination angles of the first support rods and the second support rods relative to the opening surface of the recess can be changed independently. By using the first support rods and the second support rods whose inclination angles can be changed independently, it is easy to balance the contact pressure of each adsorption portion.

[0014] (3) The suction body according to (2) may further include a top plate disposed at the center of the top surface of the recess, first connecting portions equal in number to the first support rods, and second connecting portions equal in number to the second support rods, wherein the pair of first support rods are connected to opposite ends of a second support rod supporting the pair of first support rods via the first connecting portions, the connecting positions of the first support rods being at the centers of gravity of the first support rods, and the first support rods being configured to be rotatable in a direction perpendicular to the opening of the recess around the centers of gravity as a fulcrum, and the second support rods being connected to the top plate via the second connecting portions, the connecting positions of the second support rods being at the centers of gravity of the second support rods, and the second support rods being configured to be rotatable in a direction perpendicular to the opening of the recess around the centers of gravity as a fulcrum. With this configuration, it is possible to balance the contact surface pressures of the suction rods simply by pressing the top plate.

[0015] (4) In the adsorption body described in (1) above, it is preferable that the adsorption portion is configured to be able to be pressed by any one of the cylinders. By pressing the adsorption portion using the multiple cylinders in this way, it is possible to improve the controllability of the contact pressure of each adsorption portion.

[0016] (5) In the adsorption body described in (4) above, it is preferable that the number of the cylinders is the same as the number of the adsorption sections, and that the cylinders correspond one-to-one to the adsorption sections. This configuration allows the contact pressure of the adsorption sections to be controlled independently, further improving the controllability of the contact pressure of each adsorption section.

[0017] (6) In the adsorber described in (5) above, the cylinder may have a hydraulic section disposed at the center of the top surface of the recess, and an arm connecting the hydraulic section to the corresponding adsorber, the arm contacting the inner surface of the wall of the recess. With this configuration, the arm can be used to support the wall of the recess, allowing the adsorber to be designed compactly.

[0018] (7) In the adsorbent according to any one of (1) to (6), the wall of the recess may be stretchable and may cover the contact surface of the adsorbing part. This configuration allows the wall of the recess to stretch in response to the movement of each adsorbing part, preventing a gap from being formed between the adsorbing part and the wall of the recess.

[0019] (8) In any of the adsorptive bodies described in (1) to (7) above, the adsorptive units may each have wheels. By providing the adsorptive units with wheels in this way, the adsorptive body can be configured to be movable while being adsorbed to the target object.

[0020] [Details of the embodiments of the present disclosure] Hereinafter, an adsorbent according to an embodiment of the present disclosure will be described with reference to the drawings as appropriate.

[0021] [First embodiment] 1 to 5 is an adsorptive body that adheres to the surface of an object S by vacuum suction. The adsorptive body 1 includes an adsorptive body main body 10, a vacuum generator 11, a plurality of adsorption sections 12, a first support rod 13, a second support rod 14, a top plate 15, a first connecting section 16, and a second connecting section 17.

[0022] <Adsorbent body> The adsorbent body 10 has a recess 10a. The recess 10a can be, for example, columnar or dome-shaped. In the adsorbent 1 shown in Figures 1 to 5, the recess 10a is cylindrical.

[0023] When the recess 10a is cylindrical, the lower limit of the diameter of the recess 10a is preferably 1 mm, more preferably 10 mm, and even more preferably 100 mm. On the other hand, the upper limit of the diameter of the recess 10a is preferably 100 mm, more preferably 10 m, and even more preferably 1 m. Furthermore, the lower limit of the height of the recess 10a is preferably 0.3 mm, more preferably 3 mm, and even more preferably 30 mm. On the other hand, the upper limit of the height of the recess 10a is preferably 30 mm, more preferably 3 m, and even more preferably 0.3 m. If the diameter or height of the recess 10a is below the above lower limit, the efficiency of maintenance, inspection, and construction work at plants, factories, etc. may decrease. Conversely, if the diameter or height of the recess 10a exceeds the above upper limit, the weight may become too large, making it difficult to maintain suction with a practical vacuum generator 11.

[0024] 2 and 3, the wall 10b of the recess 10a is flexible and covers the contact surface of the suction portion 12. With this configuration, the wall 10b of the recess 10a expands and contracts in response to the movement of each suction portion 12, preventing a gap from being formed between the suction portion 12 and the wall 10b of the recess 10a.

[0025] Examples of materials for the wall 10b having such flexibility include rubber and resin.

[0026] <Vacuum generator> The vacuum generator 11 reduces the pressure in the recess 10a. There are no particular limitations on the vacuum generator 11, as long as it can reduce the pressure in the recess 10a. In the adsorbent 1, the vacuum generator 11 is composed of a pipe communicating with the recess 10a and a pressure reducing device (not shown). Examples of the pressure reducing device include a vacuum pump and a vacuum blower. Note that the type of vacuum generator 11 is not limited to the above configuration, and a centrifugal fan or the like may also be used.

[0027] <Adsorption part> The plurality of adsorption portions 12 are arranged inside the recess 10a. The adsorption body 1 in the first embodiment has at least four adsorption portions 12. In the adsorption body 1, as shown in FIG. 4, the number of adsorption portions 12 is 12. Below, an example in which the number of adsorption portions 12 is 12 will be described, but the number of adsorption portions 12 is not limited to 12.

[0028] The plurality of suction portions 12 each have an arc-shaped bottom surface and are arranged so as to surround the center of the recess 10a as a whole. The plurality of suction portions 12 are also arranged so as to contact the inner surface of the wall 10b that constitutes the recess 10a. Therefore, when the plurality of suction portions 12 are attached to the target S, the recess 10a forms a closed space with the wall 10b and the target S, excluding the gaps between adjacent suction portions 12. In this state, when the recess 10a is depressurized by the vacuum generator 11, a small amount of air flows in from the gaps, but it is possible to maintain a negative pressure inside the recess 10a, and this negative pressure allows the suction body 1 to maintain a state in which it is in close contact with the target S.

[0029] It is preferable that the plurality of adsorption sections 12 have the same shape (same type). By making the plurality of adsorption sections 12 the same type, the adsorption body 1 can be easily adsorbed stably.

[0030] The lower limit of the gap between adjacent suction portions 12 is preferably 0.1 mm, more preferably 1 mm. On the other hand, the upper limit of the gap is preferably 50 mm, more preferably 20 mm. If the gap is less than the lower limit, adjacent suction portions 12 may interfere with each other, making it difficult to balance the contact pressure of the individual suction portions 12. Conversely, if the gap exceeds the upper limit, the amount of air flowing in through the gap increases, making it difficult to maintain the suction body 1 in close contact with the target object S.

[0031] The suction portion 12 is not particularly limited as long as it is airtight and can be made of, for example, metal, rubber, resin, wood, etc. If the wall 10b of the recess 10a does not extend to the contact surface of the suction portion 12, the suction portion 12 will be in direct contact with the object S, and therefore it is preferable that the suction portion 12 has a certain degree of elasticity and elastically deforms to match the surface shape of the object S. For this reason, it is preferable that the suction portion 12 is made of rubber or resin. On the other hand, if the wall 10b of the recess 10a extends to the contact surface of the suction portion 12 as shown in FIGS. 2 and 3, a hard suction portion 12 is suitable from the standpoint of controllability of the contact pressure, and it is preferable that the suction portion 12 be made of metal.

[0032] The lower limit of the arc length of one suction portion 12 is preferably 1 mm, and more preferably 5 mm. On the other hand, the upper limit of the arc length of one suction portion 12 is preferably 1000 mm, and more preferably 100 mm. If the arc length is less than the lower limit, the number of suction portions 12 will be unnecessarily large, which may complicate the configuration for balancing the contact pressure of the individual suction portions 12, as described below. Conversely, if the arc length exceeds the upper limit, it may be difficult for each suction portion 12 to adhere closely to the object S when the object S has a curved surface.

[0033] The width and thickness of one suction portion 12 are not particularly limited, but for example, the width of the suction portion 12 can be 5 mm or more and 20 mm or less, and the thickness of the suction portion 12 can be 1 mm or more and 20 mm or less.

[0034] <First support rod, second support rod, first connecting part, second connecting part, and top plate> 2 and 4, the plurality of first support rods 13 support a pair of adjacent suction portions 12. Each first support rod 13 supports a different suction portion 12 from the other first support rods 13. In other words, the number of first support rods 13 is half the number of suction portions 12. The pair of adjacent suction portions 12 is disposed on both ends of the first support rod 13, respectively.

[0035] The plurality of second support rods 14 support a pair of adjacent first support rods 13. Specifically, the second support rods 14 support the first support rods 13 from the opposite side of the first support rods 13 from the suction portions 12 supported by the first support rods 13. Each second support rod 14 supports a first support rod 13 that is different from the other second support rods 14. In other words, the number of second support rods 14 is half the number of first support rods 13.

[0036] The top plate 15 is disposed at the center of the top surface of the recess 10a. As described below, the top plate 15 is connected to a plurality of second support rods 14, and therefore, is preferably large enough to cover the plurality of second support rods 14 in a plan view.

[0037] The number of first connecting portions 16 is the same as the number of first support rods 13. A pair of first support rods 13 is connected to both ends of a second support rod 14 that supports them via a first connecting portion 16. The connection position of the first support rods 13 is the position of the center of gravity of the first support rods 13, and the first support rods 13 are configured to be rotatable in a direction perpendicular to the opening surface of the recess 10a, with the position of the center of gravity as a fulcrum. Note that the first support rods 13 are not powered by a motor or the like and can rotate freely.

[0038] The number of second connecting portions 17 is the same as the number of second support rods 14. The second support rods 14 are connected to the top plate 15 via the second connecting portions 17. The connecting positions of the second support rods 14 are the positions of the centers of gravity of the second support rods 14, and the second support rods 14 are configured to be rotatable in a direction perpendicular to the opening plane of the recess 10a, with the positions of the centers of gravity as the fulcrum. The second support rods 14 can also rotate freely, similar to the first support rods 13.

[0039] With this configuration, the inclination angles of the first support rod 13 and the second support rod 14 with respect to the opening surface of the recess 10a can be changed independently. When the target object S is attached, the contact surface pressures of the individual suction portions 12 are balanced.

[0040] The lower limit of the ground contact force of the suction parts 12 when adhering to the object S is preferably 1 gf, more preferably 10 gf. On the other hand, the upper limit of the ground contact force is preferably 20 kgf, more preferably 1 kgf. If the ground contact force is less than the lower limit, it may not be possible to sufficiently prevent the inflow of air from the outside through the contact surface of the suction parts 12, making it difficult for each suction part 12 to adhere to the object S. Conversely, if the ground contact force exceeds the upper limit, the sliding resistance on the contact surface of the suction parts 12 may become too high, making it difficult to move the suction body 1 while it is adsorbed to the object S.

[0041] To explain this in more detail using FIG. 5, consider the case in which the top plate 15 is pressed to bring the adsorptive body 1 into contact with the target object S. The surface of the target object S that comes into contact with the pair of adsorptive parts 12 supported by the first support rod 13 on the right side of FIG. 5 is horizontal, so the first support rods 13 are kept horizontal. On the other hand, the surface of the target object S that comes into contact with the pair of adsorptive parts 12 supported by the first support rod 13 on the left side of FIG. 5 is tilted downward to the left, so the first support rods 13 also tilt in accordance with the tilt of the target object S and become stable. Furthermore, because the tilt of the target object S causes the first support rod 13 on the left to be positioned lower than the first support rod 13 on the right side, the second support rod 14 also tilts downward to the left and becomes stable. In this way, each of the first support rods 13 and second support rods 14 functions like a two-stage seesaw, balancing at a position where the contact surface pressure of each adsorptive part 12 is equal.

[0042] By using the first support rod 13 and the second support rod 14, whose tilt angles can be changed independently in this way, it is possible to balance the contact surface pressure of each suction part 12. In addition, the contact surface pressure of each suction part 12 can be balanced simply by pressing the top plate 15, and no power is required to adjust the tilt angle of each of the first support rod 13 and the second support rod 14.

[0043] <Advantages> The adsorptive body 1 has a plurality of adsorptive sections 12 and is configured so that the contact surface pressure of each adsorptive section 12 is balanced when the adsorptive body 1 is attached to the target object S. Therefore, even if the target object S has a curved surface, the contact surface pressure of each adsorptive section 12 is balanced, making it difficult for gaps through which air leaks from the recesses 10a to form. Therefore, even on a curved surface, the adsorptive body 1 can maintain the adsorptive force obtained by drawing a vacuum in the recesses 10a, and can therefore be attached to any curved surface.

[0044] Second Embodiment 7 and 8 is an adsorption body that adsorbs by vacuum suction to the surface of the target object S. The adsorption body 2 includes an adsorption body main body 10 having a recess 10a, a vacuum generator 11 that reduces the pressure in the recess 10a, a plurality of adsorption parts 12 disposed inside the recess 10a, and a plurality of cylinders 18.

[0045] The adsorber body 10 and the vacuum generator 11 are similar to the adsorber body 10 and the vacuum generator 11 of the first embodiment, and therefore detailed description thereof will be omitted.

[0046] The plurality of adsorption units 12 each have an arc-shaped bottom surface and are arranged so as to surround the center of the recess 10a as a whole and to be in contact with the inner surface of the wall 10b that constitutes the recess 10a. The adsorption unit 2 in the second embodiment has at least two adsorption units 12. As shown in FIG. 7, the adsorption unit 2 has eight adsorption units 12. Below, an example in which the number of adsorption units 12 is eight will be described, but the number of adsorption units 12 is not limited to eight. There is no particular upper limit on the number of adsorption units 12, but in reality the number of adsorption units 12 is 100 or less.

[0047] In the adsorptive body 2, the adsorptive part 12 is configured so as to be able to be pressed by any one of a plurality of cylinders 18. In addition, the adsorptive parts 12 each have a wheel 19.

[0048] Other configurations of the suction unit 12 can be the same as those of the suction unit 12 in the first embodiment, and therefore detailed description thereof will be omitted.

[0049] <Cylinder> The cylinder 18 has a hydraulic section 18a, an arm 18b, and a casing 18c.

[0050] Although it is possible to configure the number of cylinders 18 to be fewer than the number of adsorption units 12, with one cylinder 18 controlling multiple adsorption units 12, it is preferable that the number of cylinders 18 is the same as the number of adsorption units 12, with a one-to-one correspondence between the multiple cylinders 18 and the multiple adsorption units 12. This configuration allows the contact pressure of the multiple adsorption units 12 to be controlled independently, further improving the controllability of the contact pressure of each adsorption unit 12. In the adsorption body 2, as shown in FIG. 7 , the number of cylinders 18 is six, the same as the number of adsorption units 12. The following description will be given using an example in which the number of cylinders 18 is the same as the number of adsorption units 12, but this does not mean that the number of cylinders 18 is limited to the same number as the number of adsorption units 12.

[0051] The hydraulic unit 18a is disposed at the center of the ceiling of the recess 10a. As shown in Figures 6 and 7, in the adsorber 2, the six hydraulic units 18a are housed in a casing 18c, and the casing 18c is fixed to the ceiling of the recess 10a. Each hydraulic unit 18a is disposed near the adsorber 12 that it controls. As a result, the six hydraulic units 18a are arranged in a circle within the casing 18c.

[0052] The arm 18b connects the hydraulic unit 18a to the corresponding suction unit 12. As shown in Fig. 6, the arm 18b contacts the inner surface of the wall 10b of the recess 10a. With this configuration, the arm 18b can be used to support the wall 10b of the recess 10a, allowing the suction body 2 to be designed compactly.

[0053] As shown in Fig. 6, arm 18b is configured to be freely rotatable at a position where it intersects with the side wall of casing 18c, with the position where it intersects with the side wall as a fulcrum. Therefore, in this adsorber 2, when hydraulic unit 18a pushes up one end of arm 18b, the other end of arm 18b is pushed down, and adsorption unit 12 connected to the other end of arm 18b is controlled to contact the target object S. As shown in Fig. 6, the length from the fulcrum to adsorption unit 12 is longer than the length from the fulcrum to hydraulic unit 18a, so that a slight push up by hydraulic unit 18a can significantly push down adsorption unit 12. By changing the amount of push up (pressure) of each hydraulic unit 18a, it is possible to balance the contact surface pressure of each adsorption unit 12 when adsorbing to the target object S.

[0054] <Wheels> The plurality of wheels 19 are provided on each of the plurality of adsorption sections 12, and are configured to be able to support the adsorption body 2. By providing the plurality of wheels 19 in this manner, the adsorption body 2 can be configured to be movable while being adsorbed to the target object S.

[0055] The adsorber 2 is provided with six wheels 19, one for each of the six adsorptive sections 12. The number of wheels 19 is not particularly limited, but from the viewpoint of supporting the adsorptive body 2 with the wheels 19 alone, three or more wheels are preferable.

[0056] The plurality of wheels 19 may be configured to be movable in any direction. By configuring the plurality of wheels 19 to be movable in any direction in this way, the adsorptive body 2 can be moved in any direction. Examples of such wheels 19 include omni wheels and mecanum wheels.

[0057] It is preferable that some or all of the plurality of wheels 19 are drive wheels. By providing drive wheels in this manner, the adsorptive body 2 can be configured to be self-propelled. The number of drive wheels is preferably two. By using two drive wheels, it is possible to easily control the direction of movement. The two wheels are preferably arranged so that a perpendicular line dropped from the center of the recess 10a to a line connecting the two wheels bisects the line, and it is more preferable that the wheels are arranged symmetrically with respect to the center of the recess 10a.

[0058] Although it is possible to configure the bottom surface of the suction portion 12 (the bottom surface of the arc-shaped portion) to contact the ground, the suction body 2 is configured so that the wheels 19 of the suction portion 12 contact the ground and the contact surface pressure applied to the wheels 19 is balanced. Even when the wheels 19 contact the ground, it is preferable that they contact the object S with the grounding force described in the first embodiment.

[0059] The lower limit of the gap between the contact surface of the wheel 19 and the bottom surface of the arc-shaped portion is preferably 0.01 cm, more preferably 0.1 cm. On the other hand, the upper limit of the gap is preferably 1 cm, more preferably 0.7 cm. If the gap is less than the lower limit, the bottom surface of the arc-shaped portion may slide against the object S, making it difficult to move the adsorptive body 2. Conversely, if the gap exceeds the upper limit, the pressure in the recess 10a may not be sufficiently reduced, making it difficult to adsorb the adsorptive body 2 to the object S.

[0060] <Advantages> In the adsorptive body 2, the adsorption parts 12 are pressed using a plurality of cylinders 18, thereby improving the controllability of the contact surface pressure of each adsorption part 12.

[0061] [Other embodiments] The above-described embodiments do not limit the configuration of the present disclosure. Therefore, the above-described embodiments may include omissions, substitutions, or additions of components based on the description in this specification and common general technical knowledge, and all of these should be construed as belonging to the scope of the present disclosure.

[0062] In the above embodiment, the recessed portion has elastic walls that extend to the contact surface of the suction portion. However, the recessed portion may have elastic walls that do not extend to the contact surface of the suction portion. Furthermore, it is not essential that the recessed portion has elastic walls. However, if the recessed portion has elastic walls that extend to the contact surface of the suction portion, it is preferable that the recessed portion has elastic walls. If the recessed portion has non-elastic walls that extend to the contact surface of the suction portion, the controllability of the suction portion may be reduced, and the contact surface pressure of each suction portion may not be balanced when the suction portion adheres to the target object.

[0063] In the first embodiment, a two-stage configuration of support rods has been described, but the support rods may be one stage or three or more stages. From the viewpoint of the complexity of the configuration and the effects to be obtained, the two-stage configuration shown in the first embodiment is suitable.

[0064] In the first embodiment, the support rods are connected at the center of gravity and are configured to be freely rotatable, but the support rods do not have to be connected at the center of gravity. Also, the support rods may be rotated by power.

[0065] In the second embodiment, the arm of the cylinder is in contact with the inner surface of the wall of the recess, but it is not essential that the arm be in contact with the inner surface of the wall of the recess. For example, the present invention also contemplates an adsorption body that includes a frame that supports the wall of the recess, separate from the arm.

[0066] In the first embodiment, the case where the suction parts do not have wheels has been described, but the suction parts may have wheels. Conversely, in the second embodiment, the case where the suction parts have wheels has been described, but the suction parts do not have to have wheels. Note that, if wheels are provided in the first embodiment, it is preferable to provide two wheels on both ends of each suction part. By providing two wheels in this way, it is easy to balance the contact surface pressure of each suction part at an equal position. [Industrial Applicability]

[0067] As described above, the adsorbent of the present disclosure can be adsorbed to any curved surface. [Explanation of symbols]

[0068] 1, 2 Adsorbent 10 Adsorbent body 10a Recess 10b Wall 11 Vacuum Generator 12 Adsorption part 13 1st support rod 14 Second support rod 15 Top plate 16 1st connection part 17 Second connection part 18 cylinders 18a Hydraulic section 18b Arm 18c casing 19 wheels S Object

Claims

1. An adsorbent that adsorbs to the surface of an object by vacuum adsorption, an adsorbent body having a recess; a vacuum generator for reducing the pressure in the recess; a plurality of suction portions disposed inside the recess; Equipped with The plurality of adsorption units are Each base is arc-shaped, The recessed portion is disposed so as to surround the central portion of the recessed portion as a whole and to be in contact with the inner surface of the wall constituting the recessed portion, The adsorption body is configured so that the contact surface pressure of each adsorption portion is balanced when adsorbed to the object.

2. a plurality of first support rods that support pairs of adjacent suction portions; a plurality of second support rods supporting a pair of adjacent first support rods; Equipped with 2. The adsorber according to claim 1, wherein the first support rod and the second support rod are configured so that the inclination angles of the first support rod and the second support rod with respect to the opening surface of the recess can be changed independently.

3. a top plate disposed at the center of the top surface of the recess; a first connecting portion having the same number as the first support rods; the second connecting portions having the same number as the second support rods; Equipped with the pair of first support rods are connected to both ends of a second support rod that supports the pair of first support rods via the first connecting portions, the coupling position of the first support rod is the center of gravity position of the first support rod, the first support rod is configured to be rotatable in a direction perpendicular to an opening surface of the recessed portion, with the center of gravity position as a fulcrum; the second support rod is connected to the top plate via the second connecting portion, the coupling position of the second support rod is the center of gravity position of the second support rod, 3. The adsorber according to claim 2, wherein the second support rod is configured to be rotatable in a direction perpendicular to the opening surface of the recess, with the center of gravity as a fulcrum.

4. It has multiple cylinders, 2. The adsorber according to claim 1, wherein the adsorptive portion is configured to be pressable by any one of the plurality of cylinders.

5. The number of the cylinders is the same as the number of the adsorption units, 5. The adsorbent according to claim 4, wherein the plurality of cylinders and the plurality of adsorption sections correspond one-to-one.

6. The above cylinder is a hydraulic section disposed at the center of the top surface of the recess; an arm connecting the hydraulic unit and the corresponding suction unit; and 6. The adsorber according to claim 5, wherein the arms are in contact with the inner surface of the wall of the recess.

7. 7. The adsorbent according to claim 1, wherein the wall of the recess has elasticity and covers the contact surface of the adsorbing part.

8. The adsorptive body according to any one of claims 1 to 6, wherein the adsorptive parts each have a wheel.

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