Wall-mounted, suction-type work robot

Abstract

This invention provides a wall-mounted suction type work robot that can safely and quickly perform reinforcement work and inspections at high places, such as the upper parts of concrete structure walls. [Solution] The work unit body comprises a drive unit for moving along walls and ceilings (hereinafter referred to as "walls, etc."), a suction unit that can move (including rotation) while adhering to the wall, etc. under reduced pressure and with the reduced pressure adsorption of all outriggers described below stopped, and a work unit for working on the wall, etc., and outriggers that can be adhering to the wall, etc. under reduced pressure to more reliably prevent falling from the wall, etc., and a connecting arm for connecting the outriggers to the work unit body.

Description

Technical Field

[0001] This application is intended to serve as the basis for a domestic priority claim application to be filed at a later date. The present invention relates to a wall surface adsorption type working robot that works while adsorbed to a wall surface or the like.

Background Art

[0002] In recent years, the aging of concrete structures such as buildings and bridges built during the so-called high-growth period has been progressing. Among these aging concrete structures, there are some that lack earthquake resistance against large earthquakes that are expected to occur in the near future, such as those where the wall surface or ceiling surface has naturally collapsed, is about to collapse, or has cracks. When performing reinforcement work or inspections on such concrete structures with insufficient strength or concrete structures that need to be inspected for insufficient strength, for construction such as drilling holes and driving anchors at high places such as the upper part of the wall surface of the concrete structure and the ceiling surface, and for grasping the positions such as the depth and arrangement of embedded steel bars by electromagnetic wave radar scanning, which is essential for these constructions, it is necessary to use scaffolds or aerial work platforms. That is, it takes a lot of time and effort to set up scaffolds or arrange aerial work platforms. And above all, there is a drawback that the work of holding heavy tools such as measuring instruments such as electromagnetic wave radars, drilling machines, and anchor driving machines at high places is dangerous.

[0003] Recently, attempts have been made to use work robots that can move while adhering to walls and other surfaces for the aforementioned high-altitude work. However, when performing tasks such as drilling holes or driving anchors, where the reaction force from the concrete structure wall is particularly large, the work robot may not have sufficient suction power and may fall. Therefore, a fall prevention device is attached to the wall and connected to the work robot with a rope. This prevents the robot from falling to the ground even if it detaches from the wall, as it will be suspended by the rope. This is to ensure the safety of workers in the vicinity below the work robot and to prevent damage to the robot. For this reason, the length of the rope must be shorter than the distance from the wall to the ground. Consequently, if the work area of ​​the work robot is moved outside the reach of the rope, the fall prevention device must also be moved. In other words, there is a drawback in that scaffolding or an aerial work platform must be arranged even when moving this fall prevention device.

[0004] Furthermore, as a work robot capable of adhering to walls and the like, for example, a work robot that performs repair inspection work on the wall surface of a structure to be repaired, as described in Patent Document 1, is known. As shown in Figure 1, a view of the work robot adhering to the wall surface of a structure to be repaired, from the top side of the work robot, this work robot 0100 comprises a work unit body 0101 equipped with work parts such as a camera C and a laser welding machine L, four suction legs 0110 arranged at the upper and lower ends of the left and right sides of the work unit body 0101, and a central suction leg 0110 located in the center of the work unit body 0101.

[0005] Each of the suction legs 0110 has both an extension / retraction function provided by a hydraulic cylinder 0111 and an suction function provided by a suction mechanism 0112. Each of the hydraulic cylinders 0111 of the four suction legs 0110 on the side of the work unit body 0101 is attached to the work unit body 0101 so as to extend and retract in the left-right direction as shown in the figure. The suction mechanism 0112, which is fixed to the cylinder rod 0111a of the hydraulic cylinder 0111, can be moved in the left-right direction relative to the work unit body 0101 as the hydraulic cylinder 0111 extends and retracts. Meanwhile, the suction leg 0110 in the center of the work unit body 0101 also has an extension / retraction function by a hydraulic cylinder 0111 and an suction function by a suction mechanism 0112. The hydraulic cylinder 0111 of this central suction leg 0110 is attached to the central hole 0101a of the work unit body 0101 so as to extend and retract in the vertical direction as shown in the figure, and the suction mechanism 0112 fixed to the cylinder rod 0111a of this hydraulic cylinder 0111 can be moved in the vertical direction as shown in the figure relative to the work unit body 0101 by the extension and retraction of the hydraulic cylinder 0111.

[0006] When moving this work robot 0100, for example to the left in Figure 1, the suction legs 0110 at four locations on the side of the work unit body 0101 that are attached to the wall surface w, and the two suction legs 0110 on the side in the direction of movement (left side in Figure 1) and the central suction leg 0110, a total of three suction legs, are all de-attached. Next, the two suction legs 0110 on the side of the work unit body 0101 opposite to the direction of movement (right side in Figure 1) are extended by the hydraulic cylinder 0111, and the three suction legs 0110, which are now in a non-suction state along with the work unit body 0101, are moved to the left side in Figure 1. After this, the two suction legs 0110 on the side of the work unit body 0101 that are in the direction of movement, and the central suction leg 0110, are all brought into a suction state by the respective suction mechanisms 0112. Next, the two suction legs 0110 on the side of the work unit body 0101 opposite to the direction of movement are both set to a non-suction state, and these suction legs 0110 are retracted by the hydraulic cylinder 0111, after which each suction mechanism 0112 sets them to an suction state. In this way, by repeatedly selecting and performing suction / non-suction by the suction mechanism 0112 and extension / contraction by the hydraulic cylinder 0111 on the four suction legs 0110 on the side of the work unit body 0101 and the central suction leg 0110, the work robot 0100 can be moved intermittently laterally on the wall surface w of the structure to be repaired.

[0007] Furthermore, when moving the work robot 0100 downwards, for example, as shown in Figure 1, all four suction legs 0110 on the side of the work unit body 0101, which are currently attached to the wall w, are released from their suction state. Next, the central suction leg 0110, which is in a state of suction to the wall surface w, is extended by the hydraulic cylinder 0111, and the four suction legs 0110, which are now in a non-suction state along with the work unit body 0101, are moved downward in Figure 1. Next, the four suction legs 0110 on the side of the work unit body 0101 are all brought into a suction state by the respective suction mechanisms 0122. Next, the central suction leg 0110, which is in an adsorbed state, is de-adsorbed, and then retracted by the hydraulic cylinder 0111, after which it is brought back into an adsorbed state by the adsorption mechanism 0112. In this way, just as when moving the work robot 0100 in the left-right direction on the wall surface w of the structure to be repaired, the work robot 0100 can also be moved intermittently in the up-down direction on the wall surface w by repeatedly selecting and performing appropriate actions of suction / non-suction and extension / contraction on the four suction legs 0110 on the side of the work unit body 0101 and the central suction leg 0110.

[0008] In this work robot 0100, a hoist is installed on top of the structure to be repaired, and a fall prevention wire 0130 is extended from the hoist and connected to it. The work robot 0100 moves to the repair work area using this hoist and wire 0130. In the repair work area, the robot moves along the wall w by appropriately operating the four suction legs 0110 on the sides of the work unit body 0101 and the suction leg 0110 in the center of the work unit body 0101, while performing repair inspection work using the camera C and laser welding machine L. In other words, in this work robot 0100, the suction legs themselves do not have sufficient suction force to prevent the work unit body from falling from the wall. That is to say, the work robot described in reference 1 is not capable of autonomous movement along walls, etc. [Prior art documents] [Patent Documents]

[0009] [Patent Document 1] Patent No. 3905051 [Overview of the project] [Problems that the invention aims to solve]

[0010] Thus, even with the work robot 0100 described in Patent Document 1, when using it, it is necessary to install a hoist for winding up the fall prevention wire 0130 connected to the work robot 0100 on the upper part of the structure to be repaired using scaffolding or an aerial work platform, and this work at height is dangerous. Furthermore, in order to move the work unit body 0101 on a wall surface w, for example in a horizontal direction, it is necessary to always attach two of the four suction legs 0110 on the side of the work unit body 0101, either on the side in the direction of movement or the side in the opposite direction of movement, to the wall surface w while the work unit body 0101 is always suspended and held by the hoist and wire 0130. As a result, it is difficult to say that the movement of the work unit body 0101 is smooth, and there is a problem that movement takes a lot of time, and solving these problems has been a challenge in the past.

[0011] The present invention was made to solve the above-mentioned conventional problems, and aims to provide a wall-suction type work robot that can safely and quickly carry out reinforcement work and inspections at high places, such as the upper parts of concrete wall surfaces. [Means for solving the problem]

[0012] To solve the above problems, the present invention provides the following wall-mounted, suction-type work robot. In other words, the first aspect of the present invention comprises a work unit body consisting of a drive unit for moving on walls and ceilings (hereinafter referred to as "walls, etc."), a suction unit that can move (including rotation) while adhering to the wall, etc. under reduced pressure and with the reduced pressure adsorption of all outriggers described later stopped, and a work unit for performing work on the wall, etc., an outrigger that can be adhering to the wall, etc. under reduced pressure to more reliably prevent falling from the wall, etc., and a connecting arm for connecting the outrigger to the work unit body.

[0013] Furthermore, in a second embodiment of the present invention, the connecting arm is configured such that the working unit body can move freely on a wall or the like relative to the outrigger while it is being driven (under reduced pressure suction).

[0014] Furthermore, in a third embodiment of the present invention, the connecting arm is configured to function as a track that allows the work unit body to move relative to the outrigger while it is being driven.

[0015] Furthermore, a fourth aspect of the present invention is a configuration that includes a connecting arm track movement unit for moving the connecting arm along a track without driving the drive unit while the outrigger is being driven.

[0016] Furthermore, in the fifth and sixth embodiments of the present invention, the connecting arm and / or the work unit body is configured to have a wall-mounted vertical drive unit that moves the work unit body away from the wall or the like and then brings it to the wall in order to overcome steps or other obstacles such as walls.

[0017] Furthermore, in the seventh aspect of the present invention, the connecting arm is configured to have an outrigger moving portion that moves the resting outrigger with respect to a wall surface or the like during the rest of all or a part of the outriggers.

Effects of the Invention

[0018] According to the present invention, for example, in work at a high place such as the upper part of the wall surface of a concrete structure, a very excellent effect that reinforcement work and inspection can be carried out safely and speedily can be obtained.

Brief Description of the Drawings

[0019] [Figure 1] It is an explanatory view of a state of being adsorbed on a wall surface showing a conventional work robot for performing reinforcement work and inspection on a wall surface or the like. (Corresponding to paragraphs 0004 to 0010) [Figure 2A] It is an overall perspective view showing a wall surface adsorption type work robot according to Embodiment 1 of the present invention. (Corresponding to paragraphs 0026 to 0036) [Figure 2B] It is a perspective view from the bottom side of the wall surface adsorption type work robot of FIG. 2A. (Corresponding to paragraphs 0028 to 0036) [Figure 2C] It is an operation explanatory view showing a situation where the wall surface adsorption type work robot of FIG. 2A is ascending on the wall surface. (Corresponding to paragraphs 0028 to 0036) [Figure 2D] It is an operation explanatory view showing a situation where the work unit main body of the wall surface adsorption type work robot of FIG. 2A rotates with respect to the driving outrigger. (Corresponding to paragraph 0037) [Figure 2E] It is an operation explanatory view showing a situation where the work unit main body of the wall surface adsorption type work robot of FIG. 2A rotates with respect to the driving outrigger. (Corresponding to paragraph 0037) [Figure 3A] It is a plan view schematically showing a wall surface adsorption type work robot according to Embodiment 2 of the present invention. (Corresponding to paragraphs 0041 to 0042) [Figure 3B] It is an operation view of the wall surface adsorption type work robot of FIG. 3A. (Corresponding to paragraphs 0041 to 0042) [Figure 3C]Figure 3A shows the operation of a wall-mounted suction type work robot. (Corresponding to paragraphs 0041-0042) [Figure 4A] This is an explanatory diagram showing the operation of the working unit body of a wall-suction type work robot according to Embodiment 3 of the present invention, in which the connecting arm moves upward relative to the outrigger that is being driven. (Corresponding to paragraphs 0046-0048) [Figure 4B] Figure 4A is an explanatory diagram showing the operation of the working unit of a wall-mounted suction type robot, where the working unit moves downward using the connecting arm as a trajectory relative to the outriggers that are being driven. (Corresponds to paragraphs 0046-0048) [Figure 5A] This is an explanatory diagram showing the operation of the working unit body of a wall-suction type work robot according to Embodiment 4 of the present invention, moving to the left with the connecting arm as its trajectory relative to the outrigger that is being driven. (Corresponding to paragraphs 0052 to 0054) [Figure 5B] Figure 5A is an explanatory diagram showing the operation of the working unit of a wall-mounted suction robot, where the working unit moves to the right using the connecting arm as a trajectory relative to the outrigger that is being driven. (Corresponds to paragraphs 0052-0054) [Figure 6A] This is an explanatory diagram showing the operation of the working unit body of a wall-suction type work robot according to Embodiment 5 of the present invention, moving upward with respect to the outriggers that are being driven, using the connecting arm as a trajectory. (Corresponding to paragraphs 0058-0060) [Figure 6B] Figure 6A is an explanatory diagram showing the operation of the working unit of a wall-mounted suction robot, where the working unit moves downward using the connecting arm as a trajectory relative to the outriggers that are being driven. (Corresponds to paragraphs 0058-0060) [Figure 7A] This is a side view illustrating a wall-mounted suction type work robot according to Embodiment 6 of the present invention. (Corresponding to paragraphs 0064-0071) [Figure 7B] Figure 7A is an overall perspective view showing a wall-mounted suction type work robot. (Corresponding to paragraphs 0064-0071) [Figure 7C] Figure 7A is an explanatory diagram showing the operation of a wall-mounted suction robot over a protruding section. (Corresponds to paragraphs 0072-0076) [Figure 7D]Figure 7A is an explanatory diagram showing the operation of a wall-mounted suction robot crossing a platform. (Corresponds to paragraphs 0077-0080) [Figure 7E] Figure 7A is an explanatory diagram showing the operation of a wall-mounted suction robot overcoming a depression. (Corresponds to paragraphs 0081-0085) [Figure 7F] This is an explanatory diagram showing the mounting configuration of the work unit of the wall-mounted suction type work robot shown in Figure 7A. (Corresponds to paragraph 0087) [Figure 7G] This is an explanatory diagram showing the mounting configuration of other work units for the wall-mounted suction type work robot shown in Figure 7A. (Corresponds to paragraph 0087) [Figure 8] This is a schematic overall perspective view showing a wall-suction type work robot according to Embodiment 7 of the present invention. (Corresponding to paragraphs 0091-0094) [Figure 9A] This is a schematic overall perspective view showing a wall-suction type work robot according to Embodiment 8 of the present invention. (Corresponding to paragraphs 0098-0099) [Figure 9B] Figure 9A shows the operation of a wall-mounted suction type work robot. (Corresponding to paragraphs 0098-0099) [Figure 9C] Figure 9A shows the operation of a wall-mounted suction type work robot. (Corresponding to paragraphs 0098-0099) [Modes for carrying out the invention]

[0020] The following describes embodiments of the wall-mounted suction type work robot according to the present invention. The relationship between the embodiments and claims is as follows: Embodiment 1 mainly relates to claim 1, Embodiment 2 mainly relates to claim 2, Embodiment 3 mainly relates to claim 3, Embodiments 4 and 5 mainly relate to claim 4, Embodiment 6 mainly relates to claim 6, Embodiment 7 mainly relates to claim 5, and Embodiment 8 mainly relates to claim 7. It should be noted that the present invention is not limited in any way to these embodiments, and can be implemented in various forms without departing from its essence.

[0021] <Prerequisites for work performed using wall-mounted, suction-type work robots>

[0022] The wall-suction type work robot according to the present invention performs tasks while attached to a wall or other surface, such as maintenance work and repair work for concrete structures such as the exterior walls of buildings, the interior walls of tunnels, and bridges. Specifically, these tasks include cleaning, painting, rust removal, inspection of deterioration such as cracks, peeling, and water leakage, inspection of the reinforcement bar arrangement of concrete structures, drilling holes for anchor installation, anchor installation, injection of resin into cracks and fissures, and painting. When these tasks are classified into heavy-duty tasks (hereinafter referred to as "heavy-duty tasks"), which involve mounting heavy equipment such as high-pressure washers, sanders, drillers, and anchor drivers, or receiving large reaction forces from the wall or other surface, such as drilling holes with drillers, and light-duty tasks (hereinafter referred to as "light-duty tasks"), conventional wall-suction type work robots could not be used for heavy-duty tasks due to their strong suction force and were mainly used for light-duty tasks. The wall-mounted suction type work robot according to the present invention is equipped with outriggers that can reduce pressure and suction to walls and other surfaces in order to more reliably prevent it from falling from walls and other surfaces, thereby making it possible to use it for heavy work. <Embodiment 1 mainly corresponds to Claim 1>

[0023] This embodiment primarily relates to claim 1. <Embodiment 1: Wall-mounted suction type work robot - Overview - Primarily corresponds to Claim 1>

[0024] The wall-suction type work robot according to this embodiment comprises, for example, a work unit body that includes a drive unit for moving on the wall surface of a concrete structure, a suction unit that can move while adhering to the wall surface under reduced pressure (a suction unit that generates a reduced pressure suction force that prevents the work robot from detaching from the wall surface even when it moves while sliding on the wall surface by the drive unit), and a work unit for acquiring the arrangement of reinforcing bars of a concrete structure or performing tasks such as drilling holes or driving anchors, an outrigger that can adhere to the wall surface under reduced pressure, and a connecting arm for connecting the outrigger to the work unit body. In this configuration, the work unit can move while maintaining depressurized suction to a wall or other surface with the outrigger's depressurized suction deactivated. This allows the work unit to be quickly moved by the drive unit at high places such as the upper part of a concrete structure's wall or ceiling. Furthermore, by driving the outriggers (creating depressurized suction) during work at heights such as the upper parts of walls or ceilings, especially during the heavy-duty work described above, it becomes possible to reliably prevent the work unit itself, which is being depressurized and suctioned to the wall, from falling. Therefore, it becomes possible to safely and quickly perform reinforcement work, inspections, and other heavy-duty work at heights such as the upper parts of walls or ceilings of concrete structures.

[0025] Furthermore, the objects of work for the wall-suction type work robot according to the present invention include not only the walls, columns, beams, floors, and foundations of concrete buildings, but also bridges and tunnels, as well as the walls, columns, beams, and floors of structures made of metals other than concrete, such as aluminum. <Embodiment 1: Wall-mounted suction type work robot. Configuration mainly corresponds to claim 1. Related drawing: Figure 2A>

[0026] As shown in the overall perspective view of Figure 2A, the wall-suction type work robot 0200 according to this embodiment has a work unit body 0210 consisting of a drive unit 0210A for moving along a wall, a suction unit 0210B that can move while being suctioned to the wall, and a work unit 0210C that performs work on the wall, an outrigger 0220 that can be suctioned to the wall to more reliably prevent it from falling from the wall, and a connecting arm 0230 for connecting the outrigger 0220 to the work unit body 0210. <Embodiment 1: Working Unit Body, Drive Unit Configuration (Mainly corresponds to Claim 1), Related Drawing: Figure 2A>

[0027] The drive unit 0210A of the work unit body 0210 is equipped with wheels 0211 arranged at four locations on the front, rear, left, and right sides of the work unit body 0210 in the shape of a vehicle, and a drive motor for rotating these wheels 0211 to make them drive wheels (the drive motor is mounted inside the work unit body 0210 and is therefore not shown). In this case, a steering mechanism may be provided that allows steering of at least two of the four wheels 0211 that are located at the front or rear of the wheel 0211 that are rotated by the output of the drive motor, in which case movement to the work area can be made smoother. Furthermore, in this embodiment, wheels 0211 are used as a means of transmitting the output of the drive unit 0210A to a wall or the like, and are arranged in four locations on the front, back, left, and right of the work unit body 0210. However, the embodiment is not limited to this, and as an alternative configuration, for example, crawlers (endless tracks) may be used as a means of transmitting the output of the drive unit 0210A to a wall or the like, and these crawlers may be arranged on the left and right sides of the work unit body. In this case, by creating a difference in the rotation speed of the left and right crawlers or making them rotate in opposite directions, the direction of travel of the work unit body can be changed or it can be turned in place (super-tight turning). In the drive motor of this drive unit 0210A, when an external power supply is used, the external power supply is supplied via a cable, and when the work unit body 0210 is equipped with a battery, power is supplied directly from this battery. The drive motor of this drive unit 0210A is configured to operate in response to control commands from an external PC, mobile terminal, or other control unit transmitted via cable or wirelessly. <Embodiment 1: Working Unit Body, Suction Unit Configuration (Mainly corresponds to Claim 1) Related Drawings: Figures 2A, 2B, 2C>

[0028] On the other hand, the suction unit 0210B consists of a blower 0215 built into the work unit body 0210, an air intake port 0216 located on the bottom surface of the work unit body 0210 as shown in the perspective view from the bottom direction in Figure 2B, and a suction surface 0217 which is the bottom surface of the work unit body 0210. The blower 0215 of the suction unit 0210B is powered by an external power source or a battery, similar to the drive unit 0210A mounted on the work unit body 0210, and draws in air from the air intake port 0216 when in operation. The suction unit 0210B, with this configuration, operates the blower 0215 to create a negative pressure space between the suction surface 0217, which is the bottom surface of the work unit body 0210, and the wall surface of the concrete structure, etc., so that the work unit body 0210 can be attached to the wall surface of the concrete structure, etc. (concrete wall surface W in Figure 2C), as shown in Figure 2C. Furthermore, in its attached state, the suction unit 0210B generates enough suction force to prevent the wall-suction type work robot 0200 from detaching from the wall surface, etc., even when sliding on the wall surface, etc., by rotating the four wheels 0211 on the front, rear, left, and right sides with the output of the drive motor. As a result, the wall-suction type work robot 0200 can move up and down the concrete wall surface W and move along the ceiling surface. Furthermore, since the suction force generated by the suction part 0210B is affected by surface conditions such as the presence or absence of joints and the degree of surface roughness on the wall surface, it is desirable to provide sheet members made of, for example, hard resin and soft resin on the suction surface 0217, which is the bottom surface of the work part body 0210, so that they can be replaced according to the surface conditions of the wall surface. <Embodiment 1: Work Unit Body, Work Unit Configuration, mainly corresponds to Claim 1, Related Drawings: Figures 2A, 2B, 2C>

[0029] In this embodiment, the work unit 0210C, which performs work on the wall surface of the work unit body 0210, is a drilling machine located at the left end of Figure 2A (right end of Figure 2B, upper end of Figure 2C) of the work unit body 0210 (hereinafter, work unit 0210C will be referred to as drilling machine 0210C). This drilling machine 0210C is a machine that drills fixing holes for anchors to firmly attach fasteners and devices to concrete structures, and is detachably attached to the work unit body 0210. Note that the work unit of the work unit body 0210 is not limited to drilling machine 0210C, and as described above, the work unit can be a brush that performs heavy work that receives a large reaction force from the wall surface, for example, a brush that cleans the fixing holes for anchors, an anchor driving machine that drives anchors into the fixing holes after cleaning, a high-pressure washer, or a sander. In addition, the system can be used for light tasks that are not heavy-duty, such as using electromagnetic radar to determine the depth and arrangement of buried reinforcing bars when drilling holes for anchor fixing, or using cameras to conduct deterioration surveys. <Embodiment 1 Outrigger Configuration (Mainly corresponds to Claim 1) Related Drawings: Figures 2A, 2B, 2C>

[0030] In this embodiment, the outriggers 0220, which can be depressurized and suctioned against walls and other surfaces, are arranged in four locations on the front, rear, left, and right sides of the work unit body 0210, similar to the wheels 0211 of the work unit body 0210, as shown in Figures 2A and 2B. In each case, they are connected to the work unit body 0210 via connecting arms 0230, extending outwards in all four directions from the work unit body 0210 than the wheels 0211. In this embodiment, the outriggers 0220 are arranged in four locations, but this is not the only option. The number and placement of the outriggers 0220 are not limited as long as they can reliably prevent the work unit body 0210 from falling from walls and other surfaces.

[0031] This outrigger 0220 consists of an inverted dish-shaped suction pad 0221 made of a flexible material such as synthetic rubber that contacts the wall surface of a concrete structure, an air intake port 0222 (shown only in Figure 2B) located in the center of the inside of the suction pad 0221, and a blower (not shown) that draws in air from the air intake port 0222. The blower of this outrigger 0220 is also powered by an external power source or a battery.

[0032] In this configuration, the outrigger 0220 is designed to create a negative pressure space between the inside of the suction pad 0221 and the wall surface of a concrete structure by operating a blower, thereby allowing the suction pad 0221 to adhere to the wall surface of a concrete structure (concrete wall surface W in Figure 2C). In this adhered state, it is possible to reliably prevent the work unit body 0210 from falling from the wall surface during drilling work by the drilling machine 0210C, which is the work unit. In other words, in the adhered state of the outrigger 0220, it is possible to reliably prevent the work unit body 0210 from falling from the wall surface during the heavy work described above. When the blower is not operating (in a resting state where the outrigger is not depressurized and adsorbed), it is preferable to provide a mechanism that slightly separates the inverted dish-shaped suction pad 0221 from the wall surface to weaken the depressurized suction force in order to allow the work unit body 0210 to move smoothly by the drive unit 0210A. Furthermore, since the suction force generated by the outrigger 0220 is affected by the surface condition of the wall, etc., such as the presence or absence of joints and the degree of surface roughness, similar to the suction part 0210B of the work unit body 0210, it is desirable to provide, for example, hard and soft materials for the inverted dish-shaped suction pad 0221 that contacts the wall, etc., so that it can be replaced according to the surface condition of the wall, etc. <Embodiment 1: Connecting Arm Configuration (Mainly corresponds to Claim 1) Related Drawings: Figures 2A, 2B, 2C>

[0033] In this embodiment, the connecting arm 0230 that connects the outrigger 0220 to the work unit body 0210 is composed of a support column 0231 installed in the center of the upper surface of the work unit body 0210 (center of the right side in Figure 2C), a central block body 0232 attached to the upper end of the support column 0231 (right end in Figure 2C), two horizontal beams 0233, 0233 arranged to extend from the central block body 0232 in the left-right direction of the work unit body 0210, side block bodies 0234, 0234 attached between one end and the other end of the two horizontal beams 0233, 0233, respectively, and left and right vertical beams 0235, 0235 that penetrate the side block body 0234 in the front-rear direction of the work unit body 0210, and the outrigger 0220 is attached to each end of the vertical beams 0235, 0235, respectively. Note that in Figure 2C, the central block 0232 and the two crossbeams 0233, 0233 are not visible because they overlap with the side block 0234. Also, the connecting arm 0230 is not limited to the configuration described above. <Embodiment 1: Wall-mounted suction type work robot; Work procedure; mainly corresponds to claim 1; Related drawings: Figures 2A, 2B, 2C>

[0034] When performing work on the walls of concrete structures using such a wall-suction type work robot 0200, in order to ensure that the wall-suction type work robot 0200 adheres to the wall without loss, regardless of whether it is a heavy or light job as described above, pre-treatment cleaning is performed using the wall-suction type work robot 0200 equipped with a brush or scraper as a work unit to remove dirt and rust attached to the wall. At this time, as described above, materials appropriate to the surface condition of the wall are selected and used for the suction surface 0217, which is the bottom surface of the work unit body 0210, and the suction pads 0221 of the outrigger 0220. After such pre-treatment, for example, when performing heavy work such as drilling holes for fixing anchors, the blower 0215 of the suction part 0210B on the work unit body 0210 is operated at a low position on the wall W shown in Figure 2C (a position within reach of a worker on the ground, etc.) where dirt has been removed by the pre-treatment cleaning. By drawing air in through the air intake port 0216, the negative pressure created between the suction surface 0217, which is the bottom surface of the work unit body 0210, and the wall W is used to attach the wall-suction type work robot 0200 to the wall W with its direction of travel aligned with the vertical direction, as shown in Figure 2C. When the wall-suction type work robot 0200 is to perform work on the ceiling surface, for example, the wall-suction type work robot 0200 can be attached to the ceiling surface by using a rod-shaped auxiliary device having a robot holding part at its tip that can hold the wall-suction type work robot 0200. Next, in this suction state, the four wheels 0211 on the front, rear, left, and right sides of the work unit body 0210 are rotated by the output of the drive motor of the drive unit 0210A, thereby raising the work unit body 0210 relative to the wall surface W and moving the drilling machine 0210C, which is the work unit, to the position where the fixing holes are drilled.

[0035] Then, when the wall-mounted suction robot 0200 reaches the position where the fixing holes are to be drilled, prior to starting drilling with the drilling machine 0210C, the blowers of the outriggers 0220, which are positioned at four locations on the front, back, left, and right sides of the work unit body 0210, are operated to utilize the negative pressure generated between the inside of the suction pads 0221 and the wall surface W, thereby causing each suction pad 0221 to adhere to the wall surface W.

[0036] In other words, in this wall-suction type work robot 0200, the four outriggers 0220 are activated (pressure-reducing suction) only when the robot reaches the position where the fixing holes are to be drilled. Therefore, all the outriggers 0220 stop pressure-reducing suction until the position where the fixing holes are to be drilled, allowing the work unit body 0210 driven by the drive unit 0210A to move without being hindered by the outriggers 0220. As a result, the wall-suction type work robot 0200 moves quickly from the low position on the set wall W to the position where the fixing holes are to be drilled. Furthermore, at the location where the fixing holes are drilled, the wall-suction type work robot 0200 is fixed to the wall W by the reduced pressure suction force of the suction part 0210B of the work unit body 0210 itself, as well as the reduced pressure suction force of the four outriggers 0220. Therefore, even if drilling is performed by the drilling machine 0210C in this state, which receives a large reaction force from the wall W (even if heavy work is performed), the wall-suction type work robot 0200 can be reliably prevented from falling from the wall W. Therefore, reinforcement work, inspections, and other tasks can be carried out safely and quickly at high places such as the upper parts of concrete structure walls and ceilings.

[0037] In this embodiment, a rotation mechanism may be provided between the work unit body 0210 and the support column 0231 of the connecting arm 0230, or between the support column 0231 of the connecting arm 0230 and the central block body 0232, to rotate the work unit body 0210 around the support column 0231. In this case, as shown in Figure 2D, the drilling position by the drilling machine 0210C can be adjusted by rotating the work unit body 0210 around the support column 0231 while the four outriggers 0220 are suctioned to a wall or the like under reduced pressure. In addition, as shown in Figure 2E, rotating the work unit body 0210 90° around the support column 0231 can change the direction of movement of the wall-suction type work robot 0200, which moves in the vertical direction (Y direction in the figure), to the horizontal direction (X direction in the figure). In this case, in order to allow the work unit body 0210 to rotate smoothly, it is preferable to put the suction part of the work unit body 0210, which is being adsorbed under reduced pressure to a wall or the like, into a resting state, or to provide a mechanism that slightly separates the work unit body 0210 from the wall or the like to weaken the reduced pressure suction force of the suction part. <Embodiment 1: Wall-mounted suction type work robot. Effects: Mainly corresponds to Claim 1.>

[0038] The wall-suction type work robot according to this embodiment can reliably prevent falls from walls, etc., when working at heights such as the upper part of a concrete structure's wall, especially during heavy work. Therefore, it has the excellent effect of enabling safe and speedy reinforcement work, inspections, and other heavy work at heights such as the upper part of a concrete structure's wall or ceiling. <Embodiment 2: Primarily corresponds to Claim 2>

[0039] This embodiment primarily relates to claim 2. <Embodiment 2: Wall-mounted, etc. suction type work robot - Overview - Primarily corresponds to Claim 2>

[0040] This embodiment is based on Embodiment 1, and in the wall-suction type work robot according to this embodiment, the connecting arm that connects the outrigger to the work unit body is configured so that the work unit body can move freely on a wall or the like relative to the outrigger while it is being driven (reduced pressure suction is in progress). In the wall-mounted suction type work robot according to this embodiment, the work unit can be freely moved along the wall or the like while the outriggers are suctioned to the wall or the like under reduced pressure, thereby enabling the work unit to perform continuous work and allowing the work unit to adjust its working position. <Embodiment 2: Wall-mounted suction type work robot. Configuration mainly corresponds to claim 2. Related drawings: Figures 3A, 3B, 3C>

[0041] As shown in the schematic plan view of Figure 3A, the wall-suction type work robot 0300 according to this embodiment is characterized by the adoption of a hydraulic cylinder 0330 that extends and retracts as a connecting arm, while the other configurations are the same as in the previous embodiment. In other words, in the wall-mounted suction type work robot 0300 according to this embodiment, four outriggers 0320 are connected to the work unit body 0310 via hydraulic cylinders 0330, which are connecting arms. Although hydraulic cylinders 0330 are used as connecting arms in the wall-mounted suction type work robot 0300 according to this embodiment, the invention is not limited to these.

[0042] In this type of wall-mounted suction-type work robot 0300, with all four outriggers 0320 in the suction state, as shown in Figure 3B, the two hydraulic cylinders 0330 on the right extend and the two hydraulic cylinders 0330 on the left retract, allowing the work unit body 0310 to be moved parallel to the left relative to the four outriggers 0320 that are in operation (pressure-reduced suction). Similarly, as shown in Figure 3C, the two hydraulic cylinders 0330 on the left extend and the two hydraulic cylinders 0330 on the right retract, allowing the work unit body 0310 to be moved parallel to the right relative to the four outriggers 0320 that are in operation (pressure-reduced suction). Therefore, with all four outriggers 0320 of the wall-suction type work robot 0300 driven (in a reduced-pressure suction state), the work unit body 0310 can be moved without meandering in the width direction (left-right direction in Figures 3A, 3B, and 3C), allowing the work unit to perform continuous work, such as groove formation, and also allowing adjustment of the work position by the work unit, such as the hole drilling position. In this case, in order to smoothly move the work unit body 0310 in parallel, it is preferable to put the suction part of the work unit body 0310, which is being adsorbed under reduced pressure to a wall or the like, into a resting state, or it is preferable to provide a mechanism that slightly separates the work unit body 0310 from the wall or the like to weaken the reduced pressure suction force of the suction part. In the wall-suction type work robot 0300 according to this embodiment, the hydraulic cylinder 0330 is attached to the work unit body 0310 as a connecting arm so as to follow the width direction (left-right direction in the illustration) of the work unit body 0310. However, the hydraulic cylinder 0330 may be attached so as to be rotatable between the width direction and the front-rear direction of the work unit body 0310. <Embodiment 2: Wall-mounted, etc. suction type work robot. Effects: Primarily corresponds to Claim 2.>

[0043] The wall-suction type work robot according to this embodiment offers several advantages: for example, it can safely and quickly perform reinforcement work and inspections at high places such as the upper parts of concrete structure walls; it can also perform continuous work with the work unit while both outriggers of the wall-suction type work robot are driven (in a reduced-pressure suction state); and it is possible to adjust the work position of the work unit. <Embodiment 3: Primarily corresponds to claim 3>

[0044] This embodiment primarily relates to claim 3. <Embodiment 3: Wall-mounted, etc. suction type work robot - Overview - Primarily corresponds to claim 3>

[0045] This embodiment is based on Embodiment 1, and in this embodiment, the wall-suction type work robot is configured such that the connecting arm functions as a trajectory, and the work unit body can move along the connecting arm by its drive unit relative to the outrigger while it is being driven (reduced pressure suction). Therefore, the movement of the work unit body relative to the outrigger during operation (reduced pressure suction) will be smooth and without meandering. <Embodiment 3: Wall-mounted suction type work robot. Configuration mainly corresponds to claim 3. Related drawings: Figures 4A, 4B>

[0046] As shown in the perspective views of Figures 4A and 4B, the wall-suction type work robot 0400 according to this embodiment is characterized in that the side block bodies 0434, 0434 constituting the connecting arm 0430 are made slidable relative to the vertical beams 0435, 0435 which also constituting the connecting arm 0430, while the other configurations are the same as in the previous embodiment.

[0047] In other words, in the wall-suction type work robot 0400 according to this embodiment, with the outriggers 0420 attached to a wall or the like under reduced pressure, only the work unit body 0410 is made movable by the drive unit, and the work unit body 0410 is moved in the direction of the arrow along the vertical beam 0435 of the connecting arm 0440 by the drive unit, as shown in Figures 4A and 4B. That is, the vertical beam 0435 of the connecting arm 0430 is configured to function as the trajectory of the moving work unit body 0410.

[0048] In this way, the work unit body 0410 can be moved by the drive unit using the vertical beam 0435 of the connecting arm 0430 as a trajectory relative to the outrigger 0420 during depressurized adsorption. This allows the work unit body 0410 to be moved only in the front-to-back direction (up-down direction in Figures 4A and 4B), enabling continuous work, such as groove formation, to be performed on the work unit 0410C (shown only in Figure 4A). In this case, the movement of the work unit body 0410 is smooth, making it possible to form grooves without distortion. In addition, the working position of the work unit 0410C, such as the hole drilling position, can be adjusted. <Embodiment 3: Wall-mounted suction type work robot. Effects: Mainly corresponds to claim 3.>

[0049] The wall-suction type work robot according to this embodiment offers several advantages: for example, it can safely and quickly perform reinforcement work and inspections at high places such as the upper parts of concrete structure walls; it can also perform continuous work by moving only the work unit itself without moving the entire wall-suction type work robot; and it allows for adjustment of the work position by the work unit. <Embodiment 4: Primarily corresponds to Claim 4>

[0050] This embodiment primarily relates to claim 4. <Embodiment 4: Wall-mounted, etc. suction type work robot - Overview - Primarily corresponds to claim 4>

[0051] This embodiment is based on Embodiment 1, and the wall-suction type work robot according to this embodiment is configured to include a connecting arm trajectory moving unit that allows the work unit body to be moved using the connecting arm as a trajectory without using its drive unit (without powering the wheels) relative to the outrigger while it is being driven (under reduced pressure suction). In the wall-mounted suction type work robot according to this embodiment, the work unit itself can be moved smoothly without meandering, while the outriggers remain suctioned to the wall or the like under reduced pressure, without moving the entire wall-mounted suction type work robot. <Embodiment 4: Wall-mounted suction type work robot. Configuration mainly corresponds to claim 4. Related drawings: Figures 5A, 5B>

[0052] As shown in the perspective views of Figures 5A and 5B, the wall-suction type work robot 0500 according to this embodiment is characterized in that the connecting arm trajectory movement section is formed by a central block body 0532 located at the upper end of the support column 0531 that constitutes the connecting arm 0530 and two crossbeams 0533, 0533 that constitute the connecting arm 0530. Specifically, a rack and pinion mechanism is formed by providing a motor and a pinion that rotates with the output of this motor (neither shown) on the central block body 0532 and forming a rack 0541 on the crossbeam 0533, and this is used as the connecting arm trajectory movement section. In this case, for example, a ball screw mechanism may be used in the central block body 0532 and the crossbeam 0533 of the connecting arm 0530 to form the connecting arm trajectory movement section.

[0053] In other words, in the wall-suction type work robot 0500 according to this embodiment, when the outrigger 0520 is suctioned to a wall or the like under reduced pressure, as shown in Figures 5A and 5B, the work unit body 0510 is configured to move along the crossbeam 0533 of the connecting arm 0540 in the direction of the arrow by the operation of the rack and pinion mechanism between the central block body 0532 and the crossbeam 0533 of the connecting arm 0530, without using output from the drive unit relative to the outrigger 0520. That is, the crossbeam 0533 of the connecting arm 0530 is configured to function as the trajectory of the moving work unit body 0510.

[0054] In this way, the work unit body 0510 can be moved relative to the outrigger 0520 during depressurized suction by the operation of the rack and pinion mechanism, which is the connecting arm trajectory movement part, using the crossbeam 0533 of the connecting arm 0530 as a trajectory. Therefore, without moving the entire wall-suction type work robot 0500, only the work unit body 0510 can be moved in the width direction (left and right direction in Figures 5A and 5B) to perform continuous work, such as groove formation, on the work unit 0510C (shown only in Figure 5B). In this case, the movement of the work unit body 0510 is smooth, making it possible to form grooves without distortion, and also allowing adjustment of the work position by the work unit 0510C, such as the hole drilling position. In addition, if a stepping motor is used for the motor provided in the central block body 0532 that constitutes the rack and pinion mechanism as the connecting arm trajectory movement part, high-precision positioning in micron units becomes possible. In this case, in order to smoothly move the work unit body 0510 in parallel, it is preferable to put the suction part of the work unit body 0510, which is being adsorbed to a wall or the like under reduced pressure, into a resting state, or it is preferable to provide a mechanism that slightly separates the work unit body 0510 from the wall or the like to weaken the reduced pressure suction force of the suction part. <Embodiment 4: Wall-mounted, etc. suction type work robot. Effects: Mainly corresponds to claim 4.>

[0055] The wall-suction type work robot according to this embodiment offers several advantages: for example, it can safely and quickly perform reinforcement work and inspections at high places such as the upper parts of concrete structure walls; it can also perform continuous work by moving only the work unit itself without moving the entire wall-suction type work robot; and it allows for adjustment of the work position by the work unit. <Embodiment 5: Primarily corresponds to claim 4>

[0056] This embodiment also primarily relates to claim 4. <Embodiment 5: Wall-mounted, etc. suction type work robot - Overview - Primarily corresponds to claim 4>

[0057] This embodiment is based on Embodiment 1, and the wall-suction type work robot according to this embodiment is also configured to include a connecting arm trajectory movement unit that allows the work unit body to be moved using the connecting arm as a trajectory without using its drive unit (without powering the wheels) relative to the outrigger while it is being driven (under reduced pressure suction). In the wall-mounted suction type work robot according to this embodiment, the work unit itself can be moved smoothly without meandering, while the outriggers remain suctioned to the wall or the like under reduced pressure, without moving the entire wall-mounted suction type work robot. <Embodiment 5: Wall-mounted suction type work robot. Configuration mainly corresponds to claim 4. Related drawings: Figures 6A, 6B>

[0058] As shown in the perspective views of Figures 6A and 6B, the wall-suction type work robot 0600 according to this embodiment is characterized in that the connecting arm trajectory movement section is formed by the side block bodies 0634 located at both ends of the cross beam 0633 that constitutes the connecting arm 0630, and the two vertical beams 0635, 0635 that constitute the connecting arm 0630. Specifically, the connecting arm trajectory movement section is formed by a rack and pinion mechanism, which is provided on the side block body 0634 and a pinion that rotates with the output of this motor (neither shown), and a rack 0641 formed on the vertical beam 0635. In this case, for example, a ball screw mechanism may be used in the side block body 0634 and the vertical beam 0635 of the connecting arm 0630 to form the connecting arm trajectory movement section.

[0059] In other words, in the wall-suction type work robot 0600 according to this embodiment, when the outrigger 0620 is suctioned to a wall or the like under reduced pressure, as shown in Figures 6A and 6B, the work unit body 0610 is configured to move along the vertical beam 0635 of the connecting arm 0640 in the direction of the arrow by the operation of the rack and pinion mechanism between the side block body 0634 and the vertical beam 0635 of the connecting arm 0630, without using output from the drive unit for the outrigger 0620. That is, the vertical beam 0635 of the connecting arm 0630 is configured to function as the trajectory of the moving work unit body 0610.

[0060] In this way, the work unit body 0610 can be moved relative to the outrigger 0620 during depressurized suction by the operation of the rack and pinion mechanism, which is the connecting arm trajectory movement part, using the vertical beam 0635 of the connecting arm 0630 as a trajectory. Therefore, without moving the entire wall-suction type work robot 0600, only the work unit body 0610 can be moved in the front-to-back direction (up-down direction in Figures 6A and 6B) to perform continuous work, such as groove formation, on the work unit 0610C (shown only in Figure 6A). In this case, the movement of the work unit body 0610 is smooth, making it possible to form grooves without distortion, and also allowing adjustment of the work position by the work unit 0610C, such as the drilling position. In addition, if, for example, a stepping motor is used for the motor provided in the side block body 0634 that constitutes the rack and pinion mechanism as the connecting arm trajectory movement part, high-precision positioning in micron units becomes possible. In this case, in order to smoothly move the work unit body 0610 in parallel, it is preferable to put the suction part of the work unit body 0610, which is being adsorbed under reduced pressure to a wall or the like, into a resting state, or it is preferable to provide a mechanism that slightly separates the work unit body 0610 from the wall or the like to weaken the reduced pressure suction force of the suction part. <Embodiment 5: Wall-mounted suction type work robot. Effects: Mainly corresponds to claim 4.>

[0061] The wall-suction type work robot according to this embodiment offers several advantages: for example, it can safely and quickly perform reinforcement work and inspections at high places such as the upper parts of concrete structure walls; it can also perform continuous work by moving only the work unit itself without moving the entire wall-suction type work robot; and it allows for adjustment of the work position by the work unit. <Embodiment 6: Primarily corresponds to the claims>

[0062] This embodiment primarily relates to claim 6. <Embodiment 6: Wall-mounted, etc. suction type work robot - Overview - Primarily corresponds to claim 6>

[0063] This embodiment is based on embodiments 1, 3 to 5. In the wall-suction type work robot according to this embodiment, the connecting arm and / or the work unit body has a wall-mounted vertical drive unit that moves the work unit body away from the wall in order to overcome steps such as protrusions and recesses on the wall, and then attaches to the wall after overcoming the steps. Thus, the wall-suction type work robot according to this embodiment can move by overcoming steps such as protrusions and recesses on the wall. <Embodiment 6: Wall-mounted suction type work robot. Configuration mainly corresponds to claim 6. Related drawings: Figures 7A and 7B>

[0064] As shown in the side view of Figure 7A and the perspective view of Figure 7B, the wall-suction type work robot 0700 according to this embodiment is characterized in that the connecting arm 0730 has a wall-mounted vertical drive unit that moves the work unit body 0710 away from the wall and then attaches it to the wall. Note that both the side view of Figure 7A and the perspective view of Figure 7B show the wall-suction type work robot 0700 placed on a horizontal plane.

[0065] The connecting arm 0730 of the wall-suction type work robot 0700 according to this embodiment comprises a support column 0731 installed in the center of the upper surface of the work unit body 0710, a central block body 0732 attached to the upper end of the support column 0731, a vertical beam 0733 positioned at the upper end of the central block body 0732 so as to be aligned with the front-rear direction (left-right direction in the illustration) of the work unit body 0710, and end block bodies 0734, 0734 attached to one end and the other end of the vertical beam 0733, respectively. Each of the end block bodies 0734, 0734 consists of crossbeams 0735, 0735 that penetrate the work section body 0710 in the left-right direction (end block body 0734 and crossbeam 0735 are shown only in Figure 7B), connecting block bodies 0736 attached to each end of these crossbeams 0735, 0735, and a support column 0727 that penetrates the connecting block body 0736 in the vertical direction, with an outrigger 0720 fixed to the lower end of the support column 0727. In this case, a rack and pinion mechanism is provided on the connecting block 0736, along with a motor and a pinion (both not shown) that rotate with the output of this motor, and a rack 0741 is formed on the support column 0727. This rack and pinion mechanism serves as the wall-mounted vertical drive unit. The wall-mounted vertical drive unit is not limited to a rack and pinion mechanism; for example, a ball screw mechanism may be used between the connecting block 0736 and the support column 0727 to serve as the wall-mounted vertical drive unit. The connecting arm 0730 is not limited to the above configuration.

[0066] In other words, in the wall-suction type work robot 0700 according to this embodiment, with the outriggers 0720 attached to a wall or the like under reduced pressure, and with the reduced pressure suction of the work unit body 0710 suspended, the rack and pinion mechanism between the connecting block body 0736 and the support column 0727 is operated to move the connecting block body 0736 upward relative to the support column 0727, thereby raising the work unit body 0710 along the support column 0727 and moving it away from the wall or the like. Then, by moving the connecting block body 0736 downward relative to the support column 0727, the work unit body 0710 is lowered and can be attached to the wall.

[0067] On the other hand, in the wall-suction type work robot 0700 according to this embodiment, when the work unit body 0710 is suctioned to a wall or the like under reduced pressure, and the suction of the outrigger 0720 is suspended, the rack and pinion mechanism between the connecting block body 0736 and the support column 0727 is operated to move the support column 0727 upward relative to the connecting block body 0736, thereby raising the outrigger 0720 and moving it away from the wall or the like, and then moving the support column 0727 downward relative to the connecting block body 0736, thereby lowering the outrigger 0720 and making contact with the wall.

[0068] Furthermore, in the wall-suction type work robot 0700 according to this embodiment, the vertical beam 0733 has a structure in which an outer long member 0733out and an inner long member 0733in, which is narrower than the outer long member 0733out, are fitted together, that is, it has a double structure, and the inner long member 0733in can slide in and out relative to the outer long member 0733out by means of, for example, a motor (not shown) and a roller that rotates with the output of this motor.

[0069] Furthermore, in the wall-suction type work robot 0700 according to this embodiment, a motor and a pinion (both not shown) that rotate with the output of this motor are provided on the central block body 0732, and a rack (not shown) is formed on the inner long member 0733in of the vertical beam 0733, thereby configuring a rack and pinion mechanism between the two. In this case, instead of the rack and pinion mechanism, for example, a ball screw mechanism may be used between the central block body 0732 and the inner long member 0733in of the vertical beam 0733.

[0070] Therefore, in the wall-suction type work robot 0700 according to this embodiment, with the outriggers 0720 in a reduced pressure suction state attached to a wall or the like, and with the reduced pressure suction of the work unit body 0710 suspended, the work unit body 0710 can be moved together with the central block body 0732 relative to the inner long member 0733in of the vertical beam 0733 by the operation of the rack and pinion mechanism between the central block body 0732 and the inner long member 0733in of the vertical beam 0733.

[0071] On the other hand, in the wall-mounted suction type work robot 0700 according to this embodiment, when the work unit body 0710 is suctioned to a wall or the like under reduced pressure, and the suction of the outrigger 0720 is suspended, the vertical beam 0733 is moved relative to the central block body 0732 by the operation of the rack and pinion mechanism between the central block body 0732 and the inner long member 0733in of the vertical beam 0733, that is, the connecting arm 0730 is moved relative to the work unit body 0710. <Embodiment 6: Wall-mounted, suction-type work robot; operation over protrusions; mainly corresponds to claim 6; related drawing: Figure 7C>

[0072] In a wall-mounted suction type work robot 0700 with such a configuration, when it is necessary to move it over a protrusion on a wall or the like, the wall-mounted suction type work robot 0700, which is stopped before the protrusion (as shown in Figures 7A and 7B), first, as shown in Figure 7C(a), the outrigger 0720 is depressurized and suctioned to the wall or the like, while the depressurized suction of the work unit body 0710 is paused. In this state, the rack and pinion mechanism between the connecting block body 0736 and the support column 0727 is operated to move the connecting block body 0736 upward relative to the support column 0727, thereby raising the work unit body 0710 along the support column 0727 and moving it away from the wall or the like to a distance where it can overcome the protrusion P.

[0073] Next, as shown in Figure 7C(b), the inner long member 0733in is moved relative to the outer long member 0733out of the double-layered vertical beam 0733 so that its tip protrudes beyond the convex portion P. At the same time, the rack and pinion mechanism between the central block body 0732 and the inner long member 0733in of the vertical beam 0733 moves the work unit body 0710 together with the central block body 0732 to the tip of the inner long member 0733in.

[0074] Then, as shown in Figure 7C(c), by moving the connecting block 0736 downward relative to the support column 0727, the work section body 0710 is lowered together with the vertical beam 0733 and attached to the wall at a position beyond the protrusion P.

[0075] Next, as shown in Figure 7C(d), after the work unit body 0710 is depressurized and suctioned to the wall or the like, the depressurized suction of the outrigger 0720 is paused. In this state, the rack and pinion mechanism between the connecting block body 0736 and the support column 0727 is activated to move the support column 0727 upward relative to the connecting block body 0736, thereby raising the outrigger 0720 and moving it away from the wall or the like to a distance where it can cross the protrusion P.

[0076] Subsequently, as shown in Figure 7C(e), the outer long member 0733out is moved so that the inner long member 0733in is embedded in the outer long member 0733out of the vertical beam 0733, and the entire vertical beam 0733 is moved so that the work section body 0710 is positioned together with the central block body 0732 on the base end side of the inner long member 0733in. In this state, the support column 0727 is moved downward relative to the connecting block body 0736, thereby lowering the outrigger 0720 and making contact with the wall at a position beyond the protrusion P. Note that Figure 7C(e) does not show the outrigger 0720 being placed against the wall, and Figures 7C(a) to (e) omit the operating part 0710C of the work unit body 0710. <Embodiment 6: Wall-mounted, etc. suction-type work robot; operation from mounting to crossing the platform; mainly corresponds to claim 6; related drawing: Figure 7D>

[0077] Furthermore, in the case of the wall-mounted suction type work robot 0700, when it is necessary to move it over a platform present on a wall, the robot stops in front of the platform and raises the work unit body 0710 along the support column 0727 to a distance from the wall that allows it to move over the platform (as shown in Figure 7C(a)). Then, as shown in Figure 7D(a), the inner long member 0733in of the double-layered vertical beam 0733 is moved relative to the outer long member 0733out to its tip The work section body 0710 is moved together with the central block body 0732 to the tip of the inner long member 0733in by the operation of the rack and pinion mechanism between the central block body 0732 and the vertical beam 0733, and then the connecting block body 0736 is moved downward relative to the support column 0727, thereby lowering the work section body 0710 together with the vertical beam 0733 and temporarily resting on the wall on the work section B.

[0078] Next, as shown in Figure 7D(b), the work unit body 0710 is depressurized and suctioned onto the platform B, such as a wall, and then the depressurized suction of the outrigger 0720 is paused. In this state, the rack and pinion mechanism between the connecting block body 0736 and the support column 0727 is activated to move the support column 0727 upward relative to the connecting block body 0736, thereby raising the outrigger 0720 and moving it away from the wall, etc., to a distance that allows it to cross platform B.

[0079] Subsequently, as shown in Figure 7D(c), the outer long member 0733out is moved so that it passes over the top of the platform B relative to the inner long member 0733in of the vertical beam 0733, and the entire vertical beam 0733 is moved so that the work section body 0710 is positioned together with the central block body 0732 on the base end side of the inner long member 0733in.

[0080] Then, as shown in Figure 7D(d), in this state, the support column 0727 is moved downward relative to the connecting block body 0736, causing the outrigger 0720 to descend and land on the wall beyond the platform B. After the outrigger 0720 is depressurized and suctioned to the wall surface, etc., the depressurization and suction of the work unit body 0710, which had been temporarily landed on the platform B, is paused. In this state, the inner long member 0733in is made to immerse itself in the outer long member 0733out of the vertical beam 0733, and the work unit body 0710 is moved together with the central block body 0732 to the center of the inner long member 0733in. Finally, the connecting block body 0736 is moved downward relative to the support column 0727, causing the work unit body 0710 to descend together with the central block body 0732 and land on the wall beyond the platform B. Note that in Figures 7D (a) to (d), the operating part 0710C of the work unit body 0710 is omitted. <Embodiment 6: Wall-mounted suction type work robot, recess-crossing operation, mainly corresponding to claim 6, related drawing Figure 7E>

[0081] Furthermore, in the case of the wall-mounted suction type work robot 0700, when it is to cross a recess present in a wall, the wall-mounted suction type work robot 0700, which is stopped before the recess (as shown in Figures 7A and 7B), first, as shown in Figure 7E(a), the work unit body 0710 is depressurized and suctioned to the wall, while the depressurized suction of the outrigger 0720 is paused. In this state, the rack and pinion mechanism between the connecting block body 0736 and the support column 0727 is operated to move the support column 0727 upward relative to the connecting block body 0736, thereby raising the outrigger 0720 and moving it away from the wall. Note that in Figures 7E(a) to (e), the object to be crossed is a recess D, so the support column 0731 of the connecting arm 0730 is shown with a shorter dimension.

[0082] Next, as shown in Figure 7E(b), the outer long member 0733out is moved relative to the inner long member 0733in of the double-layered vertical beam 0733 to move the entire structure beyond the recess D, and the rack and pinion mechanism between the central block body 0732 and the inner long member 0733in of the vertical beam 0733 is operated so that the work unit body 0710 is positioned together with the central block body 0732 at the base end of the inner long member 0733in (the end opposite to the direction of travel, the left end in the figure).

[0083] Then, as shown in Figure 7E(c), the support column 0727 is moved downward relative to the connecting block body 0736, thereby lowering the outrigger 0720 and causing it to rest on the wall at a position beyond the recess D.

[0084] Next, as shown in Figure 7E(d), after the outrigger 0720 is depressurized and suctioned to the wall or the like, the depressurized suction of the work unit body 0710 is paused. In this state, the rack and pinion mechanism between the connecting block body 0736 and the support column 0727 is activated to move the connecting block body 0736 upward relative to the support column 0727, thereby raising the work unit body 0710 together with the vertical beam 0733 and moving it away from the wall or the like.

[0085] Subsequently, as shown in Figure 7E(e), the outer long member 0733out is moved so that the inner long member 0733in is immersed in the outer long member 0733out of the vertical beam 0733, and the rack and pinion mechanism between the central block body 0732 and the inner long member 0733in of the vertical beam 0733 is moved so that the work section body 0710 is positioned in the center of the inner long member 0733in together with the central block body 0732. Note that in Figures 7E (a) to (e), the operating part 0710C of the work unit body 0710 is omitted.

[0086] In this embodiment, the wall-mounted vertical drive unit is a rack and pinion mechanism formed between the connecting block body 0736 of the connecting arm 0730 and the support column 0727. However, the embodiment is not limited to this, and the wall-mounted vertical drive unit may be provided on the work unit body 0710, or it may be provided spanning the work unit body 0710 and the connecting arm 0730.

[0087] In the wall-suction type work robot 0700 according to this embodiment, as shown in Figures 7A and 7B, the drilling machine 0710C mounted on the work unit body 0710 is used as the work unit. However, it is not limited to this, and as shown in Figure 7F, a larger piece of equipment 0710C' than the drilling machine may be used as the work unit. In the case of such a large piece of equipment 0710C', the equipment 0710C' may be placed separately from the work unit body 0710 on the inner long member 0733in of the vertical beam 0733, and such a work unit arrangement is also included in the work unit body. <Embodiment 6: Wall-mounted suction type work robot. Effects: Mainly corresponds to claim 6.>

[0088] The wall-suction type work robot according to this embodiment offers several advantages, including the ability to safely and quickly perform reinforcement work and inspections at high places, such as the upper parts of concrete wall surfaces, and the ability to move over obstacles such as protrusions and recesses present on the wall surface. <Embodiment 7 mainly corresponds to claim 5>

[0089] This embodiment primarily relates to claim 5. <Embodiment 7: Wall-mounted, etc. suction type work robot - Overview - Mainly corresponds to claim 5>

[0090] This embodiment is based on Embodiment 2, and in the wall-suction type work robot according to this embodiment, the connecting arm and / or the work unit body has a wall-mounted vertical drive unit that moves the work unit body away from the wall in order to overcome steps such as protrusions and recesses on the wall, and then attaches to the wall after overcoming the steps. Thus, the wall-suction type work robot according to this embodiment can move by overcoming steps such as protrusions and recesses on the wall. <Embodiment 7: Wall-mounted suction type work robot. Configuration mainly corresponds to claim 5. Related drawing: Figure 8>

[0091] As schematically shown in Figure 8, in the wall-suction type work robot 0800 according to this embodiment, the connecting arm 0830 is composed of a support column 0831 installed in the center of the upper surface of the work unit body 0810, a vertical beam 0833 arranged to extend from the upper end of the support column 0831 in the direction of travel of the work unit body 0810, and a horizontal beam 0835 arranged to extend from the vertical beam 0833 in the width direction of the work unit body 0810, and each of the support column 0831, vertical beam 0833 and horizontal beam 0835 is equipped with a hydraulic cylinder that extends and retracts.

[0092] In other words, the support column 0831, which is made up of a hydraulic cylinder of the connecting arm 0830, functions as a vertical drive unit on the wall surface. With the outrigger 0820 depressurized and suctioned to the wall surface, and with the depressurized suction of the work unit body 0810 suspended, the contraction operation of the support column 0831 raises the work unit body 0810 and moves it away from the wall surface, and the extension operation of the support column 0831 lowers the work unit body 0810 and allows it to rest against the wall.

[0093] On the other hand, in the wall-suction type work robot 0800 according to this embodiment, when the work unit body 0810 is suctioned to a wall or the like under reduced pressure, and the suction of the outrigger 0820 is suspended, the outrigger 0820 can be raised and separated from the wall or the like by extending the support column 0831, and the outrigger 0820 can be lowered and attached to the wall by contracting the support column 0831.

[0094] Furthermore, in the wall-mounted suction type work robot 0800 according to this embodiment, by causing the vertical beam 0833 and the horizontal beam 0835 to extend and contract, the work unit body 0810 can be moved in the direction of travel and in the width direction relative to the outrigger 0820 during depressurized suction. <Embodiment 7: Wall-mounted suction type work robot. Effects: Mainly corresponds to claim 5.>

[0095] The wall-suction type work robot according to this embodiment offers several advantages, including the ability to safely and quickly perform reinforcement work and inspections at high places, such as the upper parts of concrete wall surfaces, and the ability to move over obstacles such as protrusions and recesses present on the wall surface. <Embodiment 8 mainly corresponds to claim 7>

[0096] This embodiment primarily relates to claim 7. <Embodiment 8: Wall-mounted, etc. suction type work robot - Overview - Mainly corresponds to claim 7>

[0097] This embodiment is based on Embodiment 2, and in the wall-mounted suction type work robot according to this embodiment, the connecting arm has an outrigger movement unit that moves the outriggers that are inactive relative to the wall or the like when all or some of the outriggers are inactive. Thus, the wall-mounted suction type work robot according to this embodiment can also move by using the outriggers. <Embodiment 8: Wall-mounted suction type work robot. Configuration mainly corresponds to claim 7. Related drawings: Figures 9A, 9B, 9C>

[0098] As schematically shown in Figure 9A, in the wall-suction type work robot 0900 according to this embodiment, a hydraulic cylinder 0930 that extends and retracts is used as a connecting arm, and the hydraulic cylinder 0930 is also provided with the function of an outrigger movement unit that moves the resting outriggers 0920 relative to the wall or the like when all or some of the outriggers 0920 arranged on the hydraulic cylinder 0930 are resting.

[0099] In such a wall-mounted suction type work robot 0900, for example, when moving to the right in Figure 9A, two of the four outriggers 0920 on the side of the work unit body 0910, which is in a suction state to the wall, etc., are both de-suctioned to the wall, etc., and are located on the side in the direction of movement (right side in Figure 9A). Next, as shown in Figure 9B, the hydraulic cylinder 0930 supporting the two outriggers 0920 on the side of the work unit body 0910 that is not moving (left side in Figure 9A) is extended, and the two outriggers 0920, which are in a non-adherent state together with the work unit body 0910, are moved to the right in Figure 9A. Next, the two outriggers 0920 on the side of the work unit body 0910 in the direction of movement are both brought into a suction state, and then the two outriggers 0920 on the side of the work unit body 0910 in the opposite direction of movement are both brought into a non-suction state. Then, as shown in Figure 9C, the hydraulic cylinders 0930 that support these outriggers 0920 are made to retract, bringing each outrigger 0920 into a suction state. In this way, by repeatedly selecting and performing suction / non-suction and extension / contraction by the hydraulic cylinder 0930 on the four outriggers 0920 on the side of the work unit body 0910, the wall-suction type work robot 0900 can be moved on a wall or the like without operating the drive unit of the work unit body 0910. <Embodiment 8: Wall-mounted suction type work robot. Effects: Mainly corresponds to claim 7.>

[0100] The wall-suction type work robot according to this embodiment offers several advantages, including the ability to safely and quickly perform reinforcement work and inspections at high places, such as the upper parts of concrete wall surfaces, and the ability to move using outriggers without operating the drive unit. [Explanation of Symbols]

[0101] 0200 Wall-mounted, suction-type work robot 0210 Main unit of the work section 0210A Drive Unit 0210B Adsorption part 0210C Working part 0220 Outrigger 0230 Connecting Arm

Claims

1. A drive unit for moving along walls and ceilings (hereinafter referred to as "walls, etc."), A suction unit that can move (including rotate) while adsorbing to a wall or the like under reduced pressure, and while the reduced pressure adsorption of all outriggers described below is stopped, A work area for performing work on walls, etc. The work unit consists of the main body and To more reliably prevent falls from walls, etc., an outrigger capable of depressurizing and adhering to walls, etc. is provided. A connecting arm for connecting the outrigger to the main body of the work unit, A wall-mounted, suction-type work robot.

2. The wall-mounted suction robot according to claim 1, wherein the connecting arm is configured to allow the work unit body to move freely on a wall or the like relative to the outrigger while it is being driven (reduced pressure suction is in progress).

3. The wall-suction type robot according to claim 2, wherein the connecting arm functions as a trajectory that allows the work unit body to move relative to the outrigger while it is being driven.

4. The wall-suction type robot according to claim 2, further comprising a connecting arm trajectory moving unit for moving the connecting arm along a trajectory without driving the drive unit while the outrigger is being driven.

5. The wall-suction type robot according to claim 2, wherein the connecting arm and / or the work unit body has a wall-mounted vertical drive unit that moves the work unit body away from and attaches to the wall in order to overcome steps such as walls.

6. The wall-suction type robot according to claim 4, wherein the connecting arm and / or the work unit body has a wall-mounted vertical drive unit that moves the work unit body away from and attaches to the wall in order to overcome steps such as walls.

7. The wall-mounted suction robot according to claim 1 or claim 2, wherein the connecting arm has an outrigger moving part that moves the resting outriggers relative to a wall or the like when all or some of the outriggers are resting.

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